Joint angle adjusting device of welding robot

Abstract

The utility model relates to the field of mechanical arm joints, and discloses a joint angle adjusting device of a welding robot, which comprises a rear arm connecting seat, a front arm connecting seat and a box body, and the upper side of the rear arm connecting seat is fixedly connected with a first clamping ring. When the push table is switched to the interior of the first clamping ring, the rear arm connecting seat relatively rotates on the horizontal plane, when the push table is switched to the interior of the second clamping ring, the worm rotates, and the gear sets finally drive the front arm connecting seat to swing up and down. The two-dimensional direction rotating function of the mechanical arm can be achieved by matching one servo motor with one air cylinder, and under the same requirement, the cost of the air cylinder is far lower than the connecting configuration cost of the servo motor, so that the assembling cost of the welding robot can be reduced, and the welding robot is easier to popularize in the market.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm joints, in particular to a joint angle adjustment device for a welding robot. Background Art

[0002] At present, the joint angle adjustment of the robotic arm of a welding robot is generally achieved by controlling the rotation of one dimension by a servo motor. For example, a 6-axis welding robotic arm needs to be equipped with 6 servo motors to control the angle rotation respectively. However, since the servo motor is too expensive, this may result in too high a cost for configuring parts of a single robotic arm, which is not conducive to the market promotion of the welding robot. Based on this, a joint angle adjustment device for a welding robot is proposed to solve the above problem. Utility Model Content

[0003] In order to solve the technical problem of adjusting the joint angle of a mechanical arm, the utility model provides a joint angle adjustment device for a welding robot.

[0004] The utility model is implemented by the following technical scheme: a joint angle adjustment device of a welding robot, comprising a rear arm connecting seat, a forearm connecting seat and a box body, the upper side of the rear arm connecting seat is fixedly connected to a No. 1 clamping ring, the upper side of the No. 1 clamping ring is rotatably connected to the lower side of the box body, the inner bottom side of the box body is rotatably connected to a No. 2 clamping ring, the upper side of the No. 2 clamping ring is fixedly connected to a worm, the upper end of the worm is rotatably connected to the upper side of the box body, the central axis of the worm, the No. 2 clamping ring and the No. 1 clamping ring are all located on the same vertical line, one side of the worm is meshed with a turbine, one side of the turbine is provided with a forearm rotating mechanism, a rear arm rotating mechanism is provided above the worm, and the inner sides of the No. 2 clamping ring and the No. 1 clamping ring are both provided with a plurality of slots.

[0005] As a further improvement of the above scheme, the forearm rotation mechanism includes a No. 1 transmission rod fixedly connected to the turbine, the No. 1 transmission rod rotates between the two sides of the box body, the No. 1 transmission rod is located at symmetrical positions on both sides of the turbine and is fixedly connected to the first gear, and a No. 2 transmission rod connected to the rotation inside the box body is respectively provided in the upper and lower directions of one side of the No. 1 transmission rod, and each of the No. 2 transmission rods is fixedly connected to the second gear on both sides, and a forearm connection mechanism is provided on one side of the two pairs of the second gears.

[0006] As a further improvement of the above scheme, the forearm connecting mechanism includes a third transmission rod arranged on one side of the two pairs of second gears, the third transmission rod is rotatably connected to the two sides of the inside of the box, and the two sides of the third transmission rod are respectively fixedly connected with third gears, and the third gear on each side is simultaneously engaged with a pair of second gears on the same side, and the third transmission rod between the two third gears is fixedly connected to one side of the forearm connecting seat.

[0007] As a further improvement of the above scheme, the rear arm rotation mechanism includes a push platform slidably connected to the No. 1 retaining ring, and limiting grooves are respectively provided on both sides of the interior of the push platform. The bottom sides of the two limiting grooves are respectively fixedly connected with springs, and one end of the two springs is respectively fixedly connected with a pin slidably connected to the inner side of the limiting groove. The pins on both sides are respectively engaged with the slots on the No. 1 retaining ring, and a push platform switching mechanism is provided on the upper side of the push platform.

[0008] As a further improvement of the above solution, the push platform switching mechanism includes a mounting plate fixedly connected to the upper side of the box body, a cylinder is fixedly connected to the upper side of the mounting plate, the output end of the cylinder passes through the mounting plate and extends downward, and a driving mechanism is provided at the output end of the cylinder.

[0009] As a further improvement of the above scheme, the driving mechanism includes a servo motor fixedly connected to the output end of the cylinder, one side of the servo motor is slidingly connected to the mounting plate, the output end of the servo motor is fixedly connected to a connecting rod, and the lower end of the connecting rod is fixedly connected to the push platform.

[0010] Compared with the prior art, the beneficial effects of the present invention are:

[0011] 1. The utility model uses a platform switching mechanism to drive the bayonet on the platform to switch back and forth between the No. 1 and No. 2 clamping rings. When the platform is switched to the inside of the No. 1 clamping ring, the rear arm connecting seat rotates relatively on the horizontal plane. When the platform is switched to the inside of the No. 2 clamping ring, the worm rotates, and finally drives the forearm connecting seat to swing up and down through each gear set. The two-dimensional directional rotation function of the robotic arm can be achieved by combining a servo motor with a cylinder. Since the cost of the cylinder is much lower than the connection configuration cost of the servo motor under the same requirements, this can reduce the assembly cost of the welding robot and make it easier to promote it on the market.

[0012] 2. The utility model can facilitate the connection of the joint with other robotic arms through the rear arm connecting seat and the front arm connecting seat, so as to achieve the function of quickly assembling a multi-axis robotic arm. The operation is simple, convenient and practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1This is a schematic diagram of the overall structure of a joint angle adjustment device for a welding robot provided by the utility model;

[0014] Figure 2 for Figure 1 a first cross-sectional view of

[0015] Figure 3 for Figure 2 Side view of;

[0016] Figure 4 for Figure 2 Schematic diagram of the first explosion structure;

[0017] Figure 5 Schematic diagram of the exploded view of the platform switching mechanism in this embodiment;

[0018] Figure 6 It is a cross-sectional view of the push platform (13).

[0019] Description of main symbols:

[0020] 1. Rear arm connecting seat; 2. Box body; 3. Forearm connecting seat; 4. Cylinder; 5. Mounting plate; 6. Second gear; 7. Third gear; 8. First gear; 9. Turbine; 10. Worm; 11. Servo motor; 12. No. 1 retaining ring; 13. Push table; 14. Connecting rod; 15. Pin; 16. No. 2 retaining ring; 17. Limiting groove; 18. Spring. DETAILED DESCRIPTION

[0021] Below, the present invention is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0022] Example:

[0023] Please combine Figures 1-6 The joint angle adjustment device of a welding robot of this embodiment includes a rear arm connecting seat 1, a forearm connecting seat 3 and a box body 2. The upper side of the rear arm connecting seat 1 is fixedly connected to a No. 1 snap ring 12, and the upper side of the No. 1 snap ring 12 is rotatably connected to the lower side of the box body 2. The inner bottom side of the box body 2 is rotatably connected to a No. 2 snap ring 16. The upper side of the No. 2 snap ring 16 is fixedly connected to a worm 10. The upper end of the worm 10 is rotatably connected to the upper side of the box body 2. The central axes of the worm 10, the No. 2 snap ring 16 and the No. 1 snap ring 12 are all located on the same vertical line. A turbine 9 is meshed with one side of the worm 10. A forearm rotation mechanism is provided on one side of the turbine 9. A rear arm rotation mechanism is provided above the worm 10. A plurality of slots are provided on the inner sides of the No. 2 snap ring 16 and the No. 1 snap ring 12.

[0024] It should be noted that the spacer plates between the second snap ring 16 and the upper groove of the first snap ring 12 are all rounded downward. If the lower corner of the bayonet 15 moves downward and happens to face the edge of the spacer plate facing the center of the circle, the spacer plates with rounded corners can first press the bayonet 15 inward and retreat into the limit groove 17. The spring 18 is compressed. When the servo motor 11 rotates, it drives the push table 13 to rotate. At this time, the spring 18 rebounds and the bayonet 15 is smoothly stuck in the groove. In addition, if the lower corner of the bayonet 15 does not encounter the edge of the spacer plate facing the center of the circle when it moves downward, but is located on one side of the spacer plate, at this time, the bevel edge of the hexagonal prism of the bayonet 15, such as Figure 6 As shown, the spacer plate can be pushed to rotate to one side, that is, the second clamping ring 16 can be pushed to rotate until the clamping pin 15 is smoothly clamped into the clamping groove.

[0025] Please combine Figure 4 As shown, the forearm rotation mechanism includes a No. 1 transmission rod fixedly connected to the turbine 9, and the No. 1 transmission rod rotates between the two sides inside the box body 2. The No. 1 transmission rod is located at symmetrical positions on both sides of the turbine 9 and is fixedly connected to the first gear 8. A No. 2 transmission rod connected to the inside of the box body 2 for rotation is respectively provided in the upper and lower directions of one side of the No. 1 transmission rod, and each No. 2 transmission rod is fixedly connected to the two sides of each second gear 6, and a forearm connection mechanism is provided on one side of the two pairs of second gears 6.

[0026] Please combine Figure 4 As shown, the forearm connection mechanism includes a third transmission rod arranged on one side of the two pairs of second gears 6, the third transmission rod is rotatably connected to the two sides of the inside of the box body 2, and the third gears 7 are fixedly connected on both sides of the third transmission rod. The third gears 7 on each side are simultaneously engaged with a pair of second gears 6 on the same side, and the third transmission rod between the two third gears 7 is fixedly connected to one side of the forearm connection seat 3.

[0027] Please combine Figure 4 As shown, the rear arm rotation mechanism includes a push platform 13 that is slidably connected to the No. 1 retaining ring 12. Limiting grooves 17 are respectively provided on both sides of the interior of the push platform 13. The limiting grooves 17 are hexagonal. Springs 18 are respectively fixedly connected to the bottom sides of the two limiting grooves 17. One end of the two springs 18 is respectively fixedly connected to a pin 15 that is slidably connected to the inner side of the limiting groove 17. The pin 15 is a hexagonal prism structure. The pins 15 on both sides are respectively engaged with the slots on the No. 1 retaining ring 12. A push platform switching mechanism is provided on the upper side of the push platform 13.

[0028] Please combine Figure 3 As shown, the push platform switching mechanism includes a mounting plate 5 fixedly connected to the upper side of the box body 2, and a cylinder 4 is fixedly connected to the upper side of the mounting plate 5. The cylinder 4 can be replaced by an oil cylinder. The output end of the cylinder 4 passes through the mounting plate 5 and extends downward. The output end of the cylinder 4 is provided with a driving mechanism.

[0029] Please combine Figure 3 As shown, the driving mechanism includes a servo motor 11 fixedly connected to the output end of the cylinder 4, one side of the servo motor 11 is slidably connected to the mounting plate 5, the output end of the servo motor 11 is fixedly connected to a connecting rod 14, and the lower end of the connecting rod 14 is fixedly connected to the push platform 13.

[0030] The implementation principle of the joint angle adjustment device of a welding robot in the embodiment of the present application is as follows: the staff connects the required robotic arms through the rear arm connecting seat 1 and the forearm connecting seat 3 respectively. When it is necessary to adjust the rotation angle in the horizontal direction, it is assumed that the push platform 13 is already inside the No. 1 clamping ring 12 at this time. Under the action of the engagement between the bayonet 15 and the clamping slot, the servo motor 11 rotates and directly drives the push platform 13 to rotate through the connecting rod 14, and indirectly drives the No. 1 clamping ring 12 to rotate, thereby realizing the angle adjustment in the horizontal direction. When it is necessary to adjust the swing angle of the front robotic arm in the up and down directions, the cylinder 4 is started at this time, and the servo is driven by the output end of the cylinder 4. The motor 11 slides upward on one side of the mounting plate 5, and directly drives the connecting rod 14 to move upward through the servo motor 11. The connecting rod 14 pushes the push platform 13 to move the second retaining ring 16 upward. When the pin 15 on the push platform 13 can be smoothly inserted into the groove on the second retaining ring 16 under the special structure of the hexagonal prism, the length of the pin 15 is greater than the depth of the limit groove 17. The spring 18 mainly plays a buffering and shock-absorbing role. When the push platform 13 switches to the second retaining ring 16, the servo motor 11 rotates, driving the worm 10 to rotate. The worm 10 drives the second gear 6, the third gear 7 and the first gear 8 to rotate through the turbine 9, thereby realizing the up and down swing function of the front robotic arm.

[0031] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A joint angle adjustment device for a welding robot, comprising a rear arm connecting seat (1), a forearm connecting seat (3) and a box (2), characterized in that: The upper side of the rear arm connecting seat (1) is fixedly connected to a No. 1 snap ring (12), the upper side of the No. 1 snap ring (12) is rotatably connected to the lower side of the box body (2), the inner bottom side of the box body (2) is rotatably connected to a No. 2 snap ring (16), the upper side of the No. 2 snap ring (16) is fixedly connected to a worm (10), the upper end of the worm (10) is rotatably connected to the upper side of the box body (2), the central axes of the worm (10), the No. 2 snap ring (16) and the No. 1 snap ring (12) are all located on the same vertical line, one side of the worm (10) is meshed with a turbine (9), one side of the turbine (9) is provided with a forearm rotating mechanism, the upper side of the worm (10) is provided with a rear arm rotating mechanism, and the inner sides of the No. 2 snap ring (16) and the No. 1 snap ring (12) are both provided with a plurality of slots.

2. The joint angle adjustment device of a welding robot according to claim 1, characterized in that: The forearm rotating mechanism includes a No. 1 transmission rod fixedly connected to the turbine (9), the No. 1 transmission rod rotates between the two sides of the box (2), the No. 1 transmission rod is fixedly connected to the first gear (8) at symmetrical positions on both sides of the turbine (9), and a No. 2 transmission rod rotatably connected to the inside of the box (2) is provided on the upper and lower directions of one side of the No. 1 transmission rod, each of which is fixedly connected to the second gear (6) on both sides, and a forearm connecting mechanism is provided on one side of the two pairs of the second gears (6).

3. The joint angle adjustment device of a welding robot according to claim 2, characterized in that: The forearm connecting mechanism includes a third transmission rod provided on one side of two pairs of the second gears (6), the third transmission rod being rotatably connected to both sides of the interior of the box (2), and third gears (7) being fixedly connected to both sides of the third transmission rod, the third gears (7) on each side being simultaneously engaged with a pair of the second gears (6) on the same side, and the third transmission rod between the two third gears (7) being fixedly connected to one side of the forearm connecting seat (3).

4. The joint angle adjustment device of a welding robot according to claim 1, characterized in that: The rear arm rotation mechanism includes a push platform (13) slidably connected to a No. 1 snap ring (12), and limiting grooves (17) are respectively provided on both sides of the interior of the push platform (13). The bottom sides of the two limiting grooves (17) are respectively fixedly connected with springs (18), and one end of the two springs (18) is respectively fixedly connected with a bayonet (15) slidably connected to the inner side of the limiting groove (17). The bayonet (15) on both sides is respectively engaged with the bayonet grooves on the No. 1 snap ring (12), and a push platform switching mechanism is provided on the upper side of the push platform (13).

5. The joint angle adjustment device of a welding robot according to claim 4, characterized in that: The push table switching mechanism comprises a mounting plate (5) fixedly connected to the upper side of the box body (2); a cylinder (4) is fixedly connected to the upper side of the mounting plate (5); an output end of the cylinder (4) passes through the mounting plate (5) and extends downward; and a driving mechanism is provided at the output end of the cylinder (4).

6. The joint angle adjustment device of a welding robot according to claim 5, characterized in that: The driving mechanism comprises a servo motor (11) fixedly connected to the output end of the cylinder (4), one side of the servo motor (11) is slidably connected to the mounting plate (5), the output end of the servo motor (11) is fixedly connected to a connecting rod (14), and the lower end of the connecting rod (14) is fixedly connected to the push platform (13).

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