Joint structure of welding robot

Abstract

The utility model is applicable to the field of welding robots, and provides a joint structure of a welding robot, which comprises a mechanical arm I, a mechanical arm II and two joint components, a movable cavity is fixedly arranged in the mechanical arm I, a mounting plate is fixedly mounted in the movable cavity, a movable seat is arranged at one end of the mechanical arm II, and a movable seat is arranged at the other end of the mechanical arm II. Two adjusting grooves are fixedly formed in the end of the movable seat, two movable holes are fixedly formed in the side face of each adjusting groove, each joint assembly comprises a motor, a sleeve rod, a lead screw and a movable shaft, the sleeve rods are driven by the arranged motors to rotate, telescopic movement of the lead screws is controlled through the arranged lead screws and the sleeve rods under the action of internal and external threads, and the movable holes are formed in the movable shafts. The two lead screws are matched with the movable holes and the movable shafts, rotation of the joints of the robot is achieved by controlling stretching and retracting of the two joint assemblies, meanwhile, overall stretching and retracting movement of the second mechanical arm can be controlled while rotation of the joints is guaranteed, and therefore the freedom degree of the device is increased, and the working range of the device is widened.

Description

TECHNICAL FIELD

[0001] The utility model belongs to welding robot field, especially relates to a joint structure of welding robot. BACKGROUND

[0002] The welding robot is a kind of robot equipment specially used for automatic welding operation, is usually used to carry out welding operation in industrial production, especially in automobile manufacturing, electronic product production, metal processing etc. Welding robot can replace manual work to complete welding task, to improve production efficiency, welding precision and consistency, reduce the security risk of manual operation.

[0003] Welding robot usually needs to control joint rotation when working, however, the existing robot joint structure is usually relatively complex, usually needs to adopt special motor, cost is higher, simultaneously, mechanical person usually can only operate in the range of arm rotation, and the working range is limited. UTILITY MODEL CONTENT

[0004] The utility model embodiment is to provide a kind of joint structure of welding robot, to solve the problem proposed in background art.

[0005] The utility model embodiment is realized as follows, a kind of joint structure of welding robot, including mechanical arm one, mechanical arm two and two joint assemblies, the movable cavity is fixedly arranged in the mechanical arm one, the mounting plate is fixedly installed in the movable cavity, the movable seat is provided at one end of the mechanical arm two, the two adjusting grooves are fixedly opened in the movable seat end portion, two movable holes are fixedly opened in the side of the two adjusting grooves, the two joint assemblies all include motor, sleeve rod, screw rod and movable shaft, the motor is fixedly installed on mounting plate side, the sleeve rod is fixedly connected with motor spindle, the sleeve rod is movably penetrated mounting plate, the screw rod is movably installed in sleeve rod, the screw rod one end is fixedly installed with shaft seat, the shaft seat is movably located in adjusting groove, the movable shaft is movably installed in shaft seat, and the movable shaft both ends are movably located in movable hole.

[0006] As a further scheme of the utility model: the limit board is fixedly installed in the movable cavity, the limit board and mounting plate are all set as plate structure, and the sleeve rod is movably penetrated limit board.

[0007] As a further scheme of the utility model: the limit post is fixedly installed outside the movable seat symmetrically, the limit slot is fixedly opened in the side of the movable cavity corresponding limit post, and the limit post is movably located in limit slot.

[0008] As a further scheme of the utility model: the limit post is set as cylindrical structure, the limit slot is set as square groove, and the limit post outer diameter is same with limit slot width.

[0009] As a further scheme of the utility model: two joint assemblies are symmetrically arranged in parallel, and the limiting grooves are parallel to the symmetric axes of the two joint assemblies.

[0010] As a further scheme of the utility model: the movable hole is arranged as a waist-shaped hole, the movable shaft is arranged as a cylindrical structure, and the outer diameter of the movable shaft is the same as the width of the movable hole.

[0011] The utility model has the advantages of:

[0012] The joint structure of the welding robot provided in the utility model embodiment has the following advantages: the motor drives the sleeve rod to rotate, the extension and retraction of the lead screw are controlled under the action of the internal and external threads of the lead screw and the sleeve rod, the two lead screws cooperate with the movable hole and the movable shaft, the rotation of the robot joint is realized by controlling the extension and retraction of the two joint assemblies, the overall extension and retraction of the mechanical arm two can be controlled while ensuring the rotation of the joint, and thus the degree of freedom and working range of the device are improved.

[0013] The joint structure of the welding robot provided in the utility model embodiment has the following advantages: the limiting plate is arranged to limit the sleeve rod, the limiting plate shares the stress when the lead screw extends and retracts, the radial stress of the lead screw is reduced, and the stability of the movement of the lead screw is improved, thereby ensuring the stability of the bending of the mechanical arm.

[0014] The joint structure of the welding robot provided in the utility model embodiment has the following advantages: the limiting column is movably arranged in the limiting groove, and the limiting column limits the movement of the movable seat along the limiting groove during work, thereby facilitating the control of the movement of the movable seat.

[0015] The joint structure of the welding robot provided in the utility model embodiment has the following advantages: when the extension and retraction lengths of the two joint assemblies are different, the movable hole is arranged as a waist-shaped hole, the distance between the two movable shafts is compensated, the normal operation of the structure is ensured, and the movable hole and the movable shaft interact to provide support force for the joint. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 FIG. 1 is a perspective view of a joint structure of a welding robot according to an embodiment of the utility model;

[0017] Fig. 2 FIG. 2 is a partial cross-sectional view of the joint structure of the welding robot according to the embodiment of the utility model;

[0018] Fig. 3 FIG. 3 is a partial structure view of the joint structure of the welding robot according to the embodiment of the utility model, showing the mechanical arm two and the joint assembly.

[0019] In the attached diagram: 1. Robotic arm 1, 11. Movable cavity, 12. Mounting plate, 13. Limiting plate, 14. Limiting groove, 2. Robotic arm 2, 21. Movable seat, 22. Adjustment groove, 23. Movable hole, 24. Limiting post, 3. Joint assembly, 31. Motor, 32. Sleeve rod, 33. Lead screw, 34. Shaft seat, 35. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.

[0022] like Figs. 1 to 3 As shown, an embodiment of the present invention provides a joint structure for a welding robot, including a first robotic arm 1, a second robotic arm 2, and two joint components 3. The first robotic arm 1 has a fixed movable cavity 11, and a mounting plate 12 is fixedly installed in the movable cavity 11. The second robotic arm 2 has a movable seat 21 at one end, and two adjustment grooves 22 are fixedly opened at the end of the movable seat 21. Two movable holes 23 are fixedly opened on the sides of the two adjustment grooves 22. Each of the two joint components 3 includes a motor 31, a sleeve rod 32, a lead screw 33, and a movable shaft 35. The motor 31 is fixedly installed on one side of the mounting plate 12. The sleeve rod 32 is fixedly connected to the main shaft of the motor 31 and movably passes through the mounting plate 12. The lead screw 33 is movably installed in the sleeve rod 32. A bearing seat 34 is fixedly installed at one end of the lead screw 33 and movably located in the adjustment groove 22. The movable shaft 35 is movably installed in the bearing seat 34, and both ends of the movable shaft 35 are movably located in the movable holes 23.

[0023] In one embodiment of this utility model, the sleeve rod 32 is driven to rotate by the motor 31. The extension and retraction of the lead screw 33 is controlled by the internal and external threads of the lead screw 33 and the sleeve rod 32. The two lead screws 33 cooperate with the movable hole 23 and the movable shaft 35 to realize the rotation of the robot joint by controlling the extension and retraction of the two joint components 3. At the same time, while ensuring the joint rotation, the overall extension and retraction of the robotic arm 2 can also be controlled, thereby improving the degree of freedom and working range of the device.

[0024] like Fig. 2 As shown, in another embodiment of the present invention, a limiting plate 13 is fixedly installed in the movable cavity 11. Both the limiting plate 13 and the mounting plate 12 are plate-shaped structures, and the sleeve rod 32 movably passes through the limiting plate 13.

[0025] In one embodiment of the utility model, through setting the limiting board 13, the sleeve rod 32 is limited, when the screw rod 33 is telescopic, the stress is shared, the radial stress of screw rod 33 is reduced, and the stability of screw rod 33 is improved, so that the stability of the mechanical hand is guaranteed.

[0026] As Fig. 2 And Fig. 3 As another embodiment of the utility model, the movable seat 21 is symmetrically fixed with a limiting column 24 outside, the movable cavity 11 is fixed with a limiting slot 14 on the side surface corresponding to the limiting column 24, and the limiting column 24 is movably arranged in the limiting slot 14.

[0027] Specifically, the limiting column 24 is in a cylindrical structure, the limiting slot 14 is in a square slot, and the outer diameter of the limiting column 24 is the same as the width of the limiting slot 14.

[0028] In one embodiment of the utility model, the limiting column 24 is movably arranged in the limiting slot 14, and during work, the movable seat 21 moves along the limiting slot 14, so that the movement of the movable seat 21 is controlled.

[0029] As Fig. 2 And Fig. 3 As another embodiment of the utility model, the two joint assemblies 3 are symmetrically arranged in parallel, and the limiting slot 14 is parallel to the symmetry axis of the two joint assemblies 3.

[0030] In one embodiment of the utility model, the joint assembly 3 is symmetrically arranged, the rotating direction and the rotating number of the motor 31 are controlled, and the elongation and rotation of the mechanical arm two 2 are controlled.

[0031] As Fig. 2 And Fig. 3 As another embodiment of the utility model, the movable hole 23 is in a waist-shaped hole, the movable shaft 35 is in a cylindrical structure, and the outer diameter of the movable shaft 35 is the same as the width of the movable hole 23.

[0032] In one embodiment of the utility model, when the telescopic lengths of the two joint assemblies 3 are different, the movable hole 23 is in a waist-shaped hole, the distance between the two movable shafts 35 is compensated, the normal operation of the structure is guaranteed, the movable hole 23 and the movable shaft 35 interact, and the support force of the joint can be provided.

[0033] It is apparent for a person skilled in the art that the present application is not restricted to the details of the foregoing exemplary embodiments, but that the present application can also be embodied in other specific forms without departing from the spirit or essential characteristic of the application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims should not be construed as limiting the scope of the claims.

[0034] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0035] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0036] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For a person skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] In addition, it should be understood that although the present application is described in the form of embodiments, each embodiment does not contain only one independent technical solution, and the technical solutions in the embodiments should be considered as a whole by the person skilled in the art, and the technical solutions in the embodiments can be appropriately combined to form other embodiments that can be understood by the person skilled in the art.

Claims

1. A joint structure for a welding robot, comprising a first robotic arm (1), a second robotic arm (2), and two joint components (3), characterized in that, The first robotic arm (1) has a fixed movable cavity (11) inside, and a mounting plate (12) is fixedly installed inside the movable cavity (11). The second robotic arm (2) has a movable seat (21) at one end, and two adjustment slots (22) are fixedly opened at the end of the movable seat (21). Two movable holes (23) are fixedly opened on the sides of the two adjustment slots (22). Both joint components (3) include a motor (31), a sleeve rod (32), a lead screw (33), and a movable shaft (35). The machine (31) is fixedly installed on one side of the mounting plate (12). The sleeve (32) is fixedly connected to the main shaft of the motor (31). The sleeve (32) movably passes through the mounting plate (12). The lead screw (33) is movably installed in the sleeve (32). One end of the lead screw (33) is fixedly installed with a bearing seat (34). The bearing seat (34) is movably located in the adjusting groove (22). The movable shaft (35) is movably installed in the bearing seat (34). Both ends of the movable shaft (35) are movably located in the movable hole (23).

2. The joint structure of a welding robot according to claim 1, characterized in that, A limiting plate (13) is fixedly installed inside the movable cavity (11). Both the limiting plate (13) and the mounting plate (12) are plate-shaped structures. The sleeve rod (32) moves through the limiting plate (13).

3. The joint structure of a welding robot according to claim 1, characterized in that, The movable seat (21) is symmetrically fixedly installed with limiting posts (24) on the outside. The movable cavity (11) is fixedly opened with a limiting groove (14) on the side corresponding to the limiting post (24). The limiting post (24) is movably located in the limiting groove (14).

4. The joint structure of a welding robot according to claim 3, characterized in that, The limiting post (24) is configured as a cylindrical structure, and the limiting groove (14) is configured as a square groove. The outer diameter of the limiting post (24) is the same as the width of the limiting groove (14).

5. The joint structure of a welding robot according to claim 4, characterized in that, The two joint components (3) are arranged in parallel and symmetrical arrangement, and the limiting groove (14) is parallel to the axis of symmetry of the two joint components (3).

6. The joint structure of a welding robot according to claim 1, characterized in that, The movable hole (23) is set as an oblong hole, and the movable shaft (35) is set as a cylindrical structure. The outer diameter of the movable shaft (35) is the same as the width of the movable hole (23).

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