Double-arm type manipulator capable of being assembled and welded

Abstract

The utility model relates to the technical field of welding equipment, and discloses a double-arm type manipulator capable of being assembled and welded, which comprises a base, an adjusting structure and a replacing structure are arranged on the base, the replacing structure is connected with the base through the adjusting structure, and a cavity is arranged in the base. A fourth motor drives two third gears to rotate on an annular rack through a second gear, so that the positions of the two third gears are switched, the positions of welding heads of different models on the two third gears are changed, a workpiece is welded, a proper welding head is automatically selected in the production process, manual intervention of an operator is reduced, and the production efficiency is improved. And the labor cost and the operation complexity are reduced, the switching of the welding heads is rapidly completed, the production line does not need to be stopped for manual replacement, the different welding heads are rapidly switched according to requirements during use, and the welding head switching device is suitable for workpieces of different types and shapes.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding equipment technical field, especially relates to a two -armed manipulator of assembly welding. BACKGROUND

[0002] In modern industrial manufacturing, two -armed manipulator is widely used in automatic welding operation to improve production efficiency and welding quality, however, different types of welding task and workpiece demand change frequently, require manipulator to have the ability of quick replacement welding head and flexible adjustment work position to adapt to diversified welding process, traditional manual replacement and adjustment mode not only time -consuming, also can lead to operation error and equipment wear.

[0003] The applicant found that a welding manipulator was disclosed in Chinese patent with publication (announcement) number CN220127932U, which mainly adopts horizontal sliding plate, first sliding block, vertical sliding plate, second sliding block, mechanical arm main body and welding head, which effectively solves the problem that most existing welding manipulators are rotary type, but the welding head of the device needs to be manually disassembled and then replaced, the operator needs to spend time to remove the old welding head and install the new welding head, which will result in long downtime, which will increase labor cost, especially in the production environment where the welding head needs to be frequently replaced, the operator needs to be close to the manipulator and welding equipment, which will increase the risk of contacting high-temperature welding head or moving parts, and safety accidents such as scalding or pinching are easy to occur, therefore, the two -armed manipulator of assembly welding is proposed. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a two -armed manipulator of assembly welding to solve the problem that the welding head of the device needs to be manually disassembled and then replaced, the operator needs to spend time to remove the old welding head and install the new welding head, which will result in long downtime, which will increase labor cost, especially in the production environment where the welding head needs to be frequently replaced, the operator needs to be close to the manipulator and welding equipment, which will increase the risk of contacting high-temperature welding head or moving parts, and safety accidents such as scalding or pinching are easy to occur.

[0005] To achieve the above object, the utility model provides the following technical scheme: A two -armed manipulator of assembly welding, including base, be provided with adjusting structure and replacement structure on the base, replacement structure is connected with the base through adjusting structure, the inside of base is provided with cavity, replacement structure includes mounting plate and fourth motor, the inside side wall of mounting plate is fixedly installed annular rack, the third gear is installed to fourth motor through second gear engagement, the third gear and annular rack are mutually engaged, fixedly installed cylinder on the third gear, the arc plate is rotatably installed to cylinder through screw rod, the arc plate is slidably connected with cylinder through guide rod.

[0006] As a preferred scheme, the adjusting structure includes a toothed disc, a first motor and a first gear, the toothed disc and the first gear are rotatably installed at the top end of the base, and the first gear is in meshing engagement with the toothed disc, the first motor is fixedly installed in the internal cavity of the base, the motor shaft of the first motor is fixedly connected with the first gear through the top wall of the base, and the motor shaft of the first motor is rotatably connected with the top wall of the base.

[0007] As a preferred scheme, the top end of the toothed disc is fixedly installed with a fixed frame, the connecting rod is rotatably installed in the fixed frame, the second motor is fixedly installed on the outer wall of the fixed frame, and the motor shaft of the second motor is fixedly connected with the connecting rod.

[0008] As a preferred scheme, the connecting rod rotatably installs a T-shaped frame at one end away from the fixed frame, the third motor is fixedly installed on the outer side of the connecting rod, and the motor shaft of the third motor is fixedly connected with the T-shaped frame.

[0009] As a preferred scheme, the mounting plate is fixedly installed at both ends of the T-shaped frame, the fourth motor is fixedly installed on the T-shaped frame, the second gear is fixedly installed on the motor shaft of the fourth motor, one end of the mounting plate extends inwardly, the extended end of the mounting plate is in surface contact with the third gear, and the surface of the third gear is slidably connected with the extended end of the mounting plate.

[0010] As a preferred scheme, the screw rod is threadedly installed on the side wall of the cylinder, the arc plate is rotatably installed at one end of the screw rod, the guide rod is fixedly installed on the arc plate, the guide rod extends to the outside of the cylinder through the cylinder, and the guide rod is slidably connected with the cylinder, and the rotary disc is fixedly installed at one end of the screw rod away from the arc plate.

[0011] The utility model discloses technical effect and advantage:

[0012] 1、through the setting of the replacement structure, the fourth motor drives two third gears to rotate on the ring gear through the second gear, so that the position of the two third gears is converted, so that the different types of welding heads on the two third gears are replaced, thereby welding the workpiece, automatically selecting the appropriate welding head during production, reducing the manual intervention of the operator, reducing the labor cost and operation complexity, quickly completing the switching of the welding head without stopping the production line for manual replacement, so that different welding heads can be quickly switched according to the needs during use, and different types and shapes of workpieces can be adapted;

[0013] 2、through the setting of the adjusting structure, the first motor drives the gear disc to rotate through the first gear, the connecting rod is driven to rotate by the second motor, and the T-shaped frame is driven to rotate by the third motor, so that the replacement structure is at different positions and angles, and the multi-degree-of-freedom adjustment can adapt to workpieces with complex shapes, curved surfaces or multi-angle welding, whether vertical, horizontal or inclined, the manipulator can be accurately adjusted, the needs of diversified welding processes can be met, the position and angle of the welding head can be automatically adjusted during operation, manual intervention or manual adjustment is not needed, and downtime caused by manual adjustment is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0015] Figure 2 It is an adjusting structure schematic view of the utility model;

[0016] Figure 3 It is a replacement structure schematic view of the utility model;

[0017] Figure 4 It is one of the replacement structure partial schematic views of the utility model;

[0018] Figure 5 It is the second replacement structure partial schematic view of the utility model;

[0019] Figure 6 It is the third replacement structure partial schematic view of the utility model.

[0020] In the drawing: 1, base; 2, adjusting structure; 21, gear disc; 22, first motor; 23, first gear; 24, fixed frame; 25, connecting rod; 26, second motor; 27, T-shaped frame; 28, third motor; 3, replacement structure; 301, mounting plate; 302, ring gear; 303, second gear; 304, fourth motor; 305, third gear; 306, cylinder; 307, screw; 308, arc plate; 309, guide rod; 310, turntable. DETAILED DESCRIPTION

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example 1:

[0022] Please see the appendix Figure 1 and attached Figure 2 A weldable dual-arm robotic arm includes a base 1, on which an adjustment structure 2 and a replacement structure 3 are provided. The replacement structure 3 is connected to the base 1 via the adjustment structure 2. The base 1 has an internal cavity. The adjustment structure 2 includes a geared disc 21, a first motor 22, and a first gear 23. The geared disc 21 and the first gear 23 are rotatably mounted on the top of the base 1, and the first gear 23 meshes with the geared disc 21. The first motor 22 is fixedly mounted in the internal cavity of the base 1, and the motor shaft of the first motor 22 passes through the base. The top wall of base 1 is fixedly connected to the first gear 23. The motor shaft of the first motor 22 is rotatably connected to the top wall of base 1. A fixed frame 24 is fixedly installed on the top of the gear plate 21. A connecting rod 25 is rotatably installed inside the fixed frame 24. A second motor 26 is fixedly installed on the outer wall of the fixed frame 24. The motor shaft of the second motor 26 is fixedly connected to the connecting rod 25. A T-shaped frame 27 is rotatably installed on the end of the connecting rod 25 away from the fixed frame 24. A third motor 28 is fixedly installed on the outside of the connecting rod 25. The motor shaft of the third motor 28 is fixedly connected to the T-shaped frame 27.

[0023] Specifically, in the adjustment structure 2, the first motor 22 drives the gear plate 21 to rotate via the first gear 23, the second motor 26 drives the connecting rod 25 to rotate, and the third motor 28 causes the T-shaped frame 27 to rotate, so that the replacement structure 3 is in different positions and angles. This multi-degree-of-freedom adjustment can adapt to the welding of complex shapes, curved surfaces or multi-angle workpieces, and can be precisely adjusted without manual intervention, reducing downtime. Example 2:

[0024] Please see the appendix Figure 3 - Appendix Figure 6The replacement structure 3 comprises a mounting plate 301 and a fourth motor 304, the mounting plate 301 is fixedly installed at both ends of the T-shaped frame 27, the inner side wall of the mounting plate 301 is fixedly installed with an annular rack 302, the fourth motor 304 is fixedly installed on the T-shaped frame 27, and the motor shaft of the fourth motor 304 extends to the inside of the mounting plate 301 through the T-shaped frame 27, the motor shaft of the fourth motor 304 is rotationally connected with the T-shaped frame 27 and the mounting plate 301, a second gear 303 is fixedly installed on the motor shaft of the fourth motor 304, the second gear 303 is meshed with a third gear 305, the number of the third gears 305 is two, the third gears 305 are meshed with the annular rack 302, the end of the mounting plate 301 extends inwardly by a section, the extended section of the mounting plate 301 is in contact with the third gear 305, and the surface of the third gear 305 is slidingly connected with the extended end of the mounting plate 301, a cylinder body 306 is fixedly installed on the third gear 305, a screw rod 307 is threadedly installed on the side wall of the cylinder body 306, an arc-shaped plate 308 is rotationally installed at one end of the screw rod 307 in the cylinder body 306, a guide rod 309 is fixedly installed on the arc-shaped plate 308, the guide rod 309 extends to the outside of the cylinder body 306 through the cylinder body 306 and is slidingly connected with the cylinder body 306, and a rotating disc 310 is fixedly installed at the end of the screw rod 307 away from the arc-shaped plate 308.

[0025] Specifically, in the replacement structure 3, the fourth motor 304 drives the second gear 303 to rotate the two third gears 305 along the annular rack 302 to realize position conversion, so as to replace different types of welding heads, and the appropriate welding head can be automatically selected during production, manual intervention is reduced, labor cost and operation difficulty are reduced, the welding head can be quickly switched without stopping the production line, and different workpieces can be adapted.

[0026] The utility model discloses a kind of double-arm mechanical hands of assembly welding, different models of welding head are placed into to cylinder 306, rotating turntable 310, screw rod 307 is rotated by turntable 310, screw rod 307 is moved in cylinder 306 by screw rod 307 rotation, arc plate 308 is moved by screw rod 307 movement, welding head is clamped by arc plate 308, start first motor 22, first gear 23 is rotated by motor shaft of first motor 22, because the meshing relationship of first gear 23 and toothed disc 21, so first gear 23 drives toothed disc 21 to rotate, fixed frame 24 is rotated by toothed disc 21, start second motor 26, connecting rod 25 is rotated in fixed frame 24 by motor shaft of second motor 26, start third motor 28, T-shaped frame 27 is rotated in connecting rod 25 by motor shaft of third motor 28, make replacement structure 3 move to the position of workpiece welding, start welding head on upside and weld workpiece, when needing to replace welding head and weld workpiece, start fourth motor 304, second gear 303 is rotated by motor shaft of fourth motor 304, because the meshing relationship of second gear 303 and third gear 305, third gear 305 and annular rack 302 Meshing relationship, so when second gear 303 drives third gear 305 to rotate, third gear 305 will rotate on annular rack 302 around second gear 303, so that welding head on bottom side rotates to upper, welding head on upside rotates to lower, change the position of different welding head, then start welding head again and weld workpiece, without different models of welding head are disassembled and then replaced.

[0027] Finally, it should be noted that: the above only for preferred embodiment of the utility model has described, and is not used to limit the utility model, although the utility model is described in detail with reference to the foregoing embodiment, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part of technical features, any modification, equivalent replacement, improvement etc. made within the spirit and principles of the utility model, should be included in the protection scope of the utility model.

Claims

1. A double-arm robot that can be assembled by welding, comprising a base (1), characterized in that: The base (1) is provided with adjusting structure (2) and replacement structure (3), the replacement structure (3) is connected with the base (1) through adjusting structure (2), the inside of base (1) is provided with a cavity, the replacement structure (3) includes mounting plate (301) and fourth motor (304), the inside side wall of mounting plate (301) is fixedly installed annular rack (302), the fourth motor (304) is engaged with third gear (305) through second gear (303), the third gear (305) is engaged with annular rack (302), the third gear (305) is fixedly installed with cylinder (306), the cylinder (306) is rotatably installed with arc plate (308) through screw rod (307), the arc plate (308) is slidably connected with the cylinder (306) through guide rod (309).

2. The weldable dual-arm robot of claim 1, wherein: The adjusting structure (2) includes toothed disc (21), first motor (22) and first gear (23), the toothed disc (21) and first gear (23) are rotatably installed at the top of base (1) respectively, and the first gear (23) is engaged with the toothed disc (21), the first motor (22) is fixedly installed in the inside cavity of base (1), the motor shaft of first motor (22) is fixedly connected with first gear (23) through the top wall of base (1), and the motor shaft of first motor (22) is rotatably connected with the top wall of base (1).

3. The weldable, dual-arm robot of claim 2, wherein: The top of toothed disc (21) is fixedly installed with fixed frame (24), the inside of fixed frame (24) is rotatably installed with connecting rod (25), the outer wall of fixed frame (24) is fixedly installed with second motor (26), the motor shaft of second motor (26) is fixedly connected with connecting rod (25).

4. The pair of arms of claim 3, wherein: The end, away from fixed frame (24), of connecting rod (25) is rotatably installed with T-shaped frame (27), the outer side of connecting rod (25) is fixedly installed with third motor (28), and the motor shaft of third motor (28) is fixedly connected with T-shaped frame (27).

5. The weldable dual-arm robot of claim 1, wherein: The mounting plate (301) is fixedly installed at both ends of T-shaped frame (27), the fourth motor (304) is fixedly installed on T-shaped frame (27), the second gear (303) is fixedly installed on the motor shaft of fourth motor (304), and the end of mounting plate (301) extends inwardly by a section, the section of mounting plate (301) is in surface contact with third gear (305), and the surface of third gear (305) is slidably connected with the end of mounting plate (301).

6. The weldable dual-arm robot of claim 1, wherein: The screw rod (307) is threadedly installed on the side wall of cylinder (306), the arc plate (308) is rotatably installed at one end of screw rod (307), the guide rod (309) is fixedly installed on the arc plate (308), the guide rod (309) extends to the outside of cylinder (306) through the cylinder (306), and the guide rod (309) is slidably connected with the cylinder (306), and the end, away from arc plate (308), of screw rod (307) is fixedly installed with turntable (310).

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