Multi-degree-of-freedom welding robot with parallel controllable structure

Abstract

The utility model relates to the technical field of welding robots, in particular to a multi-degree-of-freedom welding robot with a parallel controllable structure, which comprises a welding workbench, a support frame is fixed above the welding workbench, and the bottom of the support frame is slidably connected with a welding robot assembly. A position adjusting assembly is arranged at the joint of the welding robot assembly and the supporting frame, and a lubricating assembly is arranged in the welding robot assembly. The lubricating assembly comprises a lubricating cavity body, a slidable sealing plate is installed in the lubricating cavity body, a connecting cavity communicating with the lubricating cavity body is formed in the top of the lubricating cavity body, a connecting nozzle is fixed to the output end of the connecting cavity, and a connecting piece is fixed to the top of the connecting nozzle. And an oil inlet hole is formed in the connecting piece. According to the welding robot assembly, through the arranged lubricating assembly, lubricating oil can be squeezed into the connecting piece, internal assemblies of the connecting piece are lubricated, and normal work of the welding robot assembly is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding robot technical field especially is related to a kind of multi-degree-of-freedom welding robots with parallel controllable structure. BACKGROUND

[0002] In the field of welding robots, multi-degree-of-freedom robots with parallel controllable structure are high-performance automated equipment based on parallel mechanism design. The core is to realize high-precision, high-rigidity and flexible motion control through the combination of parallel configuration and active control technology.

[0003] The parallel mechanism used by the welding robot is a structure in which multiple independent drive branches are connected to the dynamic platform. In order to meet the multi-degree-of-freedom adjustment of the welding robot, the parallel structure needs to be lubricated in time, otherwise it will affect the normal movement of the connecting piece. SUMMARY

[0004] The utility model aims at providing a kind of multi-degree-of-freedom welding robots with parallel controllable structure, by the lubricating assembly of setting, can extrude lubricating oil into connecting piece, the internal components of connecting piece are lubricated, ensure the normal work of welding robot component, to solve the problem proposed in the above background technology.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a kind of multi-degree-of-freedom welding robots with parallel controllable structure, including welding workbench, the upper portion of welding workbench is fixed with support frame, the bottom of support frame is slidably connected with welding robot component, and position adjusting assembly is arranged at the connecting place of welding robot component and support frame, the inside of welding robot component is provided with lubricating assembly;

[0006] The lubricating assembly includes a lubricating cavity, a sealable plate is installed inside the lubricating cavity, a connecting cavity is provided at the top of the lubricating cavity, the connecting cavity is in communication with the lubricating cavity, a connecting nozzle is fixed to the output end of the connecting cavity, a connecting piece is fixed to the top of the connecting nozzle, an oil inlet hole is formed in the connecting piece, and an oil supply cavity is connected to the top of the oil inlet hole.

[0007] The lubricating assembly further includes a plug rod fixed to the inner side of the support frame.

[0008] Preferably, the lubricating assembly further includes a guide sliding block fixed to the bottom of the sealable plate, and a guide sliding groove is formed at the connecting place of the guide sliding block and the lubricating cavity.

[0009] Preferably, a connecting rack is fixed to the bottom of the guide sliding block, and a transmission gear is engagedly connected to the inner side of the connecting rack, an installation groove is formed at the bottom of the lubricating cavity, and the transmission gear is rotatably installed in the installation groove.

[0010] Preferably, the side of the sealing plate is fixed with a push rod, and the push rod is fixed with a push plate through one side of the lubricating cavity, the push rod and the lubricating cavity are fixedly connected with a return spring, and the return spring is sleeved outside the push rod.

[0011] Preferably, the welding robot assembly comprises a robot base slidingly installed at the bottom of the support frame, and a transmission base is arranged below the robot base, the surfaces of the transmission base and the robot base are fixedly connected with connecting pieces, the connecting pieces are rotatably connected with connecting rods inside, and a welding gun is installed at the bottom of the transmission base.

[0012] Preferably, the middle part of the connecting rod is fixed with a connecting ball cavity, and the connecting ball cavity is rotatably connected with a rotating rod inside, and the top of the rotating rod is fixedly connected with an adjusting air cylinder, the lubricating cavity is arranged inside the transmission base, and the side of the transmission base is provided with a plug hole matched with the plug rod.

[0013] Preferably, the position adjusting assembly comprises a support rod fixed at the top of the robot base, and the top of the support rod is fixed with a screw rod sliding block, the inside of the screw rod sliding block is connected with an adjusting screw rod through a screw sleeve, and one end of the adjusting screw rod is fixed with a power output end of a servo motor.

[0014] Compared with the prior art, the welding robot assembly has the advantages that:

[0015] 1. The lubricating assembly can extrude lubricating oil into the connecting piece to lubricate the internal components of the connecting piece, thereby ensuring the normal work of the welding robot assembly.

[0016] 2. The position adjusting assembly can drive the welding robot assembly to slide, adjust the position of the welding robot assembly, increase the working range of the welding robot assembly, and drive the welding robot assembly to move towards the plug rod, thereby triggering the lubricating assembly. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0018] Figure 1 It is the overall structure view of the present application;

[0019] Figure 2 It is the structure schematic view of the welding robot assembly of the present application;

[0020] Figure 3 It is the half cut structure schematic view of the transmission base of the utility model;

[0021] Figure 4 It is the half cut structure schematic view of the transmission base of the utility model; Figure 3 It is the enlarged view of A in the utility model;

[0022] Figure 5 It is the structure schematic view of the sealing plate of the utility model;

[0023] Figure 6 It is the half cut structure schematic view of the connecting piece of the utility model.

[0024] Mark explanation:

[0025] 1, welding workbench;2, support frame;3, lubricating assembly;301, plug rod;302, plug hole;303, lubricating cavity cavity;304, push rod;305, push plate;306, reset spring;307, sealing plate;308, mounting groove;309, guide sliding slot;310, connecting cavity;311, guide sliding block;312, connecting rack;313, transmission gear;314, oil inlet hole;315, oil supply cavity;316, connecting mouth;4, position adjusting assembly;401, servo motor;402, adjusting screw;403, screw block;404, support rod;5, welding robot assembly;501, robot base;502, transmission base;503, welding torch;504, connecting piece;505, adjusting cylinder;506, connecting ball cavity;507, connecting rod;508, rotating rod. DETAILED DESCRIPTION

[0026] The technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0027] The utility model provides a technical scheme:

[0028] Please refer to Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 And Figure 6 , a kind of multi-degree-of-freedom welding robot with parallel controllable structure, including welding workbench 1, the upper portion of welding workbench 1 is fixed with support frame 2, welding robot assembly 5 is slidably connected to the bottom of support frame 2, and position adjusting assembly 4 is arranged at the connecting place of welding robot assembly 5 and support frame 2, and lubricating assembly 3 is arranged in welding robot assembly 5.

[0029] The lubricating assembly 3 comprises a lubricating cavity 303, a slidable sealing plate 307 is arranged in the lubricating cavity 303, a connecting cavity 310 is arranged at the top of the lubricating cavity 303 and communicates with the lubricating cavity 303, a connecting nozzle 316 is fixed at the output end of the connecting cavity 310, a connecting piece 504 is fixed at the top of the connecting nozzle 316, an oil inlet hole 314 is arranged in the connecting piece 504, and an oil supply cavity 315 is connected to the top of the oil inlet hole 314.

[0030] The lubricating assembly 3 further comprises a plug rod 301 fixed to the inner side of the support frame 2, and a guide sliding block 311 fixed to the bottom of the sealing plate 307, and a guide sliding groove 309 is arranged at the connecting position of the guide sliding block 311 and the lubricating cavity 303.

[0031] The bottom of the guide sliding block 311 is fixed with a connecting rack 312, the inner side of the connecting rack 312 is engaged with a transmission gear 313, the bottom of the lubricating cavity 303 is provided with a mounting groove 308, and the transmission gear 313 is rotatably arranged in the mounting groove 308, the side of the sealing plate 307 is fixed with a push rod 304, the push rod 304 penetrates through one side of the lubricating cavity 303 and is fixed with a push plate 305, a return spring 306 is fixedly connected between the push rod 304 and the lubricating cavity 303, and the return spring 306 is sleeved on the outer side of the push rod 304.

[0032] By adopting the above technical scheme, when the lubricating cavity 303 moves towards the plug rod 301, the plug rod 301 can push the push plate 305 to move, at this time, the push plate 305 can drive the push rod 304 to move, so as to drive the sealing plate 307 to slide in the lubricating cavity 303, when the sealing plate 307 moves, the sealing plate 307 slides in the guide sliding groove 309 through the guide sliding block 311, so as to drive the transmission gear 313 to rotate through one of the connecting racks 312, and when the transmission gear 313 rotates, it can drive the other group of connecting racks 312 to slide, and the group of connecting racks 312 can drive the other sealing plate 307 to slide, at this time, the distance between the two groups of sealing plates 307 is shortened, and the lubricating oil between the two groups of sealing plates 307 can be squeezed out of the connecting cavity 310 under the pushing of the sealing plate 307, at this time, the lubricating oil can enter the connecting nozzle 316 through the connecting cavity 310, and then enter the oil supply cavity 315 through the oil inlet hole 314, so as to lubricate the connecting piece 504, thereby ensuring the normal work of the welding robot assembly 5. Through the lubricating assembly 3 arranged, the lubricating oil can be squeezed into the connecting piece 504 to lubricate the internal components of the connecting piece 504, thereby ensuring the normal work of the welding robot assembly 5.

[0033] Specifically, as shown in Figure 2 and Figure 6As shown, the welding robot assembly 5 comprises a robot base 501 slidingly mounted at the bottom of the support frame 2, and a transmission base 502 is arranged below the robot base 501, the surfaces of the transmission base 502 and the robot base 501 are fixedly connected with connecting pieces 504, the connecting pieces 504 are rotatably connected with connecting rods 507 inside, the bottom of the transmission base 502 is provided with a welding gun 503, the middle of the connecting rod 507 is fixedly connected with a connecting ball cavity 506, the connecting ball cavity 506 is rotatably connected with a rotating rod 508 inside, the top of the rotating rod 508 is fixedly connected with an adjusting cylinder 505, and the lubricating cavity 303 is arranged inside the transmission base 502, and the side of the transmission base 502 is provided with a plug hole 302 matched with the plug rod 301.

[0034] The position adjusting assembly 4 comprises a support rod 404 fixedly connected to the top of the robot base 501, and the top of the support rod 404 is fixedly connected with a screw rod sliding block 403, the inside of the screw rod sliding block 403 is connected with an adjusting screw rod 402 through a silk cover, and one end of the adjusting screw rod 402 is fixedly connected with the power output end of a servo motor 401.

[0035] By adopting the above technical scheme, when the servo motor 401 is started, the adjusting screw rod 402 can be driven to rotate, the screw rod sliding block 403 can be driven to slide through the silk cover, and the welding robot assembly 5 can be driven to slide through the support rod 404 on the screw rod sliding block 403, so that the position of the welding robot assembly 5 can be adjusted, the working range of the welding robot assembly 5 is increased, and the welding robot assembly 5 can be driven to move towards the plug rod 301, so as to trigger the lubricating assembly 3, the oil supply cavity 315 penetrates the inside of the rotating rod 508, and the lubricating oil can enter the connecting ball cavity 506 through the oil supply cavity 315 to lubricate the connecting ball cavity 506 and the connecting rod 507;

[0036] When the welding robot assembly 5 is working, the position of the welding gun 503 can be adjusted by driving the adjusting cylinder 505 respectively, when the adjusting cylinder 505 is working, the rotating rod 508 can be rotated in the connecting ball cavity 506, the connecting ball cavity 506 can be rotated in the connecting piece 504 through the connecting rod 507, and the multi-angle adjustment of the welding gun 503 can be realized by cooperating with the working of the adjusting cylinder 505, and the parallel controllable of the welding robot assembly 5 can be realized by cooperating work of multiple adjusting cylinders 505.

[0037] Working principle: the position of the welding gun 503 is adjusted by driving the adjusting cylinder 505, when the adjusting cylinder 505 works, the connecting ball cavity 506 can rotate in the inside of the connecting piece 504 through the connecting rod 507, and the connecting ball cavity 506 can rotate in the inside of the connecting piece 504 through the connecting rod 507, cooperating with the work of the adjusting cylinder 505, realizing the multi-angle adjustment of the welding gun 503, and a plurality of adjusting cylinders 505 work together to realize the parallel controllable of the welding robot assembly 5, when lubrication is needed, the servo motor 401 is started, the adjusting screw rod 402 is driven to rotate, the screw rod sliding block 403 is driven to slide through the screw sleeve, and the welding robot assembly 5 is driven to slide through the supporting rod 404 on the screw rod sliding block 403, so that the position of the welding robot assembly 5 is adjusted, the working range of the welding robot assembly 5 is increased, and the welding robot assembly 5 can be driven to move towards the direction close to the inserting rod 301, when the lubricating cavity 303 moves towards the direction close to the inserting rod 301, the pushing plate 305 can be pushed to move through the inserting rod 301, at this time, the pushing plate 305 can drive the pushing rod 304 to move, so as to drive the sealing plate 307 to slide in the inside of the lubricating cavity 303, when the sealing plate 307 moves, the sealing plate 307 slides in the inside of the guide sliding groove 309 through the guide sliding block 311, so that another group of connecting racks 312 slides through the rotation of the transmission gear 313, and the other sealing plate 307 is driven to slide through the sliding of the connecting rack 312, at this time, the distance between the two groups of sealing plates 307 is shortened, and the lubricating oil between the two groups of sealing plates 307 is extruded from the connecting cavity 310 under the pushing of the sealing plate 307, at this time, the lubricating oil can enter the connecting mouth 316 through the connecting cavity 310, and then enter the oil supply cavity 315 through the oil inlet hole 314, and then lubricate the connecting piece 504.

[0038] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-degree of freedom welding robot with a parallel controllable structure, comprising a welding worktable (1), characterized in that: The upper portion of the welding workbench (1) is fixed with a support frame (2), the bottom of the support frame (2) is slidably connected with a welding robot assembly (5), and the welding robot assembly (5) is provided with a position adjusting assembly (4) at the connecting position with the support frame (2), and the inside of the welding robot assembly (5) is provided with a lubricating assembly (3). The lubricating assembly (3) comprises a lubricating cavity (303), a slidable sealing plate (307) is installed in the inside of the lubricating cavity (303), a connecting cavity (310) in communication with the lubricating cavity (303) is arranged at the top of the lubricating cavity (303), a connecting nozzle (316) is fixed at the output end of the connecting cavity (310), a connecting piece (504) is fixed at the top of the connecting nozzle (316), an oil inlet hole (314) is formed in the inside of the connecting piece (504), and an oil supply cavity (315) is connected to the top of the oil inlet hole (314). The lubricating assembly (3) further comprises a plug rod (301) fixed to the inner side of the support frame (2).

2. The multi-degree-of-freedom welding robot having a parallel controllable structure according to claim 1, characterized in that: The lubricating assembly (3) further comprises a guide sliding block (311) fixed to the bottom of the sealing plate (307), and a guide sliding groove (309) is formed at the connecting position of the guide sliding block (311) and the lubricating cavity (303).

3. The multi-degree-of-freedom welding robot having a parallel controllable structure according to claim 2, characterized in that: The bottom of the guide sliding block (311) is fixed with a connecting rack (312), the inner side of the connecting rack (312) is engaged with a transmission gear (313), and the bottom of the lubricating cavity (303) is provided with a mounting groove (308), and the transmission gear (313) is rotatably installed in the inside of the mounting groove (308).

4. The multi-degree-of-freedom welding robot having a parallel controllable structure according to claim 3, characterized in that: The side of the sealing plate (307) is fixed with a push rod (304), the push rod (304) penetrates through one side of the lubricating cavity (303) and is fixed with a push plate (305), a return spring (306) is fixedly connected between the push rod (304) and the lubricating cavity (303), and the return spring (306) is sleeved on the outside of the push rod (304).

5. The multi-degree-of-freedom welding robot having a parallel controllable structure according to claim 4, characterized in that: The welding robot assembly (5) comprises a robot base (501) slidably installed at the bottom of the support frame (2), and a transmission base (502) is arranged below the robot base (501), the surfaces of the transmission base (502) and the robot base (501) are fixed with connecting pieces (504), the inside of the connecting piece (504) is rotatably connected with a connecting rod (507), and the bottom of the transmission base (502) is provided with a welding gun (503).

6. The multi-degree-of-freedom welding robot having a parallel controllable structure according to claim 5, characterized in that: The middle portion of the connecting rod (507) is fixed with a connecting ball cavity (506), the inside of the connecting ball cavity (506) is rotatably connected with a rotating rod (508), the top of the rotating rod (508) is fixedly connected with an adjusting cylinder (505), the lubricating cavity (303) is formed in the inside of the transmission base (502), and the side of the transmission base (502) is provided with a plug hole (302) matched with the plug rod (301).

7. The multi-degree-of-freedom welding robot having a parallel controllable structure according to claim 6, characterized in that: The position adjusting assembly (4) comprises a supporting rod (404) fixed on the top of the robot base (501), and the top of the supporting rod (404) is fixed with a screw rod slider (403), the inside of the screw rod slider (403) is connected with an adjusting screw rod (402) through a screw sleeve, and one end of the adjusting screw rod (402) is fixed with the power output end of a servo motor (401).

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