High-precision welding robot

Abstract

A high-precision welding robot comprises a main body capable of achieving multi-axis movement, the tail end of the main body is connected with a tail end shaft capable of swinging, the tail end shaft comprises a shell, the shell is movably connected to the main body and is driven by the main body to swing, and the tail end shaft further comprises an installation disc used for installing a welding gun, a welding rod and a driving device, the rotating body is rotationally connected to the interior of the shell, the end of the rotating body is detachably connected with the mounting disc, a center hole is formed in the rotating body, and inner teeth are arranged on the inner wall of the center hole; the driving shaft is rotationally installed in the shell, and straight teeth meshed with the teeth in the center hole are arranged at one end of the driving shaft; and the driving assembly drives the driving shaft to rotate. The embodiment of the utility model provides a high-precision welding robot which can accurately drive a tail end shaft to move, so that the movement of a welding gun is more accurate, the welding precision is higher, and the welding quality is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding robot technical field especially relates to a high accuracy's welding robot. BACKGROUND

[0002] With the continuous improvement of science and technology level, the application occasion of robot is more and more, and the welding robot is a kind of robot for welding operation, usually can have multi-axis activity ability, and the end arm of welding gun assembly is on, so that multi-angle welding operation can be completed when moving along multi-axis, so that welding operation can be carried out in harsh environment or in automated production instead of manual work.

[0003] At present, the robot in the realization of multi-axis movement is usually driven by motor to rotate the joint connected with each other, so as to realize movement, specifically, a rotating shaft is arranged on the joint of two robot arms and is rotatably connected to the upper robot arm, and the lower robot arm is fixedly connected to the rotating shaft, and a motor is also rotatably connected to the rotating shaft to drive the rotating shaft to rotate, thereby driving the lower robot arm. At present, the transmission connection between the motor and the rotating shaft is mostly synchronous belt connection, wherein the structure of the synchronous belt transmission mechanism is simple, and the production cost is low, but the carrying capacity is poor, and the moving precision is low, especially when the motor needs to be frequently reversed, due to the existence of transmission gap, when the motor is switched between forward and reverse rotation, there will be a short idle period during transmission, thereby affecting the precision during transmission, especially in the welding robot with high precision requirement, the low moving precision seriously affects the welding quality.

[0004] Therefore, there is an urgent need for a new technology to solve the above technical problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a kind of high accuracy's welding robot, to solve at least one technical problem described above.

[0006] A kind of high accuracy's welding robot, including the main body of multi-axis activity, the main body end is connected with the end shaft of swing, the end shaft includes a shell, the shell is movably connected on the main body, and is driven by the main body to swing, the end shaft further includes:

[0007] Mounting disc, the mounting disc is rotatably connected on the end of the shell, to install welding gun;

[0008] A rotating body is rotatably connected inside the shell, and the rotating axis of the rotating body is in line with the axis of the mounting disc, the end of the rotating body is detachably connected with the mounting disc, a central hole is arranged in the rotating body, and internal teeth are arranged on the inner wall of the central hole;

[0009] A driving shaft is rotatably arranged inside the shell, and a straight tooth is arranged on one end of the driving shaft and meshes with the internal teeth of the central hole, so that the driving shaft and the rotating body form an internal gear transmission.

[0010] A driving assembly is drivingly connected with the driving shaft to drive the driving shaft to rotate.

[0011] Further, the rotating body comprises two coaxial rotating members, and an elastic structure is arranged between the two rotating members to enable the two rotating members to rotate in a circumferential staggered manner.

[0012] Further, the elastic structure comprises:

[0013] At least three mounting grooves are formed on the end face of one of the rotating members, and the mounting grooves are distributed at equal intervals in the circumferential direction.

[0014] An elastic member is arranged in the mounting groove, and a limiting block is formed on the end of each of the two rotating members and protrudes into the mounting groove, the two ends of the elastic member abut against the limiting blocks, and the two limiting blocks compress the elastic member to generate elastic force.

[0015] A threaded hole is formed on the end face of one of the rotating members, the other rotating member is provided with a linkage hole corresponding to the threaded hole, a locking member is arranged to pass through the linkage hole and be threadedly connected with the threaded hole, and the diameter of the locking member is smaller than the inner diameter of the linkage hole.

[0016] Further, the mounting grooves have the same curvature as the central hole and are concentrically arranged with the central hole.

[0017] Further, one of the end faces of the rotating members is formed with a ring groove concentric with the central hole, and the other end face of the rotating member is formed with a convex ring which cooperates with the ring groove to form a rotating pair.

[0018] Further, a first bevel gear is arranged on the end of the driving shaft away from the straight tooth.

[0019] The driving assembly comprises a second bevel gear rotatably connected to the shell and meshing with the first bevel gear, and a driving motor rotatably connected with the second bevel gear to drive the second bevel gear to rotate.

[0020] Further, the first bevel gear key is connected on the driving shaft and can reciprocate along the axial direction, a compression spring is sleeved on the driving shaft, and the compression spring abuts against the end of the first bevel gear to provide elastic force in the direction of the second bevel gear.

[0021] Compared with the prior art, the utility model has the beneficial effects that:

[0022] The welding robot has high precision, can accurately drive the end shaft to move during welding operation, can make the movement of the welding gun more accurate, has higher welding precision, and guarantees welding quality.

[0023] The utility model makes further illustration in connection with the attached drawings and embodiments. DRAWINGS

[0024] Figure 1 It is the structural schematic diagram of the utility model.

[0025] Figure 2 It is the structural schematic diagram of the end shaft in the utility model.

[0026] Figure 3 It is the explosion structural schematic diagram of the end shaft in the utility model.

[0027] Figure 4 It is the structural schematic diagram of the end shaft after removing the shell in the utility model.

[0028] Figure 5 It is the explosion structural schematic diagram of the end shaft after removing the shell in the utility model.

[0029] Figure 6 It is the explosion structural schematic diagram of the rotating body in the utility model.

[0030] Figure 7 It is the sectional view of the rotating body in the explosion structure in the utility model. EMBODIMENT

[0031] In order to make the technical problems, technical schemes and beneficial effects solved by the utility model clearer and more apparent, the utility model will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and not to limit the utility model.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the utility model are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0033] In addition, the description of "first", "second" and the like in the embodiments of the utility model is only for the purpose of description and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features.

[0034] The utility model embodiment provides a kind of high-precision welding robot, when executing welding job, can accurately drive end shaft 200 to move, to make the movement of welding torch 300 more accurate welding precision higher, guarantee welding quality.

[0035] Specifically, as shown in Figures 1-7 The utility model embodiment provides a kind of high-precision welding robot, including the main body 100 of multi-axis activity, the main body 100 end is connected with swing end shaft 200, end shaft 200 includes a shell 201, shell 201 is movably connected on the main body 100, and is driven to swing by the main body 100, end shaft 200 further includes: mounting disc 210, rotating body 220, drive shaft 230 and drive assembly 240, specifically, mounting disc 210 is rotatably connected on the end of shell 201, to install welding torch 300;Rotating body 220 is rotatably connected inside shell 201, and the rotation axis of rotating body 220 is in the same straight line with the axis of mounting disc 210, and the end of rotating body 220 is detachably connected with mounting disc, and a central hole 221 is arranged in rotating body 220, and internal tooth 222 is formed in the inner wall of central hole 221;Drive shaft 230 is rotatably installed inside shell 201, and one end of drive shaft 230 is provided with straight teeth 231 that are engaged with internal tooth 222 of central hole 221, so that drive shaft 230 and rotating body 220 form internal gear transmission;Drive assembly 240 is drivingly connected with drive shaft 230, and drives drive shaft 230 to rotate.

[0036] In the process of transmission, the driving shaft 230 and the rotating body 220 constitute an internal gear transmission mechanism, so that the driving assembly 240 can drive the rotating body 220 to rotate in the process of rotating the driving shaft 230, thereby driving the mounting disc 210 and the welding gun 300 assembled on the mounting disc 210 to rotate. The transmission is carried out through the internal gear transmission, and the transmission accuracy can be improved by setting appropriate transmission ratio. Especially when the welding gun 300 needs to be alternately rotated forward and reversely, the alternation is ensured to be rapid and fast.

[0037] In the embodiment, in order to further improve the power transmission accuracy and the end shaft 200 rotation accuracy, the rotating body 220 comprises two coaxial rotating members 223. Figures 6-7 As shown in the figure, the elastic structure is arranged between the rotating members 223 to make the two rotating members 223 generate circumferential staggered rotation force.

[0038] That is, since the rotating body 220 is arranged as two coaxial rotating members 223, the two rotating members 223 generate circumferential staggered rotation force under the elastic force of the elastic structure. At this time, when the driving shaft 230 and the rotating body 220 are engaged, the straight teeth 231 on the driving shaft 230 can always be in contact with the internal teeth 222 on the two rotating members 223, and the internal teeth 222 always keep abutting with the straight teeth 231 under the elastic force of the elastic structure. Therefore, in the process of engaging the driving shaft 230 and the rotating body 220, the gap between the straight teeth 231 and the internal teeth 222 is eliminated, especially when the driving shaft 230 is reversely rotated, the gap between the straight teeth 231 and the internal teeth 222 can be eliminated by the elastic force of the elastic structure, and the engagement between the straight teeth 231 and the internal teeth 222 is ensured to be firm. Since the gap in the engagement process is compensated, the transmission accuracy is improved.

[0039] In the embodiment, the elastic structure comprises: at least three mounting grooves 2231 formed on the end face of one rotating member 223, the mounting grooves 2231 are distributed equidistantly along the circumferential direction; an elastic member 2232 arranged in the mounting grooves 2231, and two end portions of the rotating member 223 are formed with limiting blocks 2233 which are inserted into the mounting grooves 2231, the two ends of the elastic member 2232 are respectively abutted with the limiting blocks 2233, and the two limiting blocks 2233 compress the elastic member 2232 to generate elastic force; a threaded hole 2234 formed on the end face of one rotating member 223, the other rotating member 223 is provided with a linkage hole 2235 corresponding to the threaded hole 2234, and the elastic structure further comprises a locking member 2236 which is screwed through the linkage hole 2235 and screwed with the threaded hole 2234, and the diameter of the locking member 2236 is smaller than the inner diameter of the linkage hole 2235. That is, the elastic force of the elastic member 2232 arranged in the mounting grooves 2231 can generate opposite rotating force between the two rotating members 223, so that the inner tooth gear 222 on the two rotating members 223 is in close contact with the straight tooth 231, and the gap in the meshing transmission process is eliminated.

[0040] In the embodiment, in order to make the elastic force of the elastic member 2232 more smoothly push the two rotating members 223 to rotate along the circumferential direction during the process of providing the elastic force, the mounting grooves 2231 have the same arc as the center hole 221 and are concentrically arranged with the center hole 221. Therefore, the elastic member 2232 is limited to be circular arc-shaped by the inner wall of the mounting grooves 2231, so that the direction of the elastic force generated can be tangent to the circle where the mounting grooves 2231 are located, thereby making the rotating member 223 more smoothly pushed.

[0041] In the embodiment, in order to make the two rotating members 223 more stable during the staggered rotation, one end face of one rotating member 223 is formed with a ring groove 2237 concentric with the center hole 221, and the other end face of the other rotating member 223 is formed with a convex ring 2238 which cooperates with the ring groove 2237 to form a rotating pair.

[0042] In the embodiment, the driving shaft 230 is connected with a first bevel gear 241 at the end away from the straight tooth 231; the driving assembly 240 comprises a second bevel gear 242 which is rotatably connected to the housing 201 and meshes with the first bevel gear 241, and further comprises a driving motor which is rotatably connected with the second bevel gear 242 to drive the second bevel gear 242 to rotate. At this time, the driving motor (not shown in the figure) drives the second bevel gear 242 to rotate, thereby driving the driving shaft 230 to rotate, and through the construction of the bevel gear transmission mechanism, the driving motor can be reasonably arranged to ensure that the terminal shaft 200 has a smaller volume, thereby facilitating the welding work in a narrow space.

[0043] In this embodiment, to ensure accuracy when driving the drive shaft 230 to rotate, such as Figure 5 As shown, the first bevel gear 241 is keyed to the drive shaft 230 and can reciprocate along the axial direction. A compression spring 243 is also mounted on the drive shaft, abutting against the end of the first bevel gear 241 to provide an elastic force toward the second bevel gear 242. In this technical solution, by setting the compression spring 243, the first bevel gear 241 can be elastically pushed to always abut against the second bevel gear 242, thereby reducing the gap between the two bevel gears during transmission and ensuring the accuracy of rotation.

[0044] For those skilled in the art, various other corresponding changes and modifications can be obtained based on the structure and principles disclosed in this utility model, and all such changes and modifications fall within the protection scope of this utility model.

Claims

1. A high-precision welding robot, comprising a multi-axis movable main body, an end shaft connected to the end of the main body, the end shaft including a housing, the housing being movably connected to the main body and driven by the main body to swing, characterized in that, The terminal shaft further comprises: a mounting disc rotatably connected to the end of the shell for mounting a welding gun; a rotating body rotatably connected inside the shell, the rotation axis of the rotating body being in line with the axis of the mounting disc, the end of the rotating body being detachably connected to the mounting disc, the rotating body having a central hole with internal teeth on the inner wall of the central hole; a driving shaft rotatably mounted inside the shell, one end of the driving shaft being provided with straight teeth for engaging with the internal teeth of the central hole, so that the driving shaft and the rotating body form an internal gear transmission; a driving assembly in transmission connection with the driving shaft for driving the driving shaft to rotate.

2. The high-precision welding robot according to claim 1, wherein The rotating body comprises two coaxial rotating members, and an elastic structure is arranged between the two rotating members to enable the two rotating members to rotate in a circumferential staggered manner.

3. The high-precision welding robot according to claim 2, wherein The elastic structure comprises: at least three mounting grooves formed on the end face of one of the rotating members, the mounting grooves being equidistantly distributed in the circumferential direction; an elastic member arranged in the mounting grooves, and limit blocks protruding into the mounting grooves being formed on the ends of the two rotating members, the two ends of the elastic member being in abutment with the limit blocks, the elastic member being compressed by the two limit blocks to generate an elastic force; a threaded hole formed on the end face of one of the rotating members, the other rotating member being provided with a linkage hole corresponding to the threaded hole, and a locking member being threadedly connected to the threaded hole through the linkage hole, the diameter of the locking member being smaller than the inner diameter of the linkage hole.

4. The high-precision welding robot according to claim 3, wherein The mounting grooves have the same curvature as the central hole and are concentrically arranged with the central hole.

5. The high-precision welding robot according to claim 3, wherein One of the end faces of the rotating members is formed with a ring groove concentric with the central hole, and the other end face of the rotating member is formed with a convex ring for forming a rotating pair with the ring groove.

6. The high-precision welding robot according to claim 1, wherein The end of the driving shaft away from the straight teeth is keyed with a first bevel gear; The driving assembly comprises a second bevel gear rotatably connected to the shell and engaging with the first bevel gear, and a driving motor rotatably connected to the second bevel gear for driving the second bevel gear to rotate.

7. The high-precision welding robot according to claim 6, wherein The first bevel gear is keyed to the driving shaft and can reciprocally move along the axis direction, and a compression spring is sleeved on the driving shaft and abuts against the end of the first bevel gear to provide an elastic force towards the second bevel gear.

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