Wiring structure of welding robot

Abstract

A wiring structure of a welding robot comprises a main body capable of moving in the six-axis direction, the main body comprises a base and six joint mechanical arms movably connected, a first mounting cavity is formed in the base, and a first speed reducer is rotationally connected into the first mounting cavity; a first wire accommodating space is defined by the first speed reducer and the inner wall of the first mounting cavity; the first joint mechanical arm is fixedly connected to the first speed reducer, a first driving motor is further fixedly arranged on the first joint mechanical arm, and the first driving motor is in transmission connection with the first speed reducer; the first wire harness is used for transmitting electric signals, and the first wire harness penetrates out of the first outlet to be electrically connected with the first driving motor after being wound in a roundabout mode along the first wire containing space. According to the wiring structure provided by the utility model, under the condition that the rotation precision is improved, the wiring harness is ensured not to influence the rotary motion during the rotary motion.

Description

Technical Field

[0001] This utility model relates to the field of welding robot technology, and in particular to a wiring structure for a welding robot. Background Technology

[0002] With the continuous improvement of technology, robots are being used in more and more situations. Welding robots are a type of robot that performs welding operations. They are usually capable of multi-axis movement. The welding torch is mounted on the end arm, which can perform welding operations at multiple angles when moving along multiple axes. This allows them to perform welding operations in harsh environments or in automated production while carrying out human welding work.

[0003] Currently, welding robots are typically robotic arms with multi-axis motion. To meet the degree of freedom of movement, they are usually six-axis robots. A six-axis robot can rotate at least two axes and swing on the remaining axes. Between the base and the first axis, the first axis rotates under the drive of a motor. Currently, a hollow reducer is usually installed on the base. The wiring harness passes through the central hole of the hollow reducer and is then connected to the motor, so that the wiring harness will not get tangled when the first axis rotates. In the power lines of the other axes, they are usually also passed through a hole that allows for rotational movement and then connected to the next stage drive motor. However, welding robots require high rotational accuracy, and cables to drive the welding torch are also needed. The rotational accuracy of the hollow reducer on the base is too low to meet the precision requirements of welding operations. Therefore, a harmonic reducer needs to be replaced. After the reducer is replaced, the cable arrangement needs to be changed to meet the length requirements for the robotic arm's rotation and to avoid tangling on the robotic arm. At the same time, after the cables for driving the welding torch are inserted through the center holes on other axes, there is not enough space to insert other drive cables. Therefore, the cable routing structure also needs to be designed.

[0004] Therefore, there is an urgent need for a new type of cabling method to solve at least one of the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a wiring structure for a welding robot to solve at least one of the above-mentioned technical problems.

[0006] A wiring structure of a welding robot, including a main body that can move in six-axis directions. The main body includes a base and six articulating robotic arms that are movably connected. A flange is rotatably connected to the sixth articulating robotic arm, and a welding torch is fixedly installed on the flange. A first installation cavity is provided inside the base, and a first reduction gear is rotatably connected inside the first installation cavity. A first inlet that communicates with the first installation cavity is provided on the side wall of the base. A first wire accommodating space is defined between the first reduction gear and the inner wall of the first installation cavity;

[0007] The first articulating robotic arm is fixedly connected to the first reduction gear. A first driving motor is also fixedly installed on the first articulating robotic arm. The first driving motor is传动连接 with the first reduction gear to drive the first reduction gear to rotate, thereby带动 the first articulating robotic arm to rotate along the end of the base. A first outlet that communicates with the installation cavity is provided on the first articulating robotic arm;

[0008] It also includes a first wire harness for transmitting electrical signals. The first wire harness penetrates into the first installation cavity along the first inlet,迂回盘绕 along the first wire accommodating space to form a first redundant wire part, and then穿出 through the first outlet and is electrically connected to the first driving motor.

[0009] Further, the first wire harness extends along a既定方向 of the first wire accommodating space and extends to the opposite side that is centrosymmetric with the first inlet, then迂回 along the original extension path towards the first inlet, and伸出 the first installation cavity along the direction of the first outlet.

[0010] Further, the part of the first wire harness at the first inlet is fixed to the inner wall of the first installation cavity by a pipe clamp, and the part of the first wire harness at the first outlet is fixed to the first articulating robotic arm by a pipe clamp.

[0011] Further, when the first inlet and the first outlet are in a mutually corresponding and overlapping state, it is defined that the base and the first articulating robotic arm are in an initial state. When the base and the first articulating robotic arm are in the initial state, the first redundant wire part is a "ji" - shaped structure with the same弧度 as the first wire accommodating space.

[0012] Further, a hollow shaft is rotatably installed inside the fourth articulating robotic arm. A second installation cavity is provided inside the fourth articulating robotic arm. A second wire accommodating space is defined between the hollow shaft and the inner wall of the second installation cavity. A second reduction gear is fixedly sleeved on the hollow shaft. A second inlet is also provided on the inner wall of the second installation cavity;

[0013] It should be noted that there are some inaccuracies in the original Chinese text in terms of grammar and word usage. The above translation is based on the literal meaning as accurately as possible. For example, "传动连接" should be "drivably connected", "带动" should be "带动 (it seems there is a wrong character here, it might be '带动')", "既定方向" should be "既定 direction", etc.The articulated robotic arm described in Section 5 is fixedly mounted on the second reducer, and the articulated robotic arm described in Section 5 has a third mounting cavity inside, and a second outlet is provided for the third mounting cavity to communicate with the second mounting cavity. The articulated robotic arm described in Section 6 is rotatably connected to the end of the articulated robotic arm described in Section 5, and a second drive motor for driving the articulated robotic arm described in Section 6 is fixedly mounted inside the third mounting cavity.

[0014] It also includes a second wire harness for transmitting electrical signals. The second wire harness enters the second mounting cavity along the second inlet, and then winds around along the second wire space to form a second excess wire portion before exiting along the second outlet to be electrically connected to the second drive motor.

[0015] Furthermore, the second wire harness extends along the predetermined direction of the second housing space and extends to the opposite side that is centrally symmetrical with the second inlet, then detours towards the second inlet along the original extension path, and extends out of the second mounting cavity along the second outlet direction.

[0016] Furthermore, the articulated robotic arm described in Section 5 includes a base and two connecting arms arranged side by side along the base and extending away from the articulated robotic arm described in Section 4. The base has a third outlet on the outer wall of the connecting arms that communicates with the third mounting cavity. The articulated robotic arm described in Section 6 has rotating shafts on both sides that are rotatably connected to the connecting arms.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] This utility model provides a wiring mechanism for a welding robot. Even after installing a harmonic reducer on the base, the wiring harness can still be rationally arranged, ensuring sufficient length to support the rotation of the first articulated robotic arm and guaranteeing high rotational accuracy. Furthermore, when the fifth articulated robotic arm rotates, the wiring harness supplying power to the drive motor that powers the sixth articulated robotic arm can be arranged, ensuring sufficient length for the sixth articulated robotic arm's rotation without occupying space in the hollow shaft.

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model.

[0021] Figure 2 This is an exploded structural diagram of the present invention.

[0022] Figure 3This is a structural schematic diagram of the base in this utility model.

[0023] Figure 4 This is a front view of the utility model.

[0024] Figure 5 This is a cross-sectional view along the BB direction in this utility model. Detailed Implementation

[0025] To make the technical problems solved, technical solutions, and beneficial effects 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 only for explaining this utility model and are not intended to limit this utility model.

[0026] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0027] Furthermore, the use of terms such as "first" and "second" in the embodiments of this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0028] This utility model embodiment provides a wiring mechanism for a welding robot. Even after a harmonic reducer is installed on the base 300, the wiring harness can still be rationally arranged. The wiring harness has sufficient length to allow the first articulated robotic arm 200 to rotate, ensuring high rotational accuracy. Furthermore, when the fifth articulated robotic arm 200 rotates, the wiring harness supplying power to the drive motor that powers the sixth articulated robotic arm 200 is arranged, ensuring sufficient length for the sixth articulated robotic arm 200 to rotate without occupying space in the hollow shaft 210.

[0029] Specifically, such as Figure 1-5As shown in the figure, the wiring structure of a welding robot provided by this utility model embodiment includes a main body 100 movable in six axes. The main body 100 includes a base 300 and six movably connected articulated robotic arms 200. A flange is rotatably connected to the sixth articulated robotic arm 200, and a welding torch 500 is fixedly mounted on the flange. A first mounting cavity 301 is provided in the base 300, and a first reducer 302 is rotatably connected in the first mounting cavity 301. A first inlet 303 communicating with the first mounting cavity 301 is provided on the side wall of the base 300. The first reducer 302 and the inner wall of the first mounting cavity 301 define a first wiring space 304. The first articulated robotic arm 200 is fixed. A first drive motor 201 is fixedly mounted on the first articulated robotic arm 200, connected to the first reducer 302. The first drive motor 201 is connected to the first reducer 302 to drive the first reducer 302 to rotate, thereby driving the first articulated robotic arm 200 to rotate along the end of the base 300. The first articulated robotic arm 200 has a first outlet 202 that communicates with the mounting cavity. It also includes a first wire harness 400 for transmitting electrical signals. The first wire harness 400 passes through the first inlet 303 into the first mounting cavity 301, and then winds around the first wire space 304 to form a first excess wire portion 410 before passing through the first outlet 202 and being electrically connected to the first drive motor 201.

[0030] During the arrangement of the first wiring harness 400 supplying power to the first drive motor 201, the first wiring harness 400 extends into the first wire-receiving space 304 along the first inlet 303, and after forming the first excess wire portion 410 within the first wire-receiving space 304, it exits along the first outlet 202 and connects to the first drive motor 201. At this time, as the first drive motor 201 drives the first reducer 302 to rotate, the first drive motor 201 will rotate with the first articulated robotic arm 200, thereby pulling out the first excess wire portion 410 in the first wiring harness 400 to meet the rotation requirements of the first drive motor 201. At the same time, during the rotation of the first shutdown robotic arm 200, the first wiring harness 400 retracts back into the first wire-receiving space 304 under the push of the first drive motor 201. The technical solution provided by this utility model allows for the replacement of the hollow reducer mounted on the base 300 with a harmonic reducer, thereby improving the rotational accuracy of the robotic arm 200 to meet the precision requirements of welding. More importantly, the wiring structure provided by this utility model allows the first wire harness 400 to be placed within the first wire-carrying space 304, and the first excess wire portion 410 to be formed through a roundabout arrangement, thereby meeting the rotational requirements of the first joint robotic arm 200.

[0031] In this embodiment, the first wire harness 400 extends along the established direction of the first wire accommodating space 304 and extends to the opposite side that is centrosymmetric with the first inlet 303, then迂回 along the original extension path towards the first inlet 303, and extends out of the first installation cavity 301 along the direction of the first outlet 202. Through the above wiring structure, the length of the first surplus wire part 410 can be made sufficient to go around the first reduction gear 302 once, that is, to meet the requirement of the rotation range of the first joint robotic arm 200. At the same time, setting the迂回 first surplus wire part 410 on the same side can facilitate the extension and retraction of the surplus wire part.

[0032] In this embodiment, in order to ensure the stability of the first wire harness 400 when extending or retracting, the part of the first wire harness 400 at the first inlet 303 is fixed to the inner wall of the first installation cavity 301 by a pipe clamp, and the part of the first wire harness 400 at the first outlet 202 is fixed to the first joint robotic arm 200 by a pipe clamp.

[0033] In this embodiment, when the first inlet 303 and the first outlet correspond and overlap with each other, it is defined that the base and the first joint robotic arm 200 are in the initial state. And when the base and the first joint robotic arm 200 are in the initial state, the first surplus wire part 410 is in a "Ji" - shaped structure with the same radian as the first wire accommodating space 304. Through the above setting, it can be ensured that the first surplus wire part 410 has sufficient length dimensions, and at the same time, being set in a "Ji" - shaped form can facilitate the pulling out and pushing in of the first surplus wire part 410 into the first wire accommodating space 304.

[0034] In this embodiment, the fifth joint robotic arm 200 is rotationally connected to the fourth joint robotic arm 200. Inside the fourth joint robotic arm 200, a hollow shaft 210 is rotatably installed, and this hollow shaft 210 is used to穿设 the wire harness for driving the welding torch 500 abnormally. In this embodiment, the same wiring structure is also set for the fourth and fifth joint robotic arms 200, which can arrange the wire harness for the driving motor used to drive the sixth robotic arm 200 to rotate to meet the rotation of the sixth robotic arm. Specifically, such as Figure 4-5 It should be noted that the word "迂回" in the original text may be a specific technical term. If there is a more accurate or common expression in the relevant technical field, it can be adjusted accordingly. Also, the part "穿设对焊枪500畸形驱动的线束" in the original text seems a bit unclear in expression. If there is additional context or correction needed, please provide more information.As shown, a second mounting cavity 211 is provided inside the fourth articulated robotic arm 200, and a second duct space 212 is defined between the hollow shaft 210 and the inner wall of the second mounting cavity 211. A second reducer 213 is fixedly mounted on the hollow shaft 210, and a second inlet 214 is also provided on the inner wall of the second mounting cavity 211. The fifth articulated robotic arm 200 is fixedly mounted on the second reducer 213, and a third mounting cavity 215 is provided inside the fifth articulated robotic arm 200, with an opening for the third mounting cavity 215 to... The second mounting cavity 211 is connected to the second outlet 216. The sixth articulated robotic arm 200 is rotatably connected to the end of the fifth articulated robotic arm 200. A second drive motor for driving the sixth articulated robotic arm 200 is fixedly installed in the third mounting cavity 215. It also includes a second wiring harness for transmitting electrical signals. The second wiring harness enters the second mounting cavity 211 along the second inlet 214, and then winds around the second wire space 212 to form a second excess wire portion before exiting through the second outlet 216 and electrically connecting to the second drive motor. In other words, the second wiring harness winds around the second wire space 212 to form a second excess wire portion before extending out of the second outlet 216 and providing power to the second drive motor. In this embodiment, the second drive motor is connected to the sixth articulated robotic arm 200 to drive its rotation. This embodiment provides a wiring structure that ensures sufficient wiring harness length in the second excess wire portion during the rotation of the fifth articulated robotic arm 200, thus meeting its rotation requirements. At this time, the second wiring harness does not need to pass through the hollow shaft 210 to complete the power supply requirements, thereby meeting the requirements of the welding operation.

[0035] In this embodiment, the second wire harness extends along the predetermined direction of the second wire space 212 and extends to the opposite side that is centrally symmetrical with the second inlet 214, then detours towards the second inlet 214 along the original extension path, and extends out of the second mounting cavity 211 along the direction of the second outlet 216.

[0036] In this embodiment, a specific example of the structure of the fifth articulated robotic arm 200 is given. It includes a base 220 and two parallel connecting arms 221 formed along the base 220 and extending away from the fourth articulated robotic arm 200. A third outlet 222 communicating with the third mounting cavity 215 is provided on the outer wall of the base 220 facing the connecting arms 221. The sixth articulated robotic arm 200 has rotating shafts on both sides that are rotatably connected to the connecting arms 221. The cable that provides drive power to the welding torch 500 passes through the hollow shaft 210 and exits through the third outlet 222, thereby completing the electrical connection with the welding torch 500. This ensures that the cable will not get tangled on the robotic arm 200 during the rotation of the sixth articulated robotic arm 200.

[0037] 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 wire arrangement of a welding robot, comprising a main body movable in six axes, said main body comprising a base and six movable jointed arm sections, a flange being rotatably connected to the sixth of said jointed arm sections, and a welding torch being fixedly arranged on said flange, characterized in that The base is provided with a first installation cavity, and a first reduction gear is rotatably connected within the first installation cavity. A first inlet communicating with the first installation cavity is provided on the side wall of the base. A first wire accommodating space is defined between the first reduction gear and the inner wall of the first installation cavity; The first joint robotic arm is fixedly connected to the first reduction gear. A first driving motor is also fixedly installed on the first joint robotic arm. The first driving motor is in transmission connection with the first reduction gear to drive the first reduction gear to rotate, thereby driving the first joint robotic arm to rotate along the end of the base. A first outlet communicating with the installation cavity is provided on the first joint robotic arm; It further includes a first wire harness for transmitting electrical signals. The first wire harness penetrates into the first installation cavity along the first inlet, winds around in a detour along the first wire accommodating space to form a first redundant wire portion, and then passes out along the first outlet and is electrically connected to the first driving motor.

2. The wiring structure of a welding robot according to claim 1, wherein The first wire harness extends along the established direction of the first wire accommodating space and extends to the opposite side that is centrosymmetric with the first inlet, then winds around towards the first inlet along the original extension path, and extends out of the first installation cavity along the direction of the first outlet.

3. The wiring structure of a welding robot according to claim 2, wherein The part of the first wire harness at the first inlet is fixed to the inner wall of the first installation cavity by a pipe clamp. The part of the first wire harness at the first outlet is fixed to the first joint robotic arm by a pipe clamp.

4. The wiring structure of a welding robot according to claim 2, wherein When the first inlet and the first outlet correspond and overlap with each other, it is defined that the base and the first joint robotic arm are in the initial state. When the base and the first joint robotic arm are in the initial state, the first redundant wire portion is a "Ji" - shaped structure having the same radian as the first wire accommodating space.

5. The wiring structure of a welding robot according to claim 1, wherein A hollow shaft is rotatably installed inside the fourth joint robotic arm. A second installation cavity is provided inside the fourth joint robotic arm. A second wire accommodating space is defined between the hollow shaft and the inner wall of the second installation cavity. A second reduction gear is fixedly sleeved on the hollow shaft. A second inlet is further provided on the inner wall of the second installation cavity; The fifth joint robotic arm is fixedly installed on the second reduction gear. A third installation cavity is provided inside the fifth joint robotic arm. A second outlet for communicating the third installation cavity with the second installation cavity is provided. The sixth joint robotic arm is rotatably connected to the end of the fifth joint robotic arm. A second driving motor for driving the sixth joint robotic arm is fixedly installed inside the third installation cavity; It further includes a second wire harness for transmitting electrical signals. The second wire harness penetrates into the second installation cavity along the second inlet, winds around in a detour along the second wire accommodating space to form a second redundant wire portion, and then passes out along the second outlet and is electrically connected to the second driving motor.

6. The wiring structure of a welding robot according to claim 5, wherein The second wire harness extends along the established direction of the second wire accommodating space and extends to the opposite side that is centrosymmetric with the second inlet, then winds around towards the second inlet along the original extension path, and extends out of the second installation cavity along the direction of the second outlet.

7. The wiring structure of a welding robot according to claim 5, wherein The joint mechanical arm of the fifth section comprises a base and two connecting arms arranged side by side and extending away from the joint mechanical arm of the fourth section, a third outlet communicating with the third mounting cavity is arranged on the outer wall of the base towards the connecting arms, and rotating shafts are arranged on the two sides of the joint mechanical arm of the sixth section and are respectively connected to the connecting arms.

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