A welding robot joint drive module

Abstract

The utility model relates to robot technical field, concretely is a kind of welding robot joint drive module, including big arm, the left end of big arm is fixedly connected with first fixed plate, the left side middle part of first fixed plate is fixedly connected with universal joint, the left side of universal joint is fixedly connected with second fixed plate, the left side middle part of second fixed plate is fixedly connected with small arm, the right side front of first fixed plate is fixedly connected with adjusting box, the outer wall upper of big arm is fixedly connected with oil tank, the upper of oil tank is fixedly connected with controller, adjusting mechanism is equipped in the inside of adjusting box, drive mechanism is equipped between first fixed plate and second fixed plate. The utility model has realized the adjustment of universal joint outer package joint and the universal drive of small arm, has improved the adjustability and flexibility of device.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a joint drive module for a welding robot. Background Technology

[0002] With the development of the manufacturing industry, higher demands are being placed on the efficiency and quality of welding production. Traditional manual welding is labor-intensive, inefficient, and suffers from poor quality stability, making it difficult to meet the needs of large-scale, high-quality production. The advancement of industrial automation has prompted enterprises to seek automated equipment that can replace manual welding, leading to the emergence of welding robots. As a core component of welding robots, the joint drive module's technological development is crucial for achieving high-precision movement and flexible operation of the robot.

[0003] Existing devices primarily control the unidirectional limited rotation of the forearm through a drive assembly. Many existing technologies resemble the joint of a welding robot. The structure of device CN218052685U includes a robot base and a robot joint. A drive rod is rotatably mounted on the upper surface of the robot base, with one end of the drive rod passing through and fixedly connected to the robot joint. The robot joint contains both a lubrication mechanism and a drive mechanism. The lubrication mechanism includes an oil reservoir fixedly connected to the inner wall of the robot joint. This invention achieves automatic lubrication of the internal components of the robot joint, effectively improving its service life. However, there are still areas for improvement in this device.

[0004] Existing devices mainly use a rotating shaft to limit and drive the forearm rotation. This makes it difficult for some devices to use three sets of hydraulic drive components in conjunction with a universal joint to drive the forearm in all directions, thus hindering the expansion of the forearm's movement direction. At the same time, some devices are limited by the universal joint's outer connector, which cannot rotate to a large angle. This makes it difficult for some devices to rotate the groove of the universal joint's outer connector to the bending direction of the forearm, resulting in a small range of unidirectional movement of some forearms, reducing the device's working efficiency and practicality. Therefore, in order to solve the above problems, a welding robot joint drive module is proposed. Utility Model Content

[0005] The purpose of this utility model is to provide a joint drive module for welding robots, in order to solve the problem mentioned in the background art that the existing devices mainly use a rotating shaft to limit the rotation of the forearm, making it difficult for some devices to use three sets of hydraulic drive components in conjunction with a universal joint to universally drive the forearm, thus making it inconvenient to expand the range of motion of the forearm. At the same time, some devices are limited by the universal joint outer connector, which makes it difficult for some devices to drive the groove of the universal joint outer connector to rotate to the bending direction of the forearm, thus resulting in a small range of unidirectional movement of some forearms.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a welding robot joint drive module, including a large arm, a first fixing plate fixedly connected to the left end of the large arm, a universal joint fixedly connected to the middle left side of the first fixing plate, a second fixing plate fixedly connected to the left side of the universal joint, a forearm fixedly connected to the middle left side of the second fixing plate, an adjustment box fixedly connected to the front right side of the first fixing plate, an oil tank fixedly connected to the upper outer wall of the large arm, and a controller fixedly connected to the upper part of the oil tank;

[0007] The regulating box is equipped with an regulating mechanism, which includes a servo motor. The top of the servo motor is fixedly connected to the bottom of the regulating box. A driving mechanism is provided between the first fixed plate and the second fixed plate. The driving mechanism includes three sets of hydraulic cylinders. The right ends of the three sets of hydraulic cylinders are movably connected to the left outer ring of the first fixed plate.

[0008] Preferably, a transmission worm gear is fixedly connected to the top center of the servo motor, the top end of the transmission worm gear is movably connected to the top of the inner wall of the regulating box, and a transmission worm wheel is meshed with the rear side of the outer wall of the transmission worm gear.

[0009] Preferably, a rotating shaft is fixedly connected to the inner wall of the transmission worm gear, the right end of the rotating shaft is movably connected to the right side of the inner wall of the adjusting box, and the left end of the rotating shaft passes through the first fixed plate and is fixedly connected to the main gear.

[0010] Preferably, the outer wall of the main gear is meshed with an internal gear, a rotating ring plate is fixedly connected to the left side of the internal gear, and the inner wall of the rotating ring plate is fixedly connected to the right outer wall of the universal joint.

[0011] Preferably, a piston rod is inserted inside the left side of the hydraulic cylinder, and the left end of the piston rod is movably connected to the right outer ring of the second fixed plate.

[0012] Preferably, an oil supply pipe is fixedly connected to the right side of the outer wall of the hydraulic cylinder, and a hydraulic oil pump is fixedly connected to the other end of the oil supply pipe. The hydraulic oil pump is fixedly connected to the right side of the outer wall of the oil storage tank.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This utility model adjusts the structure of the servo motor, transmission worm, transmission worm wheel, rotating shaft, main gear, internal gear, and rotating ring plate in the adjustment mechanism. The controller starts the servo motor to drive the transmission worm to rotate in a limited position. The transmission worm meshes and drives the transmission worm wheel, rotating shaft, and main gear to rotate in a limited position. The main gear drives the internal gear, rotating ring plate, and universal joint outer connector to rotate in a limited position. This realizes the adjustment of the universal joint outer connector, so that the groove of the universal joint outer connector can be rotated to the bending direction of the forearm, effectively improving the range of unidirectional movement of the forearm and enhancing the adjustability and practicality of the device.

[0015] 2. This utility model utilizes a hydraulic oil pump, oil supply pipe, hydraulic cylinder, and piston rod in its drive mechanism. The hydraulic oil pump is activated by a controller, and the pump delivers or extracts hydraulic oil to the hydraulic cylinder via the oil supply pipe. The hydraulic oil inside the cylinder drives the piston rod to extend and slide, causing the piston rod to rotate the second fixed plate and the forearm to limit its movement. This achieves omnidirectional drive of the forearm. Furthermore, some devices can use three sets of hydraulic drive components in conjunction with universal joints to omnidirectionally drive the forearm, effectively increasing the forearm's range of motion and enhancing the device's flexibility and practicality. Attached Figure Description

[0016] Figure 1 This is a front side perspective view of the structure of this utility model;

[0017] Figure 2 This is a frontal sectional perspective view of the structure of this utility model;

[0018] Figure 3 This is a top sectional perspective view of a partial structure of the regulating box and regulating mechanism of this utility model;

[0019] Figure 4 This is a front side perspective view of a partial structure of the boom and drive mechanism of this utility model.

[0020] In the diagram: 11. Boom; 12. First fixing plate; 13. Universal joint; 14. Second fixing plate; 15. Arm; 16. Adjustment box; 17. Oil tank; 18. Controller; 2. Adjustment mechanism; 21. Servo motor; 22. Transmission worm gear; 23. Transmission worm wheel; 24. Rotating shaft; 25. Main gear; 26. Internal gear; 27. Rotating ring plate; 3. Drive mechanism; 31. Hydraulic oil pump; 32. Oil supply pipe; 33. Hydraulic cylinder; 34. Piston rod. Detailed Implementation

[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.

[0022] Please see Figure 1-4 One embodiment provided by this utility model:

[0023] A welding robot joint drive module includes a large arm 11, a first fixing plate 12 fixedly connected to the left end of the large arm 11, a universal joint 13 fixedly connected to the middle left side of the first fixing plate 12, a second fixing plate 14 fixedly connected to the left side of the universal joint 13, a forearm 15 fixedly connected to the middle left side of the second fixing plate 14, an adjustment box 16 fixedly connected to the front right side of the first fixing plate 12, an oil tank 17 fixedly connected to the upper outer wall of the large arm 11, and a controller 18 fixedly connected to the upper part of the oil tank 17.

[0024] The regulating box 16 is equipped with an regulating mechanism 2, which includes a servo motor 21. The top of the servo motor 21 is fixedly connected to the bottom of the regulating box 16. A transmission worm gear 22 is fixedly connected to the middle of the top of the servo motor 21. The top end of the transmission worm gear 22 is movably connected to the top of the inner wall of the regulating box 16. A transmission worm wheel 23 is meshed with the rear side of the outer wall of the transmission worm gear 22. Through this design, the servo motor 21 drives the transmission worm gear 22 to rotate in a limited position, so that the transmission worm gear 22 meshes with and drives the transmission worm wheel 23 to rotate. A rotating shaft 24 is fixedly connected to the inner wall of the transmission worm wheel 23. The right end of the rotating shaft 24 is movably connected to the inner wall of the transmission worm wheel 23. The rotating shaft 24 is connected to the right side of the inner wall of the regulating box 16. The left end of the rotating shaft 24 passes through the first fixed plate 12 and is fixedly connected to the main gear 25. Through this design, the transmission worm gear 23 drives the rotating shaft 24 and the main gear 25 to rotate in a limited position. The outer wall of the main gear 25 is meshed with the inner gear 26. The left side of the inner gear 26 is fixedly connected to the rotating ring plate 27. The inner wall of the rotating ring plate 27 is fixedly connected to the right outer wall of the universal joint 13. Through this design, the main gear 25 meshes and drives the inner gear 26 and the rotating ring plate 27 to rotate in a limited position, so that the rotating ring plate 27 drives the outer joint of the universal joint 13 to rotate in a limited position.

[0025] A drive mechanism 3 is provided between the first fixed plate 12 and the second fixed plate 14. The drive mechanism 3 includes three sets of hydraulic cylinders 33. The right ends of the three sets of hydraulic cylinders 33 are movably connected to the left outer ring of the first fixed plate 12. A piston rod 34 is inserted inside the left side of the hydraulic cylinder 33. The left end of the piston rod 34 is movably connected to the right outer ring of the second fixed plate 14. Through this design, the three sets of piston rods 34 can drive the second fixed plate 14 and the forearm 15 to rotate in all directions. An oil supply pipe 32 is fixedly connected to the right side of the outer wall of the hydraulic cylinder 33. The other end of the oil supply pipe 32 is fixedly connected to a hydraulic oil pump 31. The hydraulic oil pump 31 is fixedly connected to the right side of the outer wall of the oil storage tank 17. Through this design, the hydraulic oil pump 31 delivers hydraulic oil to the hydraulic cylinder 33 through the oil supply pipe 32.

[0026] Working principle: When it is necessary to adjust the outer connector of universal joint 13, the servo motor 21 is first started by the controller 18. The servo motor 21 drives the transmission worm gear 22 to rotate to a limit position. The transmission worm gear 22 meshes and drives the transmission worm wheel 23 to rotate. The transmission worm wheel 23 drives the rotating shaft 24 to rotate to a limit position. The rotating shaft 24 drives the main gear 25 to rotate to a limit position. The main gear 25 drives the internal gear 26 to rotate. The internal gear 26 drives the rotating ring plate 27 to rotate synchronously, so that the rotating ring plate 27 drives the outer connector of universal joint 13 to rotate to a limit position, thus realizing the adjustment operation of the outer connector of universal joint 13.

[0027] When the forearm 15 needs to be driven in a omnidirectional manner, the hydraulic oil pump 31 is first started by the controller 18. The hydraulic oil pump 31 delivers or extracts hydraulic oil to the hydraulic cylinder 33 through the oil supply pipe 32, so that the hydraulic oil inside the hydraulic cylinder 33 drives the piston rod 34 to extend and slide. The piston rod 34 drives the second fixed plate 14 and the forearm 15 to rotate in a limited position, thus realizing the omnidirectional drive operation of the forearm 15. The operation ends here.

[0028] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any way. Those skilled in the art can readily implement this utility model based on the accompanying drawings and the above description. However, any modifications, alterations, or equivalent variations made by those skilled in the art without departing from the scope of the utility model's technical solution, utilizing the disclosed technical content, are considered equivalent embodiments of this utility model. Furthermore, any equivalent changes, alterations, or variations made to the above embodiments based on the essential technology of this utility model are still within the protection scope of this utility model's technical solution.

Claims

1. A joint drive module for a welding robot, comprising a large arm (11), characterized in that: The left end of the boom (11) is fixedly connected to a first fixing plate (12), the middle left side of the first fixing plate (12) is fixedly connected to a universal joint (13), the left side of the universal joint (13) is fixedly connected to a second fixing plate (14), the middle left side of the second fixing plate (14) is fixedly connected to a forearm (15), the front right side of the first fixing plate (12) is fixedly connected to an adjustment box (16), the upper outer wall of the boom (11) is fixedly connected to an oil tank (17), and the upper part of the oil tank (17) is fixedly connected to a controller (18). The regulating box (16) is equipped with an regulating mechanism (2) inside. The regulating mechanism (2) includes a servo motor (21). The top of the servo motor (21) is fixedly connected to the bottom of the regulating box (16). A driving mechanism (3) is provided between the first fixed plate (12) and the second fixed plate (14). The driving mechanism (3) includes three sets of hydraulic cylinders (33). The right ends of the three sets of hydraulic cylinders (33) are movably connected to the left outer ring of the first fixed plate (12).

2. The welding robot joint drive module according to claim 1, characterized in that: The servo motor (21) has a transmission worm gear (22) fixedly connected to the top center. The top end of the transmission worm gear (22) is movably connected to the top of the inner wall of the regulating box (16). The transmission worm wheel (23) is meshed with the rear side of the outer wall of the transmission worm gear (22).

3. The welding robot joint drive module according to claim 2, characterized in that: The inner wall of the transmission worm gear (23) is fixedly connected to a rotating shaft (24). The right end of the rotating shaft (24) is movably connected to the right side of the inner wall of the regulating box (16). The left end of the rotating shaft (24) passes through the first fixed plate (12) and is fixedly connected to the main gear (25).

4. The welding robot joint drive module according to claim 3, characterized in that: The outer wall of the main gear (25) is meshed with an internal gear (26), and a rotating ring plate (27) is fixedly connected to the left side of the internal gear (26). The inner wall of the rotating ring plate (27) is fixedly connected to the right outer wall of the universal joint (13).

5. The welding robot joint drive module according to claim 1, characterized in that: A piston rod (34) is inserted inside the left side of the hydraulic cylinder (33), and the left end of the piston rod (34) is movably connected to the right outer ring of the second fixed plate (14).

6. The welding robot joint drive module according to claim 1, characterized in that: An oil supply pipe (32) is fixedly connected to the right side of the outer wall of the hydraulic cylinder (33), and a hydraulic oil pump (31) is fixedly connected to the other end of the oil supply pipe (32). The hydraulic oil pump (31) is fixedly connected to the right side of the outer wall of the oil storage tank (17).

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