Robotic arm and welding robot

Abstract

The utility model provides a kind of mechanical arm and welding robot, mechanical arm includes first main body, second main body and at least one adjusting arm, first main body includes mounting base and at least one arm section, second main body includes at least one arm section, second main body is used to connect executor, first main body has first installation position, second main body has second installation position;Adjusting arm both ends are respectively and first installation position, second installation position detachably connected, and first installation position and second installation position can be directly connected.Such setting, it is convenient to replace adjusting arm to adapt to work range requirement, first installation position and second installation position can be directly connected, the continuity and integrity of mechanical arm are maintained, mechanical arm size can be minimized, mechanical arm load capacity is improved, the stability and work efficiency of mechanical arm are improved;First installation position and second installation position structure design are same, simplify dismounting procedure, improve the flexibility and applicability of the mechanical arm.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a robotic arm and a welding robot. Background Technology

[0002] In the field of modern industrial automation, robotic arms are an important type of robotic equipment, widely used in various scenarios such as assembly, handling, welding, and spraying. The reach of a robotic arm directly affects its working range and applicability. Therefore, the reach of a robotic arm is usually designed according to the specific application scenario.

[0003] In existing technologies, adjustable-arm robotic arms require a lot of additional hardware support during the adjustment process, and the disassembly and assembly process is relatively complex, consuming a lot of time and human resources, which affects the flexibility and applicability of the equipment, thereby reducing production efficiency. Utility Model Content

[0004] This invention provides a robotic arm and a welding robot to solve the problem that adjusting the arm span of a robotic arm is too complicated in the prior art, which reduces production efficiency and equipment flexibility.

[0005] To address the aforementioned problems, according to one aspect of this utility model, a robotic arm is provided, comprising a first body, a second body, and at least one adjustable arm. The first body includes a mounting base and at least one arm segment, and the second body includes at least one arm segment. The second body is used to connect an actuator. The first body has a first mounting position, and the second body has a second mounting position. The two ends of the adjustable arm are detachably connected to the first mounting position and the second mounting position, respectively, and the first mounting position and the second mounting position can be directly connected.

[0006] Furthermore, the robotic arm also includes a first fastening structure and a second fastening structure. One end of the adjusting arm is detachably connected to the first mounting position via the first fastening structure, and the other end of the adjusting arm is detachably connected to the second fastening structure and the second mounting position. Alternatively, the first mounting position and the second mounting position are directly connected via the second fastening structure.

[0007] Furthermore, the first mounting position has multiple first mounting holes, one end of the adjusting arm has multiple first mating holes, the second mounting position has multiple second mounting holes, the other end of the adjusting arm has multiple second mating holes, the first fastening structure includes multiple first fasteners, and the second fastening structure includes multiple second fasteners; wherein, one first fastener connects one first mounting hole and one first mating hole, and one second fastener connects one second mounting hole and one second mating hole, or, one second fastener connects one first mounting hole and one second mounting hole.

[0008] Furthermore, the direction in which the first mounting hole enters the first fastener and the direction in which the second mounting hole enters the second fastener are the same.

[0009] Furthermore, the first fastener and the second fastener are fasteners of the same specifications. The first mounting hole has an internal thread, the second mating hole has an internal thread, the first mating hole has no internal thread, and the second mounting hole has no internal thread.

[0010] Furthermore, the robotic arm includes multiple adjustable arms of different lengths, and any one of the adjustable arms can be selectively installed between the first body and the second body.

[0011] Furthermore, the adjusting arm is a telescopic structure with adjustable length.

[0012] Furthermore, the adjusting arm has a hollow structure and includes a cylindrical arm, a first hollow flange, and a second hollow flange. The first hollow flange and the second hollow flange are respectively disposed at both ends of the cylindrical arm. The first hollow flange and the first mounting position are detachably connected, and the second hollow flange and the second mounting position are detachably connected.

[0013] Furthermore, the adjusting arm has a hollow structure, with the first main body having a first through hole penetrating the first mounting position and the second main body having a second through hole penetrating the second mounting position. Both the first and second through holes are connected to the cavity of the adjusting arm.

[0014] According to another aspect of the present invention, a welding robot is provided, comprising a welding torch body and the aforementioned robotic arm, wherein the welding torch body is mounted at the end of a second body.

[0015] In this design, the first and second mounting positions are respectively located on the first and second main bodies. The two ends of the adjusting arm are detachably connected to the first and second mounting positions, respectively, allowing for easy replacement with the required length of the adjusting arm to suit specific application scenarios, thus altering the arm span and flexibly adjusting the working range of the robotic arm. The first and second mounting positions can be directly connected, maintaining the continuity and integrity of the robotic arm even after removing the adjusting arm. This minimizes the overall size of the robotic arm when working space is limited, improving its applicability. Furthermore, the shortened arm span increases its load capacity and reduces the inertial torque from the actuator to the mounting base, thereby improving the stability and efficiency of the robotic arm. In addition, the first and second mounting positions can be directly connected after removing the adjusting arm, meaning the structural design at both positions is identical, reducing hardware matching difficulty, simplifying disassembly and assembly procedures, and enhancing the flexibility and applicability of the robotic arm. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0017] Figure 1 A schematic diagram of the structure of the robotic arm provided in an embodiment of the present invention is shown;

[0018] Figure 2 It shows Figure 1 Side view of the robotic arm when it is not connected to the second main body;

[0019] Figure 3 It shows Figure 2 A cross-sectional view of the robotic arm at position AA;

[0020] Figure 4 It shows Figure 1 A schematic diagram of the structure of the robotic arm when the adjusting arm is not connected.

[0021] The above figures include the following reference numerals:

[0022] 10. First main body; 11. Mounting base; 12. First mounting position; 121. First mounting hole; 13. First through hole;

[0023] 20. Second body; 21. Second mounting position; 211. Second mounting hole; 22. Second through hole;

[0024] 30. Adjusting arm; 31. First mating hole; 32. Second mating hole; 33. Cylindrical arm; 34. First hollow flange; 35. Second hollow flange;

[0025] 40. First fastening structure; 41. First fastener;

[0026] 50. Second fastening structure; 51. Second fastener. Detailed Implementation

[0027] The technical solutions in at least one embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one embodiment is merely illustrative and is not intended to limit this application or its applications. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the scope of protection of this application.

[0028] like Figures 1 to 4As shown, an embodiment of the present invention provides a robotic arm, including a first body 10, a second body 20, and at least one adjustable arm 30. The first body 10 includes a mounting base 11 and at least one arm segment, and the second body 20 includes at least one arm segment. The second body 20 is used to connect an actuator. The first body 10 has a first mounting position 12, and the second body 20 has a second mounting position 21. The two ends of the adjustable arm 30 are detachably connected to the first mounting position 12 and the second mounting position 21, respectively, and the first mounting position 12 and the second mounting position 21 can be directly connected.

[0029] In this design, the first mounting position 12 and the second mounting position 21 are respectively located on the first main body 10 and the second main body 20. The two ends of the adjusting arm 30 are detachably connected to the first mounting position 12 and the second mounting position 21, respectively, allowing for easy replacement with the required length of the adjusting arm 30 according to specific application scenarios, thus changing the arm span and flexibly adjusting the working range of the robotic arm. The first mounting position 12 and the second mounting position 21 can be directly connected, maintaining the continuity and integrity of the robotic arm even after removing the adjusting arm 30. This minimizes the overall size of the robotic arm when working space is limited, improving its applicability. Furthermore, the shortened arm span increases its load capacity and reduces the inertial torque from the actuator to the mounting base 11, thereby improving the stability and working efficiency of the robotic arm. In addition, the first mounting position 12 and the second mounting position 21 can be directly connected after removing the adjusting arm 30, meaning that the structural design at the first mounting position 12 and the second mounting position 21 of the robotic arm is identical, reducing hardware matching difficulty, simplifying disassembly and assembly procedures, and improving the flexibility and applicability of the robotic arm.

[0030] like Figure 1 As shown, the robotic arm also includes a first fastening structure 40 and a second fastening structure 50. One end of the adjusting arm 30 is detachably connected to the first mounting position 12 via the first fastening structure 40, and the other end of the adjusting arm 30 is detachably connected to the second mounting position 21 via the second fastening structure 50. Alternatively, the first mounting position 12 and the second mounting position 21 are directly connected via the second fastening structure 50. The first fastening structure 40 and the second fastening structure 50 enable complete connection of all components of the robotic arm while ensuring the detachability of the connection, thus improving the reliability of the connection and the convenience of adjustment.

[0031] like Figure 1 , Figure 3 , Figure 4As shown, the first mounting position 12 has multiple first mounting holes 121, one end of the adjusting arm 30 has multiple first mating holes 31, the second mounting position 21 has multiple second mounting holes 211, the other end of the adjusting arm 30 has multiple second mating holes 32, the first fastening structure 40 includes multiple first fasteners 41, and the second fastening structure 50 includes multiple second fasteners 51; wherein, one first fastener 41 connects one first mounting hole 121 and one first mating hole 31, and one second fastener 51 connects one second mounting hole 211 and one second mating hole 32, or one second fastener 51 connects one first mounting hole 121 and one second mounting hole 211. By increasing the number of connection points, the stability and reliability of the connection are improved; at the same time, this arrangement allows the first body 10, the adjusting arm 30, and the second body 20 to be connected sequentially, or the first body 10 and the second body 20 to be connected together, realizing the continuity and integrity of the robotic arm, improving the stability of the robotic arm, and reducing safety hazards caused by loose connections.

[0032] In this embodiment, the direction in which the first mounting hole 121 enters the first fastener 41 and the direction in which the second mounting hole 211 enters the second fastener 51 are the same. The fact that the first mounting hole 121 and the second mounting hole 211 have the same insertion direction simplifies the disassembly and assembly operations of the robotic arm during arm extension adjustment, avoids complex operations caused by inconsistent fastener directions, improves disassembly and assembly efficiency, reduces the error rate, saves time and labor costs, and improves production efficiency.

[0033] In this embodiment, the first fastener 41 and the second fastener 51 are fasteners of the same specification. The first mounting hole 121 has an internal thread, the second mating hole 32 has an internal thread, the first mating hole 31 has no internal thread, and the second mounting hole 211 has no internal thread. By using fasteners of the same specification, it is convenient to directly connect the first mounting position 12 and the second mounting position 21 after removing the adjusting arm 30, and the parts management and replacement process is simplified. At the same time, the internal thread engagement ensures the stability and sealing of the connection, reduces maintenance costs, and improves the reliability of the connection. The first fastener 41 and the second fastener 51 can be bolts, screws, etc.

[0034] like Figure 1 As shown, the robotic arm includes multiple adjustable arms 30 of different lengths, and any one of the adjustable arms 30 can be selectively installed between the first main body 10 and the second main body 20. This configuration allows the arm length to be adjusted according to the specific implementation scenario, meeting the required working range and improving the flexibility and applicability of the robotic arm.

[0035] In this embodiment, the adjusting arm 30 is a telescopic structure with adjustable length, thus achieving arm extension adjustment of the robotic arm through telescopic movement. For example, the adjusting arm 30 is configured as a sleeve-type telescopic structure, and through the internal cylindrical segment nesting telescopic mechanism, the length of the arm 30 can be adjusted within a certain range. The arm extension can be adjusted without replacing the adjusting arm 30, further improving the flexibility and adaptability of the robotic arm, simplifying the arm extension adjustment process, reducing maintenance costs, and improving work efficiency.

[0036] Optionally, slide rails are installed on both sides of the adjusting arm 30, the length of which can cover the maximum reach of the robotic arm. The surface of the slide rails is precision-machined to ensure smoothness and accuracy during sliding. One or more slider assemblies are designed, each containing a joint structure and an arm segment connected to it. The slider assemblies can move along the slide rails, and the joint structure can be precisely positioned on the slide rails via motor or manual control, thereby achieving length adjustment.

[0037] Optionally, the adjusting arm 30 can be configured as a series of arm segment modules of different lengths, each conforming to the same standard interface and allowing for quick replacement. When it is necessary to adjust the robotic arm's reach to fit a specific workspace, simply disassemble the current adjusting arm 30 and replace it with a module of suitable length, or add a module of appropriate length to the current adjusting arm 30 to meet the arm length adjustment requirements, and then re-secure it via the standard interface.

[0038] In this embodiment, the adjusting arm 30 has a hollow structure and includes a cylindrical arm 33, a first hollow flange 34, and a second hollow flange 35. The first hollow flange 34 and the second hollow flange 35 are respectively disposed at both ends of the cylindrical arm 33. The first hollow flange 34 is detachably connected to the first mounting position 12, and the second hollow flange 35 is detachably connected to the second mounting position 21. The hollow structure of the adjusting arm 30 reduces the weight of the robotic arm structure while solving the problem that traditional structures cannot effectively enclose cables, air pipes, and other auxiliary cables. This effectively prevents cables from being damaged by external forces during operation, improving the protection measures for cables and pipelines. The first hollow flange 34 and the second hollow flange 35 connect the adjusting arm 30 to other arm sections, improving the stability of the robotic arm.

[0039] like Figure 3As shown, the adjusting arm 30 has a hollow structure. The first main body 10 has a first through hole 13 penetrating the first mounting position 12, and the second main body 20 has a second through hole 22 penetrating the second mounting position 21. Both the first through hole 13 and the second through hole 22 are connected to the cavity of the adjusting arm 30. The hollow structure of the adjusting arm 30, along with the first through hole 13 and the second through hole 22, allows equipment cables to be threaded through them, preventing damage to the cables during operation. This design also makes the robotic arm structure more compact, reduces interference issues in complex environments, significantly improves its range of motion and flexibility, and adapts to the operational requirements of working in confined spaces.

[0040] According to another aspect of the present invention, a welding robot is provided, comprising a welding torch body and the aforementioned robotic arm, wherein the welding torch body is mounted at the end of a second body 20.

[0041] With this configuration, the two ends of the adjusting arm 30 in the robotic arm are detachably connected to the first mounting position 12 and the second mounting position 21, respectively. This allows for easy replacement of the adjusting arm 30 with the required length according to specific application scenarios, thereby changing the robotic arm's reach and enabling flexible adjustment of its working range to meet the adjustment requirements of the welding torch body. The first mounting position 12 and the second mounting position 21 can be directly connected, maintaining the continuity and integrity of the robotic arm even after the adjusting arm 30 is removed. This minimizes the overall size of the robotic arm when working space is limited, improving its applicability. Furthermore, the shortened reach of the robotic arm increases its load capacity and reduces the inertial torque from the welding torch body to the mounting base 11, thereby improving the stability and working efficiency of the welding robot.

[0042] The above descriptions are merely some embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as exemplary only and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0045] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0046] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0047] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

Claims

1. A robotic arm, characterized in that, The device includes a first body (10), a second body (20), and at least one adjusting arm (30). The first body (10) includes a mounting base (11) and at least one arm segment. The second body (20) includes at least one arm segment and is used to connect an actuator. The first body (10) has a first mounting position (12), and the second body (20) has a second mounting position (21). The two ends of the adjusting arm (30) are detachably connected to the first mounting position (12) and the second mounting position (21), respectively, and the first mounting position (12) and the second mounting position (21) can be directly connected.

2. The robotic arm according to claim 1, characterized in that, The robotic arm also includes a first fastening structure (40) and a second fastening structure (50). One end of the adjusting arm (30) is detachably connected to the first mounting position (12) via the first fastening structure (40), and the other end of the adjusting arm (30) is detachably connected to the second mounting position (21) via the second fastening structure (50). Alternatively, the first mounting position (12) and the second mounting position (21) are directly connected via the second fastening structure (50).

3. The robotic arm according to claim 2, characterized in that, The first mounting position (12) has a plurality of first mounting holes (121), one end of the adjusting arm (30) has a plurality of first mating holes (31), the second mounting position (21) has a plurality of second mounting holes (211), the other end of the adjusting arm (30) has a plurality of second mating holes (32), the first fastening structure (40) includes a plurality of first fasteners (41), and the second fastening structure (50) includes a plurality of second fasteners (51); In this configuration, one of the first fasteners (41) connects one of the first mounting holes (121) and one of the first mating holes (31), and one of the second fasteners (51) connects one of the second mounting holes (211) and one of the second mating holes (32), or one of the second fasteners (51) connects one of the first mounting holes (121) and one of the second mounting holes (211).

4. The robotic arm according to claim 3, characterized in that, The direction in which the first mounting hole (121) enters the first fastener (41) is the same as the direction in which the second mounting hole (211) enters the second fastener (51).

5. The robotic arm according to claim 3, characterized in that, The first fastener (41) and the second fastener (51) are fasteners of the same specification. The first mounting hole (121) has an internal thread, the second mating hole (32) has an internal thread, the first mating hole (31) has no internal thread, and the second mounting hole (211) has no internal thread.

6. The robotic arm according to claim 1, characterized in that, The robotic arm includes multiple adjustable arms (30) of different lengths, and any one of the adjustable arms (30) can be selectively installed between the first body (10) and the second body (20).

7. The robotic arm according to claim 1, characterized in that, The adjusting arm (30) is a telescopic structure with adjustable length.

8. The robotic arm according to claim 1, characterized in that, The adjusting arm (30) has a hollow structure. The adjusting arm (30) includes a cylindrical arm (33), a first hollow flange (34), and a second hollow flange (35). The first hollow flange (34) and the second hollow flange (35) are respectively disposed at both ends of the cylindrical arm (33). The first hollow flange (34) and the first mounting position (12) are detachably connected, and the second hollow flange (35) and the second mounting position (21) are detachably connected.

9. The robotic arm according to claim 1, characterized in that, The adjusting arm (30) has a hollow structure. The first main body (10) has a first through hole (13) that penetrates the first mounting position (12), and the second main body (20) has a second through hole (22) that penetrates the second mounting position (21). The first through hole (13) and the second through hole (22) are both connected to the cavity of the adjusting arm (30).

10. A welding robot, characterized in that, The welding robot includes a welding torch body and a robotic arm as described in any one of claims 1 to 9, wherein the welding torch body is mounted on the end of the second body (20).

Images