A robot welding gun with a large angle of twist

Abstract

This utility model relates to the field of welding torch technology. A robotic welding torch with a large torsion angle includes a collision avoidance device and a torch cable. The collision avoidance device includes a collision avoidance device housing and a collision avoidance device output shaft. A cable seat is connected to the collision avoidance device output shaft. It also includes a conductive structure that can be twisted at a certain angle. One end of the conductive structure is connected to the cable seat, and the other end is connected to the cable in the torch cable. By designing a conductive structure that can be twisted at a certain angle, and in conjunction with the cable seats and torch cable at both ends, the allowable torsion range of the conductive structure is increased based on the original allowable torsion range of the welding torch cable. This increases the maximum allowable positive and negative torsion angle of the robot's sixth axis, thereby improving the flexibility of the robot in controlling the welding torch.

Description

Technical Field

[0001] This utility model relates to the field of welding torch technology, specifically to a robotic welding torch with a large torsion angle. Background Technology

[0002] The structure of the built-in robotic welding torch, such as Figure 1 As shown, it mainly includes a gun neck and a gun cable. The gun neck seat at one end of the gun neck and the gun cable seat at one end of the gun cable are locked together by a lock nut. An anti-collision device is installed outside the gun cable. The output shaft of the anti-collision device is connected to the gun cable seat, and the two move synchronously. One end of the anti-collision device output shaft is elastically installed in the anti-collision device housing. When the output shaft is subjected to axial force, it can elastically float within a certain range under the action of a spring. The anti-collision device can protect the welding torch when it collides with other objects. Figure 2 As shown, when the robot moves, such as when the robot's sixth axis twists, the anti-collision device and its output shaft mounted on the sixth axis drive the cable holder to twist synchronously. Since the cable holder and the cable are fixed together, the twist angle of the robot's sixth axis is the same as the twist angle of the cable. In actual welding applications, the robot's sixth axis often needs to undergo large-amplitude repeated twisting. Under long-term repeated twisting, the cable is prone to problems such as internal copper wire breakage and outer sheath damage. To improve the service life of the cable, current built-in welding robots limit the twist angle of the robot's sixth axis at the factory. The limit angle of the sixth axis of most robots is ±220 degrees, which greatly limits the flexibility of robot welding in practical applications. Utility Model Content

[0003] The purpose of this invention is to provide a robotic welding torch with a large torsion angle, which solves the technical problem that the robot's welding flexibility is limited by the 220-degree limit of the sixth axis of the robot in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A robotic welding torch with a large torsion angle includes a collision avoidance device and a torch cable. The collision avoidance device includes a collision avoidance device housing and a collision avoidance device output shaft. The collision avoidance device output shaft is connected to a cable seat and also includes a conductive structure that can be twisted at a certain angle. One end of the conductive structure is connected to the cable seat and the other end is connected to the cable in the torch cable.

[0005] Furthermore, the conductive structure includes a spirally wound helical cable.

[0006] Furthermore, a gun cable seat is rotatably mounted inside the output shaft of the anti-collision device. A spiral cable is located inside the output shaft of the anti-collision device, with one end of the spiral cable connected to the cable seat and the other end connected to the gun cable seat. The gun cable is connected to the gun cable seat.

[0007] Furthermore, the gun cable mount is equipped with a bearing, which is rotatably mounted inside the output shaft of the crash barrier.

[0008] Furthermore, the cable holder is provided with a connecting tube, and the end of the connecting tube away from the cable holder is slidably inserted into the cable holder.

[0009] Furthermore, the connecting pipe is provided with a wire feeding channel through which a wire feeding hose passes. The outer diameter of the wire feeding hose is smaller than the inner diameter of the wire feeding channel, so that an air supply channel is formed between the wire feeding hose and the wire feeding channel.

[0010] Furthermore, a sealing ring is provided on the outer wall of the end of the connecting tube away from the gun cable seat.

[0011] Furthermore, the spiral cable is wound axially along the connecting pipe. In its initial state, the inner diameter of the spiral cable is larger than the outer diameter of the connecting pipe, and the outer diameter is smaller than the inner diameter of the output shaft of the anti-collision device.

[0012] Furthermore, one end of the output shaft of the crash barrier is guided and assembled inside the crash barrier housing, and a spring is provided inside the crash barrier housing, with the two ends of the spring respectively abutting against one end face of the output shaft of the crash barrier and the inner wall of the crash barrier housing.

[0013] Furthermore, the conductive structure includes a coiled cable located inside the crash barrier or the gun cable sleeve.

[0014] The beneficial effects of this utility model are: When the robot's sixth axis rotates around its axis, the anti-collision device and its output shaft mounted on the sixth axis cause the welding torch neck and cable holder to twist together. The cable holder then causes one end of the torsionally conductive structure (spiral cable) to twist. Due to the weight and stiffness of the cable itself, the cable holder and cable remain stationary within a certain range of twisting amplitude on the sixth axis. When the sixth axis rotates clockwise, the spiral diameter of the spiral cable gradually decreases until it is completely wrapped around the connecting pipe, at which point the cable holder begins to drive the welding torch cable to rotate clockwise. Similarly, when the sixth axis rotates counterclockwise, the spiral diameter of the spiral cable gradually increases until its outer diameter is completely against the inner wall of the anti-collision device's output shaft, at which point the cable holder begins to drive the cable to rotate counterclockwise. By increasing the allowable twisting amplitude of the spiral cable based on the original allowable twisting range of the welding torch cable, the maximum allowable positive and negative twisting angles of the robot's sixth axis increase, thereby improving the robot's flexibility in controlling the welding torch. The robot's sixth axis allows for a maximum positive and negative torsion angle greater than the original ±220 degrees, and can achieve ±360 degrees or even greater. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a welding torch in the prior art; Figure 2 This is a schematic diagram illustrating the application of welding torches on built-in robots in existing technologies; Figure 3 This is a schematic diagram of the welding torch in this utility model; Figure 4 This refers to the state of the spiral cable in this utility model. Figure 1 ; Figure 5 This refers to the state of the spiral cable in this utility model. Figure 2 .

[0016] 11. Gun neck; 12. Lock nut; 13. Wire feed hose; 14. Gun cable holder; 15. Collision arrester output shaft; 16. Spring; 17. Collision arrester housing; 18. Gun cable; 19. Sixth shaft; 1. Gun neck; 2. Lock nut; 3. Collision protector; 31. Collision protector output shaft; 32. Collision protector housing; 33. Spring; 4. Sealing ring; 51. Cable holder; 52. Gun cable holder; 6. Spiral cable; 7. Bearing; 8. Gun cable; 81. Gun cable sleeve; 9. Connecting pipe. Detailed Implementation 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model are within the protection scope of the present utility model.

[0017] Embodiments of this utility model: like Figure 3 As shown, the robotic welding torch with a large torsion angle includes a torch neck 1, a collision avoidance device 3, and a torch cable 8. The collision avoidance device includes a collision avoidance device housing 32 and a collision avoidance device output shaft 31. The collision avoidance device output shaft 31 is connected to a cable seat 51. The collision avoidance device output shaft 31 is a hollow structure and can move within a certain range along the axial direction to play a buffering role and achieve the purpose of preventing the welding torch from being damaged by collision.

[0018] One end of the gun neck 1 is provided with a gun neck seat, which is connected to the cable seat 51. Both have channels through which the wire feeding hose 13 passes. The cable seat 51 is fixed by a lock nut 2 and is fixed to the left side of the output shaft 31 of the bumper by axially inserted screws. This end structure of the gun neck 1 is prior art, such as that described in the background art. Figure 1 As shown, the difference is that the size of the cable holder 51 is different and the name is different. In this embodiment, a connecting block component is also provided on the right side of the output shaft 31 of the anti-collision device. To distinguish them, the one on the left is defined as cable holder 51 and the one on the right is defined as gun cable holder 52.

[0019] The core of this utility model is that the robotic welding gun also includes a conductive structure that can be twisted at a certain angle. One end of the conductive structure is connected to the cable seat 51, and the other end is connected to the cable in the gun cable 8.

[0020] The conductive structure includes a spirally wound helical cable 6. A cable holder 52 is rotatably mounted inside the output shaft 31 of the anti-collision device, with the helical cable 6 located within the shaft. One end of the helical cable 6 is connected to the cable holder 51, and the other end is connected to the cable holder 52. Specifically, both ends of the helical cable 6 are inserted into the holes of the cable holder 51 and the cable holder 52, and can be fixed by welding or compression. The cable 8 is connected to the cable holder 52, and the helical cable 6 is electrically connected to the cable portion of the cable 8. Compared to existing technologies, this design includes an additional helical cable 6, which allows the welding torch to have a larger rotation angle, making it more flexible to use.

[0021] The cable mount 52 is equipped with a bearing 7, which is rotatably mounted inside the output shaft 31 of the crash barrier. The bearing 7 is a rolling bearing, and its outer circle is tightly fitted with the inner circle of the output shaft 31. The cable mount 52 can move axially with the output shaft 31 of the crash barrier, and it can also rotate.

[0022] The cable holder 52 is equipped with a connecting tube 9. One end of the connecting tube 9 is tightly fitted into the inner hole of the cable holder 52, while the end of the connecting tube away from the cable holder 52 is slidably inserted into the cable holder 51. The connecting tube 9 has a wire feeding channel through which the wire feeding hose 13 passes. The outer diameter of the wire feeding hose 13 is smaller than the inner diameter of the wire feeding channel, so that the gap between the wire feeding hose 13 and the wire feeding channel forms a gas supply channel for delivering protective gas. A sealing ring 4, such as an O-ring, is provided on the outer wall of the end of the connecting tube away from the cable holder 52 to prevent leakage of protective gas.

[0023] The spiral cable 6 is spirally wound along the axis of the connecting pipe. In the initial state, the inner diameter of the spiral cable 6 is larger than the outer diameter of the connecting pipe, and the outer diameter is smaller than the inner diameter of the output shaft 31 of the anti-collision device, so that the spiral cable 6 has a certain amount of room to tighten inward or loosen outward.

[0024] One end of the output shaft 31 of the crash barrier is guided and fitted inside the crash barrier housing 32. A spring 33 is installed inside the crash barrier housing 32, with its two ends abutting against one end face of the output shaft 31 and the inner wall of the crash barrier housing 32, respectively. The crash barrier's structural principle utilizes existing technology. The end of the cable 8 is located inside the crash barrier housing 32, while the portion outside the housing 32 is fitted with a cable sleeve 81 for protection.

[0025] The principle of this utility model of a robotic welding torch with a large torsion angle: When the robot's sixth axis rotates around its axis, the anti-collision device and its output shaft mounted on the sixth axis will cause the welding torch neck 1 and cable holder 51 to twist together. The cable holder 51 will cause one end of the spiral cable 6 to twist. The cable holder 52 and the cable 8 fixedly connected to it will remain stationary within a certain range of twisting amplitude of the sixth axis due to the weight and rigidity of the cable 8 itself. When the sixth axis rotates clockwise, the spiral diameter of the spiral cable 6 gradually decreases until the spiral cable 6 is completely wound around the connecting pipe (e.g., ...). Figure 4 As shown), the cable holder 52 will then begin to drive the welding torch cable 8 to rotate forward. Similarly, when the sixth axis reverses, the spiral diameter of the spiral cable 6 gradually increases until the outer diameter of the spiral cable 6 is completely attached to the inner wall of the anti-collision device output shaft 31 (as shown). Figure 5 As shown), the gun cable holder 52 will then start to drive the gun cable to reverse. The maximum torsional amplitude of the robot's sixth axis is equal to the allowable torsional amplitude of the spiral cable 6 added to the allowable torsional amplitude of the original welding gun cable. Without affecting the conductivity, gas conduction, wire feeding, and service life of the gun cable, the maximum allowable positive and negative torsional angles of the robot's sixth axis are greatly increased.

[0026] In this embodiment, a spiral cable made of a circular cross-section is used to increase the torsion angle of the welding gun. In other embodiments, the conductive structure can also be designed as a coiled cable, located inside the anti-collision device or the gun cable sleeve; the cable is a flat ribbon cable, drawing inspiration from the structural principle of a clock spring; similarly, a connecting tube needs to be designed so that the coiled cable can be wound around the axis of the connecting tube. During use, when the output shaft of the anti-collision device rotates, the gun cable part will not rotate synchronously under the action of the coiled cable, but will rotate with a delay, allowing the robot's sixth axis to make a torsion angle of ±360 degrees or greater.

[0027] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0028] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this utility model and simplifying the description, and 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic welding torch with a large torsion angle, comprising a collision avoidance device and a torch cable, wherein the collision avoidance device includes a collision avoidance device housing and a collision avoidance device output shaft, and the collision avoidance device output shaft is connected to a cable seat, characterized in that: It also includes a conductive structure that can be twisted at a certain angle, with one end of the conductive structure connected to the cable seat and the other end connected to the cable in the gun cable.

2. The robotic welding torch with a large torsion angle according to claim 1, characterized in that: The conductive structure includes a spirally wound helical cable.

3. The robotic welding torch with a large torsion angle according to claim 2, characterized in that: The output shaft of the anti-collision device is rotatably equipped with a gun cable seat. The spiral cable is located inside the output shaft of the anti-collision device. One end of the spiral cable is connected to the cable seat, and the other end is connected to the gun cable seat. The gun cable is connected to the gun cable seat.

4. The robotic welding torch with a large torsion angle according to claim 3, characterized in that: The gun cable mount is equipped with a bearing, which is rotated and assembled inside the output shaft of the anti-collision device.

5. The robotic welding torch with a large torsion angle according to claim 3, characterized in that: The gun cable holder is equipped with a connecting tube, and the end of the connecting tube away from the gun cable holder is slidably inserted into the cable holder.

6. The robotic welding torch with a large torsion angle according to claim 5, characterized in that: The connecting pipe is provided with a wire feeding channel through which a wire feeding hose passes. The outer diameter of the wire feeding hose is smaller than the inner diameter of the wire feeding channel, so that an air supply channel is formed between the wire feeding hose and the wire feeding channel.

7. The robotic welding torch with a large torsion angle according to claim 5, characterized in that: A sealing ring is provided on the outer wall of the end of the connecting tube away from the gun cable seat.

8. The robotic welding torch with a large torsion angle according to claim 5, characterized in that: The spiral cable is wound axially along the connecting pipe. In its initial state, the inner diameter of the spiral cable is larger than the outer diameter of the connecting pipe, and the outer diameter is smaller than the inner diameter of the output shaft of the anti-collision device.

9. The robotic welding torch with a large torsion angle according to claim 1, characterized in that: One end of the output shaft of the anti-collision device is guided and assembled inside the anti-collision device housing. A spring is provided inside the anti-collision device housing, and the two ends of the spring abut against one end face of the output shaft of the anti-collision device and the inner wall of the anti-collision device housing, respectively.

10. The robotic welding torch with a large torsion angle according to claim 1, characterized in that: The conductive structure includes a coiled cable located inside the crash barrier or the gun cable sleeve.

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