Articulated Welding Robot Arm Groove for Stable Wire Routing
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Solution Overview
Problem
Articulated welding robots face issues with welding wire bending due to small curvature radii, leading to displacement at the welding position, decreased precision, and increased costs from hollow shaft reducers, as well as damage from inertial forces and restricted operation angles.
Innovation Solution
The articulated welding robot features a depression along the arm's axial center to accommodate the welding wire, reducing bending and eliminating the need for hollow shafts, while a support member maintains the wire's position and a composite cable integrates gas, water, and power supplies, simplifying the setup.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the welding wire is disposed along the respective arms of the articulated welding robot, then the welding wire can be supplied to the welding torch, but if a curvature radius of a curve of the welding wire decreases, the welding wire may tend to be bent, resulting in unintended displacement at the distal end position and decreased welding quality
Solution Approach 1:
The patent transitions the welding wire from a free-space arrangement to a constrained path within a groove formed on the arm surface. This dimensional constraint prevents the wire from deviating laterally, maintaining precision even when curvature radius decreases during robot operation.
Solution Approach 2:
The groove acts as an intermediary structure between the welding wire and the arm. It provides a guided pathway that mediates the wire's movement, preventing direct contact and potential damage while maintaining positional accuracy throughout the wire's length.
2Manufacturing precision
If a hollow shaft reducer is used in the wrist portion to allow the welding wire to pass through, then bending of the welding wire is reduced and winding around the arms is prevented, but the cost increases
Solution Approach 1:
The patent extracts the wire guidance function from the hollow shaft reducer and implements it separately through grooves on the arm surface. This eliminates the need for expensive hollow shaft reducers while maintaining the benefit of reduced wire bending and positioning accuracy.
Solution Approach 2:
The groove structure provides a simple, low-cost alternative to the hollow shaft reducer. Although the groove may require periodic maintenance or replacement, its low initial cost and simplicity make it economically advantageous compared to the expensive hollow shaft reducer.
3Ease of operation
If the wire feed/supply device is attached to the proximal end portion of the upper arm, then the device can be positioned for wire feeding, but the conduit cable needs to be extended toward the outside of the robot to increase operation angle, causing the cable to move largely and potentially be damaged by inertial force
Solution Approach 1:
The patent routes the conduit cable along the surface of the arm within a groove rather than extending it outward from the proximal end. This dimensional repositioning keeps the cable close to the arm structure, reducing its movement amplitude and preventing damage from inertial forces during dynamic operation.
Solution Approach 2:
The groove serves as an intermediary pathway for the conduit cable, providing a protected route that mediates between the wire feed/supply device and the external environment. This prevents the cable from being exposed to large movements and potential damage while maintaining operational flexibility.
Data Source
AI summary
Provided is an articulated welding robot that includes an articulated arm in which a plurality of arm parts are linked via a drive shaft. A welding wire is disposed along the articulated arm. In at least one of the arm parts a depression is formed that forms a hollow on the inner side of the arm. At least a portion of the welding wire is accommodated in the depression.