CN100500389C - An arc welding robot rotary motion transmission device - Google Patents

Abstract

The invention relates arc welding robot making. It mainly comprises the universal joint, connecting shaft, small gear, big gear, RV decelerator, rear end cover installed on the elbow of the robot, servogenerator installed on the rear end cover, motor output shaft connected to the universal joint, whose output connected to the connecting shaft, small gear installed on the connection shaft, big gear and RV decelerator fixed in bolt connection, positioning with the central pin, through the gear drive providing power to the RV decelerator. It is scientific, reasonable, reliable, stable and highly efficient.

Description

An arc welding robot rotary motion transmission device

technical field

The invention relates to the field of arc welding robot manufacturing, in particular to a rotary motion transmission device of an arc welding robot shaft.

Background technique

At present, the arc welding robot system has been widely used in automobiles, motorcycles, construction machinery, bridges, and steel structure buildings by virtue of its high-precision sensing technology and optimized robot system configuration. The welding robots produced in all countries in the world are basically articulated robots, most of which are 6-axis; among them, the 1, 2, and 3 axes can send the end tools to different spatial positions, while the 4, 5, and 6 axes can solve the problem. Different requirements for tool attitude. Each axis of the welding robot is for rotary motion, so it is driven by a servo motor through a cycloid (RV) reducer (1-3 axis) and a harmonic reducer (4-6 axis). The existing transmission line generally adopts the motor (input end)-reducer-load (output end). The arc welding robot has a large elbow turning torque, which requires a large motor power consumption, and the robot is easy to lean forward.

Contents of the invention

The object of the present invention is to provide a rotary motion transmission device of an arc welding robot, thereby overcoming the shortcomings of the existing arc welding robots.

The technical solution of the present invention: an arc welding robot rotary motion transmission device, mainly composed of universal joints, coupling shafts, pinion gears, large gears and RV reducers, the rear end cover is installed on the elbow of the robot, and the servo motor Installed on the rear end cover, the output shaft of the motor is connected with the universal joint, and the output end of the universal joint is connected with the connecting shaft; the small gear is installed on the connecting shaft, and the large gear and the RV reducer are fixed by bolt connection. It is positioned with a center pin and provides a power source for the RV reducer through gear transmission.

The present invention is a rotary motion transmission device for an arc welding robot. Universal joints are used to transmit power. The change of the installation position of the servo motor (with the axis as the boundary) changes the distribution of the weight of the robot body, reduces the rotary torque of the elbow, and reduces the weight of the robot. The power of the motor overcomes the defect that the robot is easy to lean forward, increases the stability of the robot, and is easy to install and maintain.

The rotary motion transmission device of the arc welding robot of the present invention has the advantages of scientific design, reasonable structure, reliable performance, stable operation, high efficiency, convenient maintenance and the like.

Description of drawings

The specific structure of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic diagram of the overall structure of the arc welding robot;

In the figure: 01. Rear end cover 02. Universal joint 03. Coupling shaft 04. Bearing 05. Small gear 06. Gasket 07. Screw 08. Big gear 09. Outer spacer 1. Machine base 2. Turntable 3. Large Arm 4. Motor I 5. Motor II 6. Motor III 7. Elbow 8. RV Reducer 9 Forearm 10. Wrist

Detailed ways

It can be seen from Figures 1 and 2 that the rear end cover 01 is installed on the elbow 7 of the robot, the servo motor 6 is installed on the rear end cover 01, the output shaft of the motor 6 is connected with the universal joint 02, and the universal joint The output end of the output end is connected with the coupling shaft 03; the small gear 05 is installed on the coupling shaft 03, the large gear 08 and the RV reducer are fixed by bolt connection, positioned with a central pin, and the power source is provided to the RV reducer through gear transmission; The output end of the RV reducer is connected to the forearm 9 of the robot to control the rotary motion of the forearm; the other large gear 08 and the RV reducer are both hollow structures, in order to allow the universal joint of the robot shaft power input to pass through, for welding robots 4, 5, 6-axis transmission mode, the transmission mode of these three axes is similar, we take 4-axis as an example to explain the transmission structure of this axis, because the transmission mode is the same, so the 5th and 6-axis will not be repeated here.

Claims (2)

1, a kind of arc welding robot gyroscopic motion transmission gear, it comprises universal joint (02), coupking shaft (03), pinion (05), gear wheel (08) and RV decelerator (8), it is characterized in that: rear end cap (01) is installed on the ancon of robot, servomotor is installed on the rear end cap (01), motor output shaft and universal joint (02) link, and the output of universal joint (02) and coupling spindle (03) link; Pinion (05) is installed on the coupling spindle (03), and gear wheel (08) and RV decelerator are fixed in the mode of Bolt Connection, with the centrepin location, power source is provided for the RV decelerator by gear drive.

2, a kind of arc welding robot gyroscopic motion transmission gear according to claim 1 is characterized in that: gear wheel (05) and RV decelerator (8) are hollow structure.

Images