CN205184806U - Wrist joint structure of welder robot - Google Patents
Wrist joint structure of welder robot Download PDFInfo
- Publication number
- CN205184806U CN205184806U CN201521043880.7U CN201521043880U CN205184806U CN 205184806 U CN205184806 U CN 205184806U CN 201521043880 U CN201521043880 U CN 201521043880U CN 205184806 U CN205184806 U CN 205184806U
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- CN
- China
- Prior art keywords
- welding gun
- mount pad
- wrist joint
- robot
- joint structure
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- Expired - Fee Related
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Abstract
The utility model provides a wrist joint structure of welder robot, including inside hollow mount pad, drive device, transmission and welder seat, drive device sets up in the mount pad, the transmission machine assembly be in on the mount pad, the welder seat with the one end of mount pad is connected, the welder seat passes through the transmission with drive device connects. The utility model provides a wrist joint structure of welder robot compares with current robot wrist joint, the utility model provides a characteristics such as wrist joint structure has degree of freedom height, compact structure, space area is less, weight is light, flexibility ratio height, in addition, the utility model discloses be convenient for install welder, the swing of welder seat is nimble, has reduced the impact strength to the wrist joint greatly, has improved the life of welder robot, and the practicality is strong.
Description
Technical field
The utility model relates to Industrial Robot Technology field, particularly a kind of wrist joint structure of welding gun robot.
Background technology
Improving constantly along with computer technology, mechanics of communication is also developing rapidly, and robotics development speed also becomes very fast.In the industrial robot in the existing whole world, have the industrial robot of 50 percent to be applied to different welding field, welding robot has electric welding and the basic mode of arc welding two kinds.Namely the main work taken up of welding robot is replace workman manually to carry out the industrial robot welded at welding field, welding job is again that a kind of work situation is severe, flue dust is many, radiation and dangerous high work, the invention of welding robot allows people expect it being gone to replace workman manually weld and alleviate the amount of labour of operator, and ensure weld task quality, improve welding efficiency.
In welding robot, carpal structural design is one of challenge subjects of anthropomorphic robot research field, at present, the wrist joint of robot that the free degree is higher only can realize transmission and simple swing, and existing wrist joint not only build is bigger than normal, heavy, and operate and be inconvenient to control, production cost is high, and selling price is expensive, poor practicability.
Utility model content
Bigger than normal, heavy in order to solve the not only build that in existing welding robot, wrist joint exists, and operate and be inconvenient to control, production cost is high, and selling price is expensive, the problems such as poor practicability, the utility model provides a kind of wrist joint structure of welding gun robot.
The concrete technical scheme of the utility model is as follows:
The utility model provides a kind of wrist joint structure of welding gun robot, comprise the mount pad of inner hollow, driving arrangement, drive apparatus and welding gun seat, described driving arrangement is arranged in described mount pad, described drive apparatus is assemblied on described mount pad, described welding gun seat is connected with one end of described mount pad, and described welding gun seat is connected with described driving arrangement by described drive apparatus.
Further, described driving arrangement comprises drive motors, the first gear train and power transmission shaft, described first gear train comprises intermeshing first driving gear and the first driven gear, described first driving gear is connected with the output shaft end of described drive motors, described first driven gear is connected with one end of described power transmission shaft, and the described power transmission shaft other end is connected with described drive apparatus.
Further, described drive apparatus comprises the first synchronous pulley and the second synchronous pulley that are connected by Timing Belt, described first synchronous pulley to be arranged on described mount pad and to be connected with the end of described power transmission shaft, described second synchronous pulley is fixed on the one end near described welding gun seat on described mount pad by gripper shoe, and described second synchronous pulley is connected with described welding gun seat by driving shaft.
Further, described welding gun seat inner hollow, and the retainer plate be provided with bottom described welding gun seat for grafting welding gun, the second gear train is provided with in described welding gun seat, described second gear train comprises intermeshing second driving gear and the second driven gear, described second driving gear is connected with the end of described driving shaft, and described second driven gear is connected with described retainer plate by the axis of guide.
Further, described drive motors end is fixed on described mount pad by motor cover plate.
Preferably, be positioned at the gear-box of arranged outside for the protection of described first gear train of described first gear train in described mount pad, described mount pad has in disciform screw, described gear-box is fixedly connected with described mount pad with described screw by bolt.
Preferably, the side of described mount pad is provided with dismountable bracing frame, and the side away from support frame as described above on described mount pad has hollow hole.
The beneficial effects of the utility model are as follows: the wrist joint structure of the welding gun robot that the utility model provides is compared with existing wrist joint of robot, the wrist joint structure that the utility model provides has that the free degree is high, compact conformation, spatial area are less, lighter in weight, flexibility ratio high, in addition, the utility model is convenient to install welding gun, welding gun seat flexible swinging, substantially reduce carpal impact strength, improve the service life of welding gun robot, practical.
Accompanying drawing explanation
Fig. 1 is the structural representation of the wrist joint structure of a kind of welding gun robot described in embodiment 1;
The structural representation of driving arrangement in the wrist joint structure that Fig. 2 is a kind of welding gun robot described in embodiment 2;
The structural representation of drive apparatus in the wrist joint structure that Fig. 3 is a kind of welding gun robot described in embodiment 2;
The structural representation of welding gun seat in the wrist joint structure that Fig. 4 is a kind of welding gun robot described in embodiment 2;
The structural representation of mount pad in the wrist joint structure that Fig. 5 is a kind of welding gun robot described in embodiment 2.
Wherein: 1, mount pad; 101, screw; 102, bracing frame; 103, hollow hole; 2, driving arrangement; 201, drive motors; 202, power transmission shaft; 203, the first driving gear; 204, the first driven gear; 3, drive apparatus; 301, the first synchronous pulley; 302, the second synchronous pulley; 303, gripper shoe; 304, driving shaft; 4, welding gun seat; 401, retainer plate; 402, the second driving gear; 403, the second driven gear; 404, the axis of guide; 5, motor cover plate; 6, gear-box.
Detailed description of the invention
Below in conjunction with accompanying drawing and following examples, the utility model is described in further detail.
Embodiment 1
As shown in Figure 1, the utility model example 1 provides a kind of wrist joint structure of welding gun robot, comprise the mount pad 1 of inner hollow, driving arrangement 2, drive apparatus 3 and welding gun seat 4, described driving arrangement 2 is arranged in described mount pad 1, described drive apparatus 3 is assemblied on described mount pad 1, described welding gun seat 4 is connected with one end of described mount pad 1, and described welding gun seat 4 is connected with described driving arrangement 2 by described drive apparatus 3.
The mount pad 1 described in this technology is hollow structure inside, the design of this hollow structure is convenient to install driving arrangement 2, thus it is compacter to make wrist joint structure design, reduce spatial area, operate more flexible, the restriction of narrow space can not be received, in addition, driving arrangement 2 is mainly used in the power providing welding gun seat 4 to swing, drive apparatus 3 is mainly used in the driving force of driving arrangement 2 to transfer to welding gun seat 4, structural design is simple, welding gun seat 4 is mainly used in installing welding gun, compared with prior art, the welding gun seat 4 more convenient installation welding gun seat 4 described in the present embodiment, the swing of welding gun seat 4 is also more flexible, therefore, in the utility model, each several part assembly is all arranged on mount pad 1, mount pad 1 is assembled, more convenient to operate, practical.
Embodiment 2
As described in Fig. 2-5, the utility model embodiment 2 provides a kind of wrist joint structure of welding gun robot, this embodiment 2 further defines the structure of mount pad 1, driving arrangement 2, drive apparatus 3 and welding gun seat 4 in embodiment 1 on the basis of embodiment 1, improves the multifunctionality of wrist joint structure.
As shown in Figure 2, further define to improve in drive efficiency the technical program, described driving arrangement 2 comprises drive motors 201, first gear train and power transmission shaft 202, described first gear train comprises intermeshing first driving gear 203 and the first driven gear 204, described first driving gear 203 is connected with the output shaft end of described drive motors 201, described first driven gear 204 is connected with one end of described power transmission shaft 202, and described power transmission shaft 202 other end is connected with described drive apparatus 3.Driving the first gear train to rotate by drive motors 201 in the technical program, thus drive drive apparatus 3 to rotate by power transmission shaft 202, there is not power loss in gear drive, and gear drive is simultaneously comparatively stable, and wrist joint swings more flexible.
The load that the drive motors 201 related in the technical program bears is welding gun, and it is made up of motor and harmonic wave speed reducing machine, and harmonic wave speed reducing machine gearratio is large, and appearance profile is little, and transmission efficiency is high, and bearing capacity is high, can realize high-precision engaging.
As shown in Figure 3, for the ease of to carpal control, realize the swing of welding gun seat 4, further define in the technical program, described drive apparatus 3 comprises the first synchronous pulley 301 and the second synchronous pulley 302 connected by Timing Belt, described first synchronous pulley 301 to be arranged on described mount pad 1 and to be connected with the end of described power transmission shaft 202, described second synchronous pulley 302 is fixed on the one end near described welding gun seat 4 on described mount pad 1 by gripper shoe 303, and described second synchronous pulley 302 is connected with described welding gun seat 4 by driving shaft 304.Synchronous pulley size is less, lighter weight, takes up room less after installation, and can realize carpal transmission.
As shown in Figure 4, in order to improve the multifunctionality of wrist joint structure, define in the technical program, described welding gun seat 4 inner hollow, and the retainer plate 401 be provided with bottom described welding gun seat 4 for grafting welding gun, the second gear train is provided with in described welding gun seat 4, described second gear train comprises intermeshing second driving gear 402 and the second driven gear 403, described second driving gear 402 is connected with the end of described driving shaft 304, and described second driven gear 403 is connected with described retainer plate 401 by the axis of guide 404.The structure of retainer plate 401 facilitates the installation of welding gun, and the second gear train is used for by the power transmission of drive apparatus 3 to retainer plate 401, thus realizes the swing of welding gun seat 4.
As shown in Figure 5, the conveniently dismounting of drive motors 201 and installation, define in the technical program, described drive motors 201 end is fixed on described mount pad 1 by motor cover plate 5.Motor cover plate 5 not only facilitates drive motors 201 to install, and improves the stability after drive motors 201 installation.
Preferably; the gear-box 6 of arranged outside for the protection of described first gear train of described first gear train is positioned in described mount pad 1; described mount pad 1 has in disciform screw 101, described gear-box 6 is fixedly connected with described mount pad 1 with described screw 101 by bolt.Screw 101 is disciform design, mainly consider and realize carpal transmission by synchronously bringing, the Timing Belt of Long-Time Service has retractility, along with the increase of working time, Timing Belt easily deforms, overall dimension easily becomes large, so facilitate the installation site of regulating tooth roller box 6 by disciform screw 101, thus adapts to the length of Timing Belt.
As shown in Figure 5, in order to reduce the quality of mount pad 1, improving the aesthetics of mount pad 1, preferably defining in the technical program, the side of described mount pad 1 is provided with dismountable bracing frame 102, and the side away from support frame as described above 102 on described mount pad 1 has hollow hole 103.First bracing frame 102 is used for being that mount pad 1 forms a closed cavity container, and bracing frame 102 improves the aesthetic property of mount pad 1 simultaneously, and the design of hollow hole 103 alleviates the quality of mount pad 1.
In order to improve the aesthetics of mount pad 1, ensure that the stability of mount pad 1 transmission, when specifically assembling, driving arrangement 2 described in one group is also provided with in described mount pad 1, two driving arrangements 2 are symmetricly set in mount pad 1, described mount pad 1 is also provided with the described drive apparatus 3 be connected with described driving arrangement 2, described drive apparatus 3 is connected by the shell of connecting axle with described welding gun seat 4.Two mount pads 1 are all used for driving welding gun seat 4 to rotate, and improve the stability that welding gun seat 4 swings.
The utility model is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present utility model; no matter but any change is done in its shape or structure; every have identical with the application or akin technical scheme, all drops within protection domain of the present utility model.
Claims (7)
1. the wrist joint structure of a welding gun robot, it is characterized in that, comprise the mount pad (1) of inner hollow, driving arrangement (2), drive apparatus (3) and welding gun seat (4), described driving arrangement (2) is arranged in described mount pad (1), described drive apparatus (3) is assemblied on described mount pad (1), described welding gun seat (4) is connected with one end of described mount pad (1), and described welding gun seat (4) is connected with described driving arrangement (2) by described drive apparatus (3).
2. the wrist joint structure of welding gun robot as claimed in claim 1, it is characterized in that, described driving arrangement (2) comprises drive motors (201), first gear train and power transmission shaft (202), described first gear train comprises intermeshing first driving gear (203) and the first driven gear (204), described first driving gear (203) is connected with the output shaft end of described drive motors (201), described first driven gear (204) is connected with one end of described power transmission shaft (202), described power transmission shaft (202) other end is connected with described drive apparatus (3).
3. the wrist joint structure of welding gun robot as claimed in claim 2, it is characterized in that, described drive apparatus (3) comprises the first synchronous pulley (301) and the second synchronous pulley (302) that are connected by Timing Belt, described first synchronous pulley (301) is arranged on described mount pad (1) and goes up and be connected with the end of described power transmission shaft (202), described second synchronous pulley (302) is fixed on the upper one end near described welding gun seat (4) of described mount pad (1) by gripper shoe (303), described second synchronous pulley (302) is connected with described welding gun seat (4) by driving shaft (304).
4. the wrist joint structure of welding gun robot as claimed in claim 3, it is characterized in that, described welding gun seat (4) inner hollow, and described welding gun seat (4) bottom is provided with the retainer plate (401) for grafting welding gun, the second gear train is provided with in described welding gun seat (4), described second gear train comprises intermeshing second driving gear (402) and the second driven gear (403), described second driving gear (402) is connected with the end of described driving shaft (304), described second driven gear (403) is connected with described retainer plate (401) by the axis of guide (404).
5. the wrist joint structure of welding gun robot as claimed in claim 2, is characterized in that, described drive motors (201) end is fixed on described mount pad (1) by motor cover plate (5).
6. the wrist joint structure of the welding gun robot as described in claim 2 or 5; it is characterized in that; the gear-box (6) of arranged outside for the protection of described first gear train of described first gear train is positioned in described mount pad (1); described mount pad (1) has in disciform screw (101), described gear-box (6) is fixedly connected with described mount pad (1) with described screw (101) by bolt.
7. the wrist joint structure of welding gun robot as claimed in claim 1, it is characterized in that, the side of described mount pad (1) is provided with dismountable bracing frame (102), and described mount pad (1) has hollow hole (103) away from the side of support frame as described above (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521043880.7U CN205184806U (en) | 2015-12-15 | 2015-12-15 | Wrist joint structure of welder robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521043880.7U CN205184806U (en) | 2015-12-15 | 2015-12-15 | Wrist joint structure of welder robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205184806U true CN205184806U (en) | 2016-04-27 |
Family
ID=55777836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521043880.7U Expired - Fee Related CN205184806U (en) | 2015-12-15 | 2015-12-15 | Wrist joint structure of welder robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205184806U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605360A (en) * | 2018-12-26 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of joint of robot arm driving part and robot |
-
2015
- 2015-12-15 CN CN201521043880.7U patent/CN205184806U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605360A (en) * | 2018-12-26 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of joint of robot arm driving part and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160427 Termination date: 20171215 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |