CN209830693U - Six-axis welding robot - Google Patents
Six-axis welding robot Download PDFInfo
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- CN209830693U CN209830693U CN201821522293.XU CN201821522293U CN209830693U CN 209830693 U CN209830693 U CN 209830693U CN 201821522293 U CN201821522293 U CN 201821522293U CN 209830693 U CN209830693 U CN 209830693U
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- 238000003466 welding Methods 0.000 title claims abstract description 64
- 210000000707 wrist Anatomy 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 51
- 239000003638 chemical reducing agent Substances 0.000 claims description 34
- 230000009467 reduction Effects 0.000 claims description 24
- 238000005452 bending Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 210000003857 wrist joint Anatomy 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 230000003993 interaction Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The utility model relates to a six-axis welding robot, which comprises a base part, a robot controller, a vertical arm part, a sliding seat part, a horizontal arm first part, a horizontal arm second part, a vertical arm part, a lower cross arm part, a wrist shaft component and an end tool; according to the six-axis welding robot, the robot arm rod is larger in working range compared with a traditional six-joint robot, a larger working space can be built on a smaller occupied ground, the robot is in a wrist joint shape, production and application of long straight welding seams and closed annular welding seams are facilitated, the application is wide, and the six-axis welding robot has high social and economic benefits.
Description
Technical Field
The utility model belongs to the technical field of the robot equipment technique and specifically relates to a six welding robot.
Background
The industrial robot can replace manpower to complete long-time and high-intensity repeated labor under various complex working conditions and high-risk harmful environments, works in a highly automatic mode, and achieves intelligent, multifunctional and flexible automatic production. There is a wide market for robotic welding applications, where welding manufacture is the third largest process in machine manufacturing, and 45% of the steel production is manufactured into products by welding. Welding products are various in types, the size of the welding products in common industrial products is large, and the welding products are mostly long straight welding seams and closed annular welding seams, so that the welding industrial robot needs to have better position accessibility and posture accessibility. In addition, it is difficult to achieve good repeatability of the welded members in terms of dimensional position accuracy and quality of groove assembly.
The traditional six-axis joint industrial welding robot comprises a combination of a plurality of arm rods and six-axis joints, wherein one axis joint arranged from bottom to top is a waist joint, the two and three axis joints are two pitching joints parallel to each other, and the axes of the four, five and six axis joints intersect at one point to form a wrist joint. The six-axis joint industrial welding robot can clamp a welding gun tool through a wrist joint to achieve the process requirement of welding production, but the operation space of the six-axis joint industrial welding robot is relatively limited. In the process of posture movement of certain specific positions, the degree of freedom of the six-axis joint industrial welding robot is reduced, and the application of the six-axis joint industrial welding robot in welding of a space continuous track is limited. In more cases, a six-axis joint industrial robot welding system needs to add an external coordinate walking axis to expand the welding application range of the robot.
How to realize that industrial robot has not only nimble welding operation in welding application, has great space accessibility again, is applicable to multiple welding process needs, is applicable to lower size position precision, groove group to quality simultaneously, reduces the integrated application cost of robot welding system, is the problem that researcher need solve urgently.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects in the prior art and providing a six-axis welding robot, which has a large working range of the robot arm lever, can build a large working space in a small occupied area, has application advantages for long straight welding seams and closed annular welding seams, and is suitable for low dimensional position precision and groove assembly quality; on the application characteristics, the attitude angle of the tail end joint axis is strong in intuition, convenient to operate, capable of realizing man-machine interaction operation and high in applicability to the application characteristics of welding components.
In order to realize the purpose, the utility model discloses a technical scheme is:
a six-axis welding robot comprises a base part, a robot controller, a vertical arm part, a sliding seat part, a horizontal arm first part, a horizontal arm second part, a vertical arm part, a lower cross arm part, a wrist shaft assembly and a tail end tool, wherein the robot controller and the vertical arm part are fixedly arranged on the base part, the sliding seat part is vertically arranged on the side surface of the vertical arm part and forms vertical sliding connection with the vertical arm part to form a vertical moving pair; the horizontal arm first component is horizontally arranged on the sliding seat component and is in rotating connection with the sliding seat component in the horizontal direction to form a first-stage horizontal rotation pair; the horizontal arm second component is horizontally arranged on the horizontal arm first component and is in rotating connection with the horizontal arm first component in the horizontal direction to form a second-stage horizontal rotation pair; the vertical arm component is vertically arranged at one end of the second component of the horizontal arm and forms rotary connection in the horizontal direction with the second component of the horizontal arm to form a third-stage horizontal rotary pair; the lower cross arm part is horizontally arranged on the bottom end of the vertical arm part and is in vertical rotary connection with the vertical arm part to form a vertical rotary shaft pair; the wrist shaft assembly is mounted at the front end of the lower cross arm component, the tail end tool is mounted on the wrist shaft assembly, the third-stage horizontal rotary pair is perpendicular to the vertical rotary pair, the axis of the third-stage horizontal rotary pair is converged at one point, and the axis of the tail end tool is perpendicular to the wrist shaft assembly.
Further, erect the arm part including first servo motor, bearing frame subassembly, ball and two sets of linear guide, first servo motor, bearing frame subassembly and ball are installed in erecting the arm part inner chamber, wherein ball's upper end with first servo motor is fixed continuous, bearing frame subassembly is installed ball upper end and first servo motor's connection face is last, its lower extreme of ball is installed on erecting arm part bottom face through the bearing bracket that is provided with, and two sets of linear guide through the slider that is provided with and ball forms through the lift nut seat and the nut that are provided with erect the vertical motion pair between arm part and the slide part.
Further, the slide part is including first RV reduction gear, second servo motor, first transmission shaft and first bearing unit spare, first RV reduction gear fixed mounting be in the slide part, second servo motor installs on the input of first RV reduction gear, first transmission shaft fixed mounting be in on the output of first RV reduction gear, first transmission shaft pass through bearing unit spare with horizontal rotation of the first part of horizontal arm links to each other.
Further, the first part of horizontal arm is including second RV reduction gear, third servo motor, second transmission shaft and second bearing part, second RV reduction gear fixed mounting be in the slide part, third servo motor installs on the input of second RV reduction gear, second transmission shaft fixed mounting be in on the output of second RV reduction gear, the second transmission shaft pass through second bearing part with horizontal arm second part horizontal rotation links to each other.
Further, horizontal arm second part is including third RV reduction gear, fourth servo motor, third transmission shaft and third bearing unit, third RV reduction gear fixed mounting be in the slide part, fourth servo motor installs on the input of third RV reduction gear, third transmission shaft fixed mounting be in on the output of third RV reduction gear, the third transmission shaft pass through third bearing unit with vertical arm part horizontal rotation links to each other.
Furthermore, a first transmission assembly consisting of a support, a servo motor, a harmonic reducer and a coupling is arranged on a connecting surface at the lower part of the vertical arm component, a first bevel gear assembly is arranged at the output end of the first transmission assembly, the first bevel gear assembly is orthogonally meshed with a second bevel gear assembly, and the second bevel gear assembly is arranged on the horizontal revolving shaft assembly and forms a vertical revolving shaft pair with the horizontal revolving shaft assembly; the lower cross arm component is arranged at the front end of the horizontal rotating shaft component, a second transmission component consisting of a servo motor and a harmonic reducer is arranged on a connecting surface corresponding to the lower cross arm component, a first bevel gear component is arranged at the output end of the second transmission component and is orthogonally meshed with a second bevel gear component, the second bevel gear component is arranged on a wrist shaft component, and the wrist shaft component is arranged at the front end of the lower cross arm component and is used for connecting an external welding tool.
Further, the transmission shaft is of a hollow shaft structure, wherein a cable of the robot servo motor can penetrate through the transmission shaft to be installed in a wiring mode.
Furthermore, the horizontal rotating shaft pair universality structure of the first-stage horizontal rotating pair, the second-stage horizontal rotating pair and the third-stage horizontal rotating pair is that a fifth servo motor is installed on a fourth RV reducer, the fourth RV reducer is fixedly connected with a flange surface of a shaft sleeve part of a fixed arm rod, an output shaft is connected to an output flange of the fourth RV reducer, a bearing is installed at the other end of the output shaft, a bearing outer ring is matched with the shaft sleeve of the fixed arm rod, an adjusting cover is arranged and used for pressing a bearing side gap to form a crossed roller bearing and an external ball bearing triangular support mode of the fourth RV reducer, the rotating arm rod is installed on the output shaft, and during work, overturning moment loads generated by the rotating arm rod and a front end vertical load are unloaded onto the shaft sleeve surface of the fixed arm rod.
Further, a wire feeding device is further included, wherein the wire feeding device is mounted on the sliding seat component.
The utility model has the advantages that: according to the six-axis welding robot, the robot arm rod is larger in working range compared with a traditional six-joint robot, a larger working space can be built on a smaller occupied ground, the robot is in a wrist joint shape, production and application of long straight welding seams and closed annular welding seams are facilitated, the application is wide, and the six-axis welding robot has high social and economic benefits. Structurally, the tail end tool can achieve any three-dimensional space posture. The attitude angle of the tail end joint axis has strong intuition, convenient operation and stronger applicability. And because the joint motion of the robot is in non-tight serial coupling transmission, a man-machine interaction mode is adopted in control, and the robot is suitable for lower dimensional position precision and groove assembly quality. This is not possible with the existing industrial robots;
the space structure optimization of the robot structure is realized, in the aspect of the accessibility of the robot position, the application space of the robot is large, and the application space utility of the robot is not influenced by the change of the arm rod posture along with the space position; in the aspect of accessibility of the robot wrist tool posture, the tail end tool can realize that any three-dimensional space posture can be reached without posture application dead angles; in the aspect of robot application, man-machine interaction application is realized. The method has obvious advantages in the aspects of robot kinematics and dynamic algorithm optimization and application function optimization. Therefore, the structural advantage characteristics of the robot product are realized. Meanwhile, the robot has obvious advantages in other applications such as assembly, gluing and the like;
in addition, the scheme also solves the problem of unloading of the overturning bending moment generated by the vertical load of the horizontal jib rotating shaft pair, a bearing is arranged at the other end of an output shaft arranged on an output flange of the RV reducer to form a triangular supporting mode of an RV reducer crossed roller bearing and an external ball bearing, and the overturning bending moment load generated by the rotary jib and the front end vertical load is unloaded onto the shaft sleeve surface of the fixed jib, so that the large-size, high-precision and high-rigidity horizontal rotating shaft pair motion of the robot jib is realized. And then adopt box column structure through the vertical arm part for guarantee robot's system rigidity. The ball screw is combined with the linear guide rail, so that the problems of high rigidity, high precision and large-size transmission of the movable shaft pair in the vertical direction are solved. The robot structurally improves the joint layout mode, and is convenient to realize continuous welding application of the closed annular welding seam, so that the structural advantage and the characteristic of the robot product applied by the invention can be realized.
Drawings
Fig. 1 is the utility model discloses well six welding robot's spatial structure sketch map.
Fig. 2 is the utility model discloses well six welding robot section structure schematic diagrams.
Fig. 3 is the general structure schematic diagram of the horizontal revolving shaft pair of the middle six-shaft welding industrial robot of the utility model.
In the figure:
1-base part, 2-vertical arm part, 3-slide part, 4-horizontal arm first part, 5-horizontal arm second part, 6-vertical arm part, 7-lower cross arm part, 8-end tool, 9-wire feeder, 101-robot controller, 201-bearing holder, 202-ball screw, 203-lifting nut holder, 204-nut, 205-linear guide, 206-slider, 207-bearing holder assembly, 208-first servomotor, 301-second servomotor, 302-first RV reducer, 303-first drive shaft, 304-first bearing part, 401-third servomotor, 402-second drive shaft, 403-second RV reducer, 404-second bearing part, 501-third RV reducer, 502-fourth servomotor, 503-third drive shaft, 504-third bearing part, 601-first transmission assembly, 602-first bevel gear assembly, 603-first bevel gear assembly two, 604-horizontal rotating shaft assembly, 701-second transmission assembly, 702-second bevel gear assembly, 703-second bevel gear assembly two, 704-wrist shaft assembly, a 01-fifth servomotor, a 02-fourth RV reducer, a 03-fixed arm, a 04-output shaft, a 05-bearing, a 06-adjusting cap, a 07-rotating arm.
Detailed Description
The present invention will be described in further detail with reference to the drawings and the following detailed description.
The six-axis welding robot has the advantages that the six-axis welding robot is large in working range of the arm rod of the robot, can build a large working space on a small occupied ground, has application advantages for long straight welding seams and closed annular welding seams, and is suitable for low dimensional position precision and groove group pairing quality; on the application characteristics, the attitude angle of the tail end joint axis is strong in intuition, convenient to operate, capable of realizing man-machine interaction operation and high in applicability to the application characteristics of welding components.
As shown in fig. 1, the six-axis welding robot in the present embodiment includes a base part 1, a robot controller 101, a vertical arm part 2, a slide part 3, a first horizontal arm part 4, a second horizontal arm part 5, a vertical arm part 6, a lower horizontal arm part 7, a wrist shaft assembly, and a tip tool 8, wherein the robot controller 101 and the vertical arm part 2 are fixedly mounted on the base part 1, the slide part 3 is vertically mounted on a side surface of the vertical arm part 2 and forms a vertical sliding connection therewith to form a vertical moving pair; the horizontal arm first part 4 is horizontally arranged on the sliding seat part 3 and forms horizontal rotary connection with the sliding seat part to form a first-stage horizontal rotary pair; the horizontal arm second part 5 is horizontally arranged on the horizontal arm first part 4 and forms horizontal rotary connection with the horizontal arm first part to form a second-stage horizontal rotary pair; the vertical arm component 6 is vertically arranged on one end of the horizontal arm second component 5 and forms a rotating connection in the horizontal direction with the horizontal arm second component to form a third-stage horizontal rotation pair; the lower cross arm part 7 is horizontally arranged on the bottom end of the vertical arm part 6 and is in vertical rotary connection with the vertical arm part to form a vertical rotary shaft pair; the wrist shaft assembly is mounted at the front end of the lower cross arm component 7, the tail end tool 8 is mounted on the wrist shaft assembly, the third-level horizontal rotary pair is vertically orthogonal to the vertical rotary shaft pair, the axis of the third-level horizontal rotary pair is converged at one point, the tool axis of the tail end tool 8 is vertically mounted with the wrist shaft assembly, and the wire feeding device 9 is mounted on the sliding seat component 3. In a practical configuration, the cables of the robot servo motor are connected to the robot controller 101 through the internal cavities of the respective mechanism parts.
Referring to fig. 2, the vertical arm 2 in this embodiment includes a first servo motor 208, a bearing seat assembly 207, a ball screw 202, and two sets of linear guide rails 205, the first servo motor 208, the bearing seat assembly 207, and the ball screw 202 are installed in an inner cavity of the vertical arm 2, wherein an upper end of the ball screw 202 is fixedly connected to the first servo motor 208, the bearing seat assembly 207 is installed on a connection surface of the upper end of the ball screw 202 and the first servo motor 208, a lower end of the ball screw 202 is installed on a bottom end surface of the vertical arm 2 through a bearing seat 201, and the two sets of linear guide rails 205 form a vertical moving pair between the vertical arm 2 and the sliding seat 3 through a sliding block 206 and the ball screw 202, a lifting nut seat 203 and a nut 204. In this configuration, the robot servo motor cable may be routed through the nut socket into the vertical arm member 2.
The slide seat component 3 comprises a first RV reducer 302, a second servo motor 301, a first transmission shaft 303 and a first bearing component 304, the first RV reducer 302 is fixedly installed in the slide seat component 3, the second servo motor 301 is installed on the input end of the first RV reducer 302, the first transmission shaft 303 is fixedly installed on the output end of the first RV reducer 302, and the first transmission shaft 303 is horizontally and rotatably connected with the first component 4 of the horizontal arm through the first bearing component 304. The first transmission shaft 303 may be of a hollow shaft construction so that the robot servomotor cable may be passed through the hollow transmission shaft into the slide member 3.
The horizontal arm first part 4 comprises a second RV reducer 403, a third servo motor 401, a second transmission shaft 402 and a second bearing part 404, the third servo motor 401 is installed on the input end of the second RV reducer 403, the second transmission shaft 402 is fixedly installed on the output end of the second RV reducer 403, and the second transmission shaft 402 is horizontally and rotatably connected with the horizontal arm second part 5 through the second bearing part 404. The second drive shaft 402 may be of a hollow shaft construction so that the robot servomotor cable can pass through the hollow drive shaft into the horizontal arm first part 4.
The horizontal arm second member 5 comprises a third RV reducer 501, a fourth servo motor 502, a third transmission shaft 503 and a third bearing member 504, the fourth servo motor 502 is installed on the input end of the third RV reducer 501, the third transmission shaft 503 is fixedly installed on the output end of the third RV reducer 501, and the third transmission shaft 503 is horizontally and rotatably connected with the vertical arm member 6 through the third bearing member 504. In this structure, the third transmission shaft 503 may adopt a hollow shaft structure, and thus a robot servo motor cable may pass through the hollow transmission shaft into the horizontal arm second part 5.
A first transmission component 601 consisting of a support, a servo motor, a harmonic reducer and a coupling is arranged on a connecting surface at the lower part of the vertical arm component 6, a first bevel gear component 602 is arranged at the output end of the first transmission component 601, the first bevel gear component 602 is orthogonally meshed with a second bevel gear component 603, and the second bevel gear component 603 is arranged on a horizontal revolving shaft component 604 and forms a vertical revolving shaft pair with the horizontal revolving shaft component 60; the lower cross arm component 7 is arranged at the front end of the horizontal revolving shaft component 60, a second transmission component 701 consisting of a servo motor and a harmonic reducer is arranged on a connecting surface corresponding to the lower cross arm component 7, a first bevel gear component 702 is arranged at the output end of the second transmission component 701 and is orthogonally meshed with a second bevel gear component 703, the second bevel gear component 703 is arranged on a wrist shaft component 704, and the wrist shaft component 704 is arranged at the front end of the lower cross arm component 7 and is used for connecting an external welding tool. The robot servo motor cable can be threaded through the horizontal swivel shaft assembly to the vertical arm part 6. The pivot axis pair formed by the wrist shaft assembly 704 is orthogonal to the upper plumb pivot axis pair, an external welding tool is installed perpendicular to the wrist shaft, and the end point of the tool is coaxial with the plumb pivot axis pair.
Referring to fig. 3, the horizontal rotation shaft pair universal structure of the first-stage horizontal rotation pair, the second-stage horizontal rotation pair and the third-stage horizontal rotation pair is that a fifth servo motor a01 is mounted on a fourth RV reducer a02, the fourth RV reducer a02 is fixedly connected with a flange surface of a shaft sleeve portion of a fixed arm rod a03, an output shaft a04 is connected to an output flange of a fourth RV reducer a02, a bearing a05 is mounted at the other end of the output shaft a04, an outer ring of the bearing a05 is matched with a shaft sleeve of the fixed arm rod a03, an adjusting cover a06 is arranged to press a bearing backlash to form an RV reducer cross roller bearing and external ball bearing mode, the rotation arm rod a07 is mounted on the output shaft a04, and during operation, an overturning bending moment load generated by the rotation arm rod a07 and a front end vertical load is unloaded onto a shaft sleeve surface of the fixed arm rod. Adopt the cavity form on the output shaft, make things convenient for the robot servo motor cable to pass through, fix and realize the joint cable winding.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a six welding robot which characterized in that: the robot comprises a base part, a robot controller, a vertical arm part, a sliding seat part, a horizontal arm first part, a horizontal arm second part, a vertical arm part, a lower cross arm part, a wrist shaft assembly and a tail end tool, wherein the robot controller and the vertical arm part are fixedly arranged on the base part, and the sliding seat part is vertically arranged on the side surface of the vertical arm part and is in sliding connection with the vertical arm part in the vertical direction to form a vertical moving pair; the horizontal arm first part is horizontally arranged on the sliding seat part and is in rotary connection with the sliding seat part in the horizontal direction to form a first-stage horizontal rotary pair; the horizontal arm second component is horizontally arranged on the horizontal arm first component and is in rotating connection with the horizontal arm first component in the horizontal direction to form a second-stage horizontal rotation pair; the vertical arm component is vertically arranged at one end of the second component of the horizontal arm and forms rotary connection in the horizontal direction with the second component of the horizontal arm to form a third-stage horizontal rotary pair; the lower cross arm part is horizontally arranged on the bottom end of the vertical arm part and is in vertical rotary connection with the vertical arm part to form a vertical rotary shaft pair; the wrist shaft assembly is mounted at the front end of the lower cross arm component, the tail end tool is mounted on the wrist shaft assembly, the third-stage horizontal rotary pair is perpendicular to the vertical rotary pair, the axis of the third-stage horizontal rotary pair is converged at one point, and the axis of the tail end tool is perpendicular to the wrist shaft assembly.
2. The six-axis welding robot according to claim 1, characterized in that: the vertical arm part comprises a first servo motor, a bearing seat assembly, a ball screw and two groups of linear guide rails, the first servo motor, the bearing seat assembly and the ball screw are installed in an inner cavity of the vertical arm part, the upper end of the ball screw is fixedly connected with the first servo motor, the bearing seat assembly is installed on the connecting surface of the upper end of the ball screw and the first servo motor, the lower end of the ball screw is installed on the bottom end face of the vertical arm part through a bearing seat arranged on the ball screw, the two groups of linear guide rails are installed on the bottom end face of the vertical arm part through a sliding block arranged on the ball screw, and the ball screw is formed through a lifting nut seat and a nut arranged on the ball screw to form a vertical moving pair between the vertical arm part.
3. The six-axis welding robot according to claim 1, characterized in that: the slide part is including first RV reduction gear, second servo motor, first transmission shaft and first bearing unit spare, first RV reduction gear fixed mounting be in the slide part, second servo motor installs on the input of first RV reduction gear, first transmission shaft fixed mounting be in on the output of first RV reduction gear, first transmission shaft passes through first bearing unit spare with horizontal rotation of horizontal arm first part links to each other.
4. The six-axis welding robot according to claim 1, characterized in that: the first part of horizontal arm is including second RV reduction gear, third servo motor, second transmission shaft and second bearing part, second RV reduction gear fixed mounting be in the slide part, third servo motor installs on the input of second RV reduction gear, second transmission shaft fixed mounting be in on the output of second RV reduction gear, the second transmission shaft passes through second bearing part with horizontal arm second part horizontal rotation links to each other.
5. The six-axis welding robot according to claim 1, characterized in that: horizontal arm second part is including third RV reduction gear, fourth servo motor, third transmission shaft and third bearing unit, third RV reduction gear fixed mounting be in the slide part, fourth servo motor installs on the input of third RV reduction gear, third transmission shaft fixed mounting be in on the output of third RV reduction gear, the third transmission shaft passes through third bearing unit with vertical arm part level rotates and links to each other.
6. The six-axis welding robot according to claim 1, characterized in that: a first transmission assembly consisting of a support, a servo motor, a harmonic reducer and a coupling is arranged on a connecting surface at the lower part of the vertical arm component, a first bevel gear assembly is arranged at the output end of the first transmission assembly, the first bevel gear assembly is orthogonally meshed with a second bevel gear assembly, and the second bevel gear assembly is arranged on the horizontal revolving shaft assembly and forms a vertical revolving shaft pair with the horizontal revolving shaft assembly; the lower cross arm component is arranged at the front end of the horizontal rotating shaft component, a second transmission component consisting of a servo motor and a harmonic reducer is arranged on a connecting surface corresponding to the lower cross arm component, a first bevel gear component is arranged at the output end of the second transmission component and is orthogonally meshed with a second bevel gear component, the second bevel gear component is arranged on a wrist shaft component, and the wrist shaft component is arranged at the front end of the lower cross arm component and is used for connecting an external welding tool.
7. The six-axis welding robot according to any one of claims 3 to 5, characterized in that: the transmission shaft is of a hollow shaft structure, wherein a cable of the robot servo motor can penetrate through the transmission shaft to be installed in a wiring mode.
8. The six-axis welding robot according to claim 1, characterized in that: the structure of the horizontal rotating shaft pair universality of the first-stage horizontal rotating pair, the second-stage horizontal rotating pair and the third-stage horizontal rotating pair is that a fifth servo motor is installed on a fourth RV reducer, the fourth RV reducer is fixedly connected with a flange face of a shaft sleeve part of a fixed arm rod, an output shaft is connected to an output flange of the fourth RV reducer, a bearing is installed at the other end of the output shaft, a bearing outer ring is matched with the shaft sleeve of the fixed arm rod, an adjusting cover is arranged and used for pressing a bearing side gap, a crossed roller bearing and an external ball bearing triangular supporting mode of the fourth RV reducer are formed, the rotating arm rod is installed on the output shaft, and during operation, the overturning bending moment load generated by the rotating arm rod and a front end vertical load is unloaded onto the shaft sleeve face of the fixed arm rod.
9. The six-axis welding robot according to claim 1, characterized in that: the wire feeding device is arranged on the sliding seat component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821522293.XU CN209830693U (en) | 2018-09-18 | 2018-09-18 | Six-axis welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821522293.XU CN209830693U (en) | 2018-09-18 | 2018-09-18 | Six-axis welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209830693U true CN209830693U (en) | 2019-12-24 |
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ID=68895996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821522293.XU Expired - Fee Related CN209830693U (en) | 2018-09-18 | 2018-09-18 | Six-axis welding robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN209830693U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128623A (en) * | 2018-09-18 | 2019-01-04 | 河北微宏惠工机器人科技有限公司 | A kind of six axis welding robots |
| CN112207807A (en) * | 2020-09-16 | 2021-01-12 | 北京汇中拓普机器人科技有限公司 | Six-axis column coordinate industrial robot |
| CN112207806A (en) * | 2020-09-16 | 2021-01-12 | 北京汇中拓普机器人科技有限公司 | Novel six-axis-column coordinate industrial robot |
-
2018
- 2018-09-18 CN CN201821522293.XU patent/CN209830693U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128623A (en) * | 2018-09-18 | 2019-01-04 | 河北微宏惠工机器人科技有限公司 | A kind of six axis welding robots |
| CN112207807A (en) * | 2020-09-16 | 2021-01-12 | 北京汇中拓普机器人科技有限公司 | Six-axis column coordinate industrial robot |
| CN112207806A (en) * | 2020-09-16 | 2021-01-12 | 北京汇中拓普机器人科技有限公司 | Novel six-axis-column coordinate industrial robot |
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Granted publication date: 20191224 |