CN211614695U

CN211614695U - Automatic welding robot for grid screen plate

Info

Publication number: CN211614695U
Application number: CN202020060606.5U
Authority: CN
Inventors: 刘红兵; 彭少华; 屈爱英
Original assignee: Suzhou Penn Robot Co ltd
Current assignee: Suzhou Penn Robot Co ltd
Priority date: 2020-01-13
Filing date: 2020-01-13
Publication date: 2020-10-02
Anticipated expiration: 2030-01-13

Abstract

The utility model provides a grid screen plate automatic welding robot, which comprises a base, a rotating mechanism arranged on the base, a driving arm seat arranged on the rotating mechanism, a big arm mechanism arranged on the driving arm seat, a small arm mechanism connected with the big arm mechanism, a wrist mechanism connected with the small arm mechanism and a welding gun connected with the tail end of the wrist mechanism, the small arm mechanism comprises a small arm seat, a shell connected with the small arm seat, a small arm connected with the shell and a small arm driving component for driving the small arm to rotate, the small arm seat is connected with the large arm mechanism, and the small arm driving assembly comprises a small arm rotating motor, a small arm rotating speed reducer connected with the small arm rotating motor, a small arm rotating connecting shaft connected with the small arm rotating speed reducer, a small arm driving gear coated on the end part of the small arm rotating connecting shaft and a small arm driven gear meshed with the small arm driving gear. The utility model provides high grid otter board welded efficiency.

Description

Automatic welding robot for grid screen plate

Technical Field

The utility model relates to the field of welding technique, especially, relate to a grid otter board automatic weld robot.

Background

Along with the development of industrialization, more and more industrial manufacturing article need weld, but the welding is as a intensity of labour great, the process method that operational environment is abominable, it is very big to workman's healthy influence, especially when involving the welding of grid otter board, because its solder joint is numerous, need high attention just can weld the solder joint one by one, consequently need to use welding robot to replace the manual work to operate urgently, but present welding robot still exists the poor problem of precision when carrying out the welding of grid otter board, lead to the not high efficiency of welding.

Therefore, it is necessary to provide a new automatic welding robot for a grid mesh plate to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an improve welding efficiency's grid net board welding robot.

In order to achieve the above object, the utility model discloses a technical scheme be: an automatic welding robot for grid mesh plates comprises a base, a rotating mechanism arranged on the base, a driving arm seat arranged on the rotating mechanism, a big arm mechanism arranged on the driving arm seat, a small arm mechanism connected with the big arm mechanism, a wrist mechanism connected with the small arm mechanism and a welding gun connected to the tail end of the wrist mechanism, wherein the small arm mechanism comprises a small arm seat, a shell connected with the small arm seat, a small arm connected with the shell and a small arm driving assembly driving the small arm to rotate, the small arm seat is connected with the big arm mechanism, the small arm driving assembly comprises a small arm rotating motor, a small arm rotating speed reducer connected with the small arm rotating motor, a small arm rotating connecting shaft connected with the small arm rotating speed reducer, a small arm driving gear coated on the end part of the small arm rotating connecting shaft and a small arm driven gear meshed with the small arm driving gear, the small arm driven gear is connected with the small arm through a small arm rotating flange.

The tip cladding in proper order of forearm has first bearing and second bearing, first bearing with be equipped with the bearing spacer between the second bearing, the bearing spacer cover is established on the forearm, the second bearing is connected with the cover and is established bearing flange on the forearm, the skeleton oil blanket has been acceptd to the bearing flange, first bearing with the cover is equipped with forearm flange on the second bearing, the both ends of forearm flange respectively with the casing with the bearing flange is connected.

The rotating mechanism comprises a box body arranged on the base, a rotating assembly arranged in the box body and a rotating motor for driving the rotating assembly to rotate, and the rotating motor is arranged on the outer side of the box body.

The rotating assembly comprises a rotating worm rod connected with the rotating motor, a rotating turbine meshed with the rotating worm rod and a rotating turbine shaft penetrating through the rotating turbine, the rotating turbine shaft penetrates through the upper surface and the lower surface of the box body, an upper flange and a lower flange are respectively coated at two ends of the rotating turbine shaft, the upper flange and the lower flange are connected with the rotating turbine shaft through bearings, the lower flange is fixed on the lower surface of the box body, and the upper flange is fixed on the upper surface of the box body through a flange cover.

The driving arm seat comprises a rotating plate and a pair of side plates which are arranged on the rotating plate and are parallel to each other, the rotating plate is connected to the end part of the rotating turbine shaft, and a reinforcing plate is connected between the pair of side plates.

The large arm mechanism comprises a large arm, a first large arm driving assembly and a second large arm driving assembly which drive the large arm to move, and a connecting rod assembly connected to the lower end of the large arm, wherein the connecting rod assembly is connected with the first large arm driving assembly, and comprises a connecting rod, a connecting rod transmission shaft connected with the connecting rod, and a connecting rod shaft sleeve accommodated in the connecting rod transmission shaft.

The first big arm driving assembly comprises a first cycloidal speed reducer and a first servo motor connected with the first cycloidal speed reducer, a rotating shaft of the first cycloidal speed reducer is contained in the connecting rod shaft sleeve, and the second big arm driving assembly comprises a second cycloidal speed reducer and a second servo motor connected with the second cycloidal speed reducer.

The tail end of the big arm is provided with a pair of first connecting plate and a second connecting plate which are parallel to each other, the first connecting plate is sleeved on the connecting rod shaft sleeve, the first connecting plate and the first cycloidal reducer are respectively arranged on two sides of one of the side plates, and the second connecting plate and the second cycloidal reducer are respectively connected to two sides of the other side plate through arm rotating flanges.

Compared with the prior art, the utility model discloses grid otter board automatic weld robot's beneficial effect lies in: the small arm mechanism drives the small arm rotating connecting shaft to rotate by combining the small arm rotating motor with the small arm rotating speed reducer, so that the rotating speed is reduced, the torque is increased, the rotating requirement of the small arm is met, and meanwhile, the transmission structure of the small arm driving gear and the small arm driven gear is arranged, so that the transmission precision is high, the work is reliable, and the welding accuracy of the welding gun is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive work, wherein:

FIG. 1 is a schematic view of the automatic welding robot for grid mesh plates of the present invention;

fig. 2 is a schematic view of the rotating mechanism of the present invention;

fig. 3 is an exploded schematic view of the rotating mechanism of the present invention;

fig. 4 is a schematic view of the driving arm base of the present invention;

fig. 5 is a schematic view of the large arm mechanism of the present invention;

FIG. 6 is an exploded view of the large arm mechanism of the present invention;

FIG. 7 is an exploded view of the forearm mechanism of the present invention;

FIG. 8 is a partial schematic view of the forearm mechanism of the present invention;

fig. 9 is a schematic view of a wrist mechanism of the present invention;

fig. 10 is a schematic view of a wrist shaft of the present invention;

FIG. 11 is a partial schematic view of FIG. 10;

fig. 12 is a partial schematic view of the wrist mechanism and forearm mechanism of the invention;

fig. 13 is a partial schematic view of the wrist mechanism of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 13, the present invention relates to a grid mesh plate automatic welding robot, which includes a base 1, a rotating mechanism 2 installed on the base 1, a driving arm seat 3 installed on the rotating mechanism 2, a large arm mechanism 4 installed on the driving arm seat 3, a small arm mechanism 5 connected to the large arm mechanism, a wrist mechanism 6 connected to the small arm mechanism 5, and a welding gun 7 connected to the end of the wrist mechanism 6.

Referring to fig. 2 and 3, the rotating mechanism 2 includes a case 21 mounted on the base 1, a rotating assembly 22 disposed in the case 21, and a rotating motor 23 for driving the rotating assembly 22 to rotate, the rotating motor 23 is disposed outside the case 21, the rotating assembly 22 includes a rotating worm 24 connected to the rotating motor 23, a rotating turbine 25 engaged with the rotating worm 24, and a rotating turbine shaft 26 penetrating through the rotating turbine 25, the rotating turbine shaft 26 penetrates through upper and lower surfaces of the case 21, two ends of the rotating turbine shaft 26 are respectively covered with an upper flange 27 and a lower flange 28, the upper flange 27 and the lower flange 28 are both connected to the rotating turbine shaft 26 through bearings, the lower flange 28 is fixed to a lower surface of the case 21, and the upper flange 27 is fixed to an upper surface of the case 21 through a flange cover 29. In operation, the rotary motor 23 rotates the rotary turbine shaft 24, and the rotary turbine 25 rotates the rotary turbine shaft 26.

Referring to fig. 4, the driving arm base 3 includes a rotating plate 31 and a pair of side plates 32 disposed on the rotating plate 31 and parallel to each other, the rotating plate 31 is connected to an end portion of the rotating turbine shaft 26, the driving arm base 3 rotates along with the rotating turbine shaft 26, a reinforcing plate 33 is connected between the pair of side plates 32, and the reinforcing plate 33 is fixed to the rotating plate 31, thereby enhancing stability of the driving arm base 3 during rotation.

Referring to fig. 5 and 6, the boom mechanism 4 includes a boom 41, a first boom driving assembly 42 and a second boom driving assembly 43 for driving the boom 41 to move, and a connecting rod assembly 44 connected to a lower end of the boom 41, the connecting rod assembly 44 is connected to the first boom driving assembly 42, the connecting rod assembly 44 includes a connecting rod 441, a connecting rod transmission shaft 442 connected to the connecting rod 441, and a connecting rod bushing 443 accommodated in the connecting rod transmission shaft 442, the first boom driving assembly 42 includes a first cycloidal reducer 421 and a first servo motor 422 connected to the first cycloidal reducer 421, a rotation shaft of the first cycloidal reducer 421 is accommodated in the connecting rod bushing 443, the second boom driving assembly 43 includes a second cycloidal reducer 431 and a second servo motor 432 connected to the second cycloidal reducer 431, a pair of a first connecting plate 411 and a second connecting plate 412 parallel to each other is disposed at a distal end of the boom 41, the first connecting plate 411 is sleeved on the connecting rod bushing 443, the first connecting plate 411 and the first cycloidal reducer 421 are respectively disposed on two sides of one of the side plates 32, the second connecting plate 412 and the second cycloidal reducer 431 are respectively connected to two sides of the other side plate 32 through the arm rotating flange 45, and the connecting rod assembly 44 and the boom 41 move together under the action of the first boom driving assembly 42 and the second boom driving assembly 43.

Referring to fig. 7 and 8, the small arm mechanism 5 includes a small arm base 51, a housing 52 connected to the small arm base 51, a small arm 53 connected to the housing 52, and a small arm driving assembly 54 for driving the small arm 53 to rotate, the small arm base 51 is connected to the large arm 41 and the link 441, and the small arm 53 is movable together with the large arm 41 and the link 441. The forearm drive assembly 54 includes a forearm rotation motor 541, a forearm rotation reducer 542 connected to the forearm rotation motor 541, a forearm rotation connecting shaft 543 connected to the forearm rotation reducer 542, a forearm drive gear 544 wrapping around an end of the forearm rotation connecting shaft 543, and a forearm driven gear 545 engaged with the forearm drive gear 544, wherein the forearm driven gear 545 is connected to the forearm 53 through the forearm rotation flange 55, the forearm drive motor 541 drives the forearm rotation connecting shaft 543 to rotate through the forearm rotation reducer 542, and the forearm drive gear 544 drives the forearm driven gear 545 to rotate, so that the forearm 53 rotates. The small arm mechanism 5 drives the small arm rotation connecting shaft 543 to rotate in a mode that the small arm rotation motor 541 is combined with the small arm rotation speed reducer 542, so that the rotating speed is reduced, the torque is increased, the rotation requirement of the small arm 53 is met, meanwhile, a transmission structure of the small arm driving gear 544 and the small arm driven gear 545 is arranged, the transmission precision is high, the work is reliable, and the welding accuracy of the welding gun 7 is guaranteed.

The end portion of the small arm 53 is sequentially wrapped with the first bearing 56 and the second bearing 57, a bearing spacer 58 is arranged between the first bearing 56 and the second bearing 57, the bearing spacer 58 is sleeved on the small arm 53, the second bearing 57 is connected with a bearing flange 59 sleeved on the small arm 53, and the bearing flange 59 accommodates the framework oil seal 591, so that the small arm 53, the first bearing 56 and the second bearing 57 can be lubricated in real time, and the accuracy of the small arm 53 in rotation is ensured. The first bearing 56 and the second bearing 57 are sleeved with a small arm connecting flange 50, and two ends of the small arm connecting flange 50 are respectively connected with the shell 52 and the bearing flange 59.

Referring to fig. 9 to 13, the wrist mechanism 6 includes a wrist driving assembly 61, a wrist driven assembly 62 connected to the wrist driving assembly 61, and a wrist shaft 63 connected to the wrist driven assembly 62, the wrist shaft 63 includes a first section 631, a second section 632, a third section 633 and a fourth section 634, the first section 631, the second section 632, the third section 633 and the fourth section 634 are cylindrical and have sequentially increased radii, a pair of wrist bearings 635 is sleeved at two ends of the second section 632, a wrist rotating flange 636 is covered on the pair of wrist bearings 635, a wrist oil seal 637 is sleeved at an end of the third section 633, the wrist oil seal 637 is covered on a wrist bearing top sleeve 638, the wrist bearing top sleeve 638 is fixedly connected to the wrist rotating flange 636, the fourth section 634 is connected to the welding gun 7, the design is reasonable, the flexibility of rotation of the wrist shaft 63 is ensured, and the, and the lubricant can be prevented from dropping on the object to be welded, thereby ensuring the welding accuracy of the welding gun 7. The wrist mechanism further comprises a wrist fixing seat 64 connected to the end of the forearm mechanism 5, a first wrist flange 65 connected to the wrist fixing seat 64, and a second wrist flange 66 connected to the first wrist flange 65.

The wrist drive assembly 61 includes a first wrist rotation motor 611, a second wrist rotation motor 612, a first planetary reducer 613 and a second planetary reducer 614 connected to the first wrist rotation motor 611 and the second wrist rotation motor 612, respectively, a first wrist rotation connecting shaft 615 and a second wrist rotation connecting shaft 616 connected to the first planetary reducer 613 and the second planetary reducer 614, respectively, a first wrist drive gear 617 and a second wrist drive gear 618 connected to an end of the first wrist rotation connecting shaft 615 and an end of the second wrist rotation connecting shaft 616, respectively, a first wrist driven gear 619 and a second wrist driven gear 610 engaged with the first wrist drive gear 617 and the second wrist drive gear 618, respectively, and a first wrist rotation shaft 67 and a second wrist rotation shaft 68 accommodated in the first wrist driven gear 619 and the second wrist driven gear 610, respectively, the first wrist rotation shaft 67 being accommodated in the second wrist rotation shaft 68, the second wrist rotating shaft 68 is accommodated in the forearm 53, the second wrist driven gear 610 is arranged between the first wrist driven gear 619 and the forearm driven gear 545, and the forearm driving assembly 54 and the wrist driving assembly 61 are arranged on one side, so that the design is reasonable, the appearance is attractive and elegant, and the space is saved. In operation, the first wrist rotation motor 611 and the second wrist rotation motor 612 respectively rotate the first wrist rotation connecting shaft 615 and the second wrist rotation connecting shaft 616 through the first planetary reducer 613 and the second planetary reducer 614, respectively, so as to drive the first wrist driving gear 617 and the second wrist driving gear 618 to respectively rotate, and the first wrist driven gear 619 and the second wrist driven gear 610 respectively drive the first wrist rotating shaft 67 and the second wrist rotating shaft 68 to rotate.

The wrist driven assembly 62 includes a first bevel gear 621 and a second bevel gear 622 respectively covering the end of the first wrist rotating shaft 67 and the end of the second wrist rotating shaft 68, a third bevel gear 623 and a fourth bevel gear 624 respectively engaged with the first bevel gear 621 and the second bevel gear 622, a first driven shaft 625 received in the third bevel gear 623, a first rotating gear 626 sleeved on the end of the first driven shaft 625, a second rotating gear 627 engaged with the first rotating gear 626, a second driven shaft 628 received in the second rotating gear 627, a fifth bevel gear 629 sleeved on the second driven shaft 628, and a sixth bevel gear 620 engaged with the fifth bevel gear 629, wherein the sixth bevel gear 620 covers the end of the wrist shaft 63. The first bevel gear 621, the second bevel gear 622, the third bevel gear 623, and the fourth bevel gear 624 are disposed inside the first wrist flange 65, and the first rotating gear 626, the second rotating gear 627, the fifth bevel gear 629, and the sixth bevel gear 620 are disposed inside the second wrist flange 66. During operation, the first wrist rotating shaft 67 and the second wrist rotating shaft 68 respectively drive the first bevel gear 621 and the second bevel gear 622 to rotate, so that the third bevel gear 623 and the fourth bevel gear 624 rotate, the first rotating gear 626 drives the second rotating gear 627 to rotate, the fifth bevel gear 629 and the sixth bevel gear 620 rotate with each other, and the wrist shaft 63 drives the welding gun 7 to rotate.

During operation, the automatic welding robot for the grid screen plate is matched with the vision system, the vision system helps the automatic welding robot to capture welding spots, and the welding gun 7 is accurately aligned with the welding spots to weld under the synergistic action of the rotating mechanism 2, the driving arm seat 3, the large arm mechanism 4, the small arm mechanism 5 and the wrist mechanism 6.

The utility model discloses a grid otter board automatic weld robot has characteristics such as safe and reliable, welding accuracy, convenient maintenance, and welding grid otter board that can be simple and convenient, quick, accurate effectively replaces manual welding, has improved grid otter board welded efficiency, has reduced the cost of enterprise.

Of course, those skilled in the art should realize that the above-mentioned embodiments are only used for illustrating the present invention, and not for limiting the present invention, and that the changes and modifications to the above-mentioned embodiments are all within the scope of the appended claims as long as they are within the true spirit of the present invention.

Claims

1. The utility model provides a grid otter board automatic weld robot, its include the base, install in rotary mechanism on the base, set up in drive arm seat on the rotary mechanism, set up in the big arm mechanism of drive arm seat, with forearm mechanism that big arm mechanism connects, with wrist mechanism that the forearm mechanism connects and connect in the terminal welder of wrist mechanism, its characterized in that: the small arm mechanism comprises a small arm seat, a shell connected with the small arm seat, a small arm connected with the shell and a small arm driving assembly for driving the small arm to rotate, the small arm seat is connected with the large arm mechanism, the small arm driving assembly comprises a small arm rotating motor, a small arm rotating speed reducer connected with the small arm rotating motor, a small arm rotating connecting shaft connected with the small arm rotating speed reducer, a small arm driving gear coated on the end part of the small arm rotating connecting shaft and a small arm driven gear meshed with the small arm driving gear, and the small arm driven gear is connected with the small arm through a small arm rotating flange.

2. The grid mesh plate automatic welding robot of claim 1, wherein: the tip cladding in proper order of forearm has first bearing and second bearing, first bearing with be equipped with the bearing spacer between the second bearing, the bearing spacer cover is established on the forearm, the second bearing is connected with the cover and is established bearing flange on the forearm, the skeleton oil blanket has been acceptd to the bearing flange, first bearing with the cover is equipped with forearm flange on the second bearing, the both ends of forearm flange respectively with the casing with the bearing flange is connected.

3. The grid mesh plate automatic welding robot of claim 1, wherein: the rotating mechanism comprises a box body arranged on the base, a rotating assembly arranged in the box body and a rotating motor for driving the rotating assembly to rotate, and the rotating motor is arranged on the outer side of the box body.

4. The grid mesh plate automatic welding robot of claim 3, wherein: the rotating assembly comprises a rotating worm rod connected with the rotating motor, a rotating turbine meshed with the rotating worm rod and a rotating turbine shaft penetrating through the rotating turbine, the rotating turbine shaft penetrates through the upper surface and the lower surface of the box body, an upper flange and a lower flange are respectively coated at two ends of the rotating turbine shaft, the upper flange and the lower flange are connected with the rotating turbine shaft through bearings, the lower flange is fixed on the lower surface of the box body, and the upper flange is fixed on the upper surface of the box body through a flange cover.

5. The grid mesh plate automatic welding robot of claim 4, wherein: the driving arm seat comprises a rotating plate and a pair of side plates which are arranged on the rotating plate and are parallel to each other, the rotating plate is connected to the end part of the rotating turbine shaft, and a reinforcing plate is connected between the pair of side plates.

6. The grid mesh plate automatic welding robot of claim 5, wherein: the large arm mechanism comprises a large arm, a first large arm driving assembly and a second large arm driving assembly which drive the large arm to move, and a connecting rod assembly connected to the lower end of the large arm, wherein the connecting rod assembly is connected with the first large arm driving assembly, and comprises a connecting rod, a connecting rod transmission shaft connected with the connecting rod, and a connecting rod shaft sleeve accommodated in the connecting rod transmission shaft.

7. The grid mesh plate automatic welding robot of claim 6, wherein: the first big arm driving assembly comprises a first cycloidal speed reducer and a first servo motor connected with the first cycloidal speed reducer, a rotating shaft of the first cycloidal speed reducer is contained in the connecting rod shaft sleeve, and the second big arm driving assembly comprises a second cycloidal speed reducer and a second servo motor connected with the second cycloidal speed reducer.

8. The grid mesh plate automatic welding robot of claim 7, wherein: the tail end of the big arm is provided with a pair of first connecting plate and a second connecting plate which are parallel to each other, the first connecting plate is sleeved on the connecting rod shaft sleeve, the first connecting plate and the first cycloidal reducer are respectively arranged on two sides of one of the side plates, and the second connecting plate and the second cycloidal reducer are respectively connected to two sides of the other side plate through arm rotating flanges.