CN213003203U

CN213003203U - Articulated welding robot

Info

Publication number: CN213003203U
Application number: CN202021745219.1U
Authority: CN
Inventors: 周学涛; 毕中军; 安敬才
Original assignee: Zhengzhou Dazhi Precision Manufacturing Co ltd
Current assignee: Zhengzhou Dazhi Precision Manufacturing Co ltd
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2021-04-20
Anticipated expiration: 2030-08-18

Abstract

The utility model relates to the technical field of welding, a joint type welding robot is disclosed, including base, welder, be equipped with the welding wire case on the base, the welding wire incasement is fixed with the dead lever, the dead lever overcoat is equipped with the welding wire dish, the welding wire dish includes winding portion and two fender edges, be equipped with the connecting rod on the fender edge, it is connected with the locking pawl to rotate on the connecting rod, the connecting rod overcoat is equipped with the locking torsional spring, the outside cover of fender edge is equipped with the locking ring, the locking ring is fixed in the welding wire case, be equipped with annular tooth's socket on the upper surface of locking ring, the locking pawl keeps away from the tip of; the driving arm is provided with a wire feeding box, and a tensioning mechanism and a wire feeding mechanism are arranged in the wire feeding box. The utility model discloses can carry out the plastic to the welding wire, realize welding robot's steady even sending a silk, can stretch out welder's length by automatically regulated welding wire, avoid taking place stifled silk or disconnected silk phenomenon, guarantee stable welding current, form even welding seam to guarantee the welding effect.

Description

Articulated welding robot

Technical Field

The utility model relates to the field of welding technique, especially, relate to an articulated welding robot.

Background

The joint type welding robot is a common device in the welding field, mainly comprises a base, a swing arm, a driving arm, a welding gun and other parts, the welding gun is driven to do multidimensional movement in space through the combined action of the swing arm and the driving arm, the end part of the welding gun is provided with a welding wire, the welding wire is melted by utilizing a high-temperature welding arc generated by the welding gun, and the joint of a workpiece is welded. However, in the prior art, the welding wire required by the welding robot is generally wound on a welding wire tray, the welding wire is in an arc shape, and the joint of the welding robot is bent too much, so that the arc-shaped welding wire is in a multi-bending state, is difficult to be directly conveyed to the end part of a welding gun, seriously influences the quality of wire feeding, and is easy to cause a blocking phenomenon. In addition, in the welding wire conveying process, because the welding wire is usually soft, the length of the welding wire extending out of a welding gun nozzle is inconsistent or the phenomenon of wire blockage is caused, so that stable wire feeding cannot be realized, the size of welding current is unstable, the penetration is inconsistent, the welding seam is not uniform in forming, and the welding effect is seriously influenced.

SUMMERY OF THE UTILITY MODEL

To the technical problem that prior art exists, the utility model provides an articulated welding robot.

In order to achieve the above object, the utility model provides a following technical scheme: an articulated welding robot comprises a base, a swing arm, a driving arm and a welding gun, wherein the swing arm is connected with the base, the driving arm is connected with the swing arm, the welding gun is connected onto the driving arm, a welding wire box is arranged on the base, a wire passing hole is formed in the welding wire box, a fixing rod is vertically fixed in the welding wire box, a welding wire disc is sleeved outside the fixing rod and comprises a cylindrical winding part and two blocking edges which are respectively connected to the upper end and the lower end of the winding part, a welding wire is wound on the winding part, a connecting rod is arranged on the blocking edge at the lower end of the winding part, a locking pawl is rotatably connected onto the connecting rod, a locking torsion spring is sleeved outside the connecting rod, the two ends of the locking torsion spring are respectively abutted against the blocking edge at the lower end of the winding part and the locking pawl, a locking ring is sleeved outside the blocking edge, the end part of the locking pawl far away from the connecting rod is clamped with one tooth groove; the welding wire feeding device is characterized in that the driving arm is provided with a wire feeding box, two opposite side walls of the wire feeding box are respectively provided with a wire inlet hole and a wire outlet hole, a tensioning mechanism and a wire feeding mechanism are sequentially arranged in the wire feeding box along the conveying direction of welding wires, the tensioning mechanism comprises a supporting frame, a connecting plate, a connecting frame, a tensioning spring and a tensioning wheel, the supporting frame is fixed in the wire feeding box, the top of the supporting frame is open, the connecting plate is transversely arranged in the supporting frame and is in sliding fit with the two side walls of the supporting frame, the bottom of the connecting plate is connected with the inner bottom wall of the supporting frame through the tensioning spring, the connecting frame is connected to the connecting plate and; the wire feeding mechanism comprises a driving gear, a driving wire feeding wheel, a driven gear and a driven wire feeding wheel, the driving gear and the driving wire feeding wheel are coaxially connected and are all rotatably connected in a wire feeding box, the driving gear is connected with a wire feeding motor, the driven gear is meshed with the driving gear, and the driven wire feeding wheel and the driven gear are coaxially connected and are all rotatably connected in the wire feeding box.

Preferably, the top of the welding wire box is hinged with a box cover, and a handle is arranged on the box cover.

Preferably, send an incasement to still be equipped with stopping mechanism, stopping mechanism includes backup pad, stopping board, traction plate, threaded rod, the backup pad is fixed in send a incasement with going out between the silk hole that wire feeding mechanism is fixed in, and the backup pad cross-section is the L type, is equipped with the spout that extends along welding wire direction of transfer in the backup pad and is used for supporting the recess of welding wire, the recess top is located to the stopping board, and stopping board lower part is to going out the crooked extension of silk hole direction, and the middle part of stopping board rotates and connects in the backup pad, the one end of traction plate is rotated with the top of stopping board and is connected, and the other end is connected with the slide bar, slide bar sliding connection is in the spout, and the slide bar is connected with the pull rod, the threaded rod passes through the bearing and rotates to be connected on the.

The utility model discloses can carry out the plastic to the welding wire, realize welding robot's steady even sending a silk, can stretch out welder's length by automatically regulated welding wire, avoid taking place stifled silk or disconnected silk phenomenon, guarantee stable welding current, form even welding seam to guarantee the welding effect.

Drawings

Fig. 1 is a schematic structural diagram of the present embodiment.

FIG. 2 is a schematic view of the wire box of FIG. 1.

Fig. 3 is an enlarged schematic view at a in fig. 2.

Fig. 4 is a schematic structural view of the wire feeding box in fig. 1.

In the figure: the welding wire feeding device comprises a base 1, a swing arm 2, a driving arm 3, a welding gun 4, a welding wire box 5, a wire passing hole 6, a fixing rod 7, a welding wire disk 8, a welding wire 9, a connecting rod 10, a locking pawl 11, a locking torsion spring 12, a locking ring 13, a tooth space 14, a wire feeding box 15, a supporting frame 16, a connecting plate 17, a connecting frame 18, a tensioning spring 19, a tensioning wheel 20, a driving gear 21, a driving wire feeding wheel 22, a driven gear 23, a driven wire feeding wheel 24, a box cover 25, a supporting plate 26, a backstop plate 27, a traction plate 28, a threaded rod 29, a sliding chute 30, a sliding rod 31.

Detailed Description

The embodiments of the present invention will be further explained with reference to the drawings.

Examples

Referring to fig. 1-4, an articulated welding robot comprises a base 1, a swing arm 2, a driving arm 3 and a welding gun 4, wherein the swing arm 2 is connected with the base 1, the driving arm 3 is connected with the swing arm 2, the welding gun 4 is connected with the driving arm 3, the base 1 is provided with a welding wire box 5, the welding wire box 5 is provided with a wire passing hole 6, a fixing rod 7 is vertically fixed in the welding wire box 5, a welding wire disc 8 is sleeved outside the fixing rod 7, the welding wire disc 8 comprises a cylindrical winding part and two retaining edges respectively connected with the upper end and the lower end of the winding part, a welding wire 9 is wound on the winding part, a connecting rod 10 is arranged at the lower end of the winding part, a locking pawl 11 is rotatably connected on the connecting rod 10, a locking torsion spring 12 is sleeved outside the connecting rod 10, and two ends of the locking torsion spring 12 are respectively abutted, the outer side of the blocking edge is sleeved with a locking ring 13, the locking ring 13 is fixed in the welding wire box 5, an annular tooth groove 14 is formed in the upper surface of the locking ring 13, and the end part, far away from the connecting rod 10, of the locking pawl 11 is clamped with one tooth groove 14. The welding wire feeding device is characterized in that a wire feeding box 15 is arranged on the driving arm 3, wire feeding holes and wire discharging holes are formed in two opposite side walls of the wire feeding box 15 respectively, a tensioning mechanism and a wire feeding mechanism are sequentially arranged in the wire feeding box 15 along the conveying direction of welding wires 9, the tensioning mechanism comprises a supporting frame 16, a connecting plate 17, a connecting frame 18, a tensioning spring 19 and a tensioning wheel 20, the supporting frame 16 is fixed in the wire feeding box 15, the top of the supporting frame 16 is open, the connecting plate 17 is transversely arranged in the supporting frame 16 and is in sliding fit with the two side walls of the supporting frame 16, the bottom of the connecting plate 17 is connected with the bottom wall of the supporting frame 16 through the tensioning spring 19, the connecting frame 18 is connected onto the connecting plate 17 and extends out of the top. The wire feeding mechanism comprises a driving gear 21, a driving wire feeding wheel 22, a driven gear 23 and a driven wire feeding wheel 24, the driving gear 21 is coaxially connected with the driving wire feeding wheel 22 and is connected in the wire feeding box 15 in a rotating mode, the driving gear 21 is connected with a wire feeding motor, the driven gear 23 is meshed with the driving gear 21, and the driven wire feeding wheel 24 is coaxially connected with the driven gear 23 and is connected in the wire feeding box 15 in a rotating mode.

The top of the welding wire box 5 is hinged with a box cover 25, and a handle is arranged on the box cover 25.

The wire feeding box 15 is also internally provided with a retaining mechanism which comprises a supporting plate 26, a retaining plate 27, a traction plate 28 and a threaded rod 29, the support plate 26 is fixed in the wire feeding box 15 between the wire feeding mechanism and the wire outlet, the cross section of the support plate 26 is L-shaped, the support plate 26 is provided with a chute 30 extending along the conveying direction of the welding wire 9 and a groove for supporting the welding wire 9, the retaining plate 27 is arranged above the groove, the lower part of the retaining plate 27 bends and extends towards the thread outlet direction, the middle part of the retaining plate 27 is rotatably connected on the supporting plate 26, one end of the traction plate 28 is rotatably connected with the top of the retaining plate 27, the other end is connected with a sliding rod 31, slide bar 31 sliding connection is in spout 30, and slide bar 31 is connected with pull rod 32, threaded rod 29 passes through the bearing and rotates to be connected on pull rod 32, and threaded rod 29 runs through and send a case 15 lateral wall and with send a case 15 screw-thread fit.

The utility model discloses during the use, winding welding wire 9 passes from the silk hole 6 of crossing of welding wire case 5 on the wire reel 8 to the silk hole that advances on sending a case 15 gets into and send a case 15 back winding on take-up pulley 20, then passes from initiative wire feeding wheel 22 and from between the driven wire feeding wheel 24, gets into the recess of backup pad 26, in the silk hole entering welder 4 of going out at last. When the welding wire is fed, the driving gear 21 rotates under the action of the wire feeding motor and drives the driven gear 23 to reversely and synchronously rotate, so that the driving wire feeding wheel 22 and the driven wire feeding wheel 24 generate forces in the same direction on the welding wire 9, the welding wire 9 moves forwards, the welding wire 9 drives the welding wire disc 8 to rotate, the locking pawl 11 rotates along with the welding wire disc 8 at the moment, the elastic force of the locking torsion spring 12 is overcome, the locking torsion spring moves from low to high along the tooth groove 14 on the blocking edge and then falls into the next tooth groove 14, and the stable transmission of the welding wire 9 is realized. After welding, the wire feeding motor stops rotating, at the moment, the locking pawl 11 is clamped in a certain tooth groove 14 under the action of the locking torsion spring 12, the wire reel 8 can be prevented from rotating continuously due to inertia, and wire blockage and even clamping caused by the fact that the welding wire 9 is too long in length due to the fact that the wire reel 8 cannot stop moving back timely are avoided.

In the wire feeding process, a gap exists between the lower part of the retaining plate 27 and the welding wire 9, so that the normal passing of the welding wire 9 is not influenced; when the wire feeding is stopped, the threaded rod 29 is rotated to enable the pull rod 32 and the slide rod 31 to move towards the wire outlet direction, at the moment, the retaining plate 27 rotates around the connecting part of the middle part of the retaining plate 27 and the support plate 26 under the action of the traction plate 28, the lower part of the retaining plate 27 is abutted against the welding wire 9, the welding wire 9 is positioned, the welding wire 9 is prevented from moving, and the retaining is timely carried out.

The utility model also provides a tensioning mechanism, which can automatically adjust the length of the welding wire 9, when the length of the welding wire 9 is too long, the tension of the welding wire 9 on the tension wheel 20 is reduced, at the moment, the tension wheel 20 moves upwards under the action of the tension spring 19, so that the bending length of the welding wire 9 at the position of the tension wheel 20 is increased, and the length of the welding wire 9 extending out of the welding gun 4 is reduced; when the extension length of welding wire 9 is too short, the tension of welding wire 9 on tension pulley 20 is increased, and at this time, the tension force applied to tension pulley 20 overcomes the elastic force of tension spring 19, so that tension pulley 20 moves down, the bending length of welding wire 9 at the position of tension pulley 20 is reduced, and the extension length of welding wire 9 out of welding gun 4 is increased. The setting of straining device can cushion welding wire 9, guarantees that the welding wire 9 length that 4 tip of welder stretches out is unanimous, avoids leading to the emergence of stifled silk or the welding wire 9 short phenomenon of resulting in the broken wire because the welding wire 9 overlength, realizes steadily sending a silk to maintain welding current's stability, guarantee welding effect, form even welding seam. In addition, the driving wire feeding wheel 23 and the driven wire feeding wheel 24 are arranged in parallel up and down, so that the bent welding wire can be shaped to be a flat straight line, and the wire feeding device is combined with a tensioning mechanism to be more beneficial to uniform wire feeding.

The utility model discloses in, the top of welding wire case 5 is equipped with case lid 25, and after 9 uses finishes, the accessible handle is opened case lid 25, and it can to change welding wire dish 8.

The foregoing description of the embodiments of the invention has been presented for purposes of illustration and not limitation, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the illustrated embodiments.

Claims

1. The utility model provides an articulated welding robot, includes base, swing arm, actuating arm and welder, the swing arm is connected with the base, the actuating arm is connected with the swing arm, welder connects on the actuating arm, its characterized in that: the welding wire box is arranged on the base, a wire passing hole is formed in the welding wire box, a fixed rod is vertically fixed in the welding wire box, a welding wire disc is sleeved outside the fixed rod and comprises a cylindrical winding portion and two blocking edges which are respectively connected to the upper end and the lower end of the winding portion, a welding wire is wound on the winding portion, a connecting rod is arranged on the blocking edge positioned at the lower end of the winding portion, a locking pawl is rotatably connected to the connecting rod, a locking torsion spring is sleeved outside the connecting rod, the two ends of the locking torsion spring are respectively abutted to the blocking edge positioned at the lower end of the winding portion and the locking pawl, a locking ring is sleeved outside the blocking edge and fixed in the welding wire box, an annular tooth socket is arranged on the upper surface of the locking ring, and the end, far; the welding wire feeding device is characterized in that the driving arm is provided with a wire feeding box, two opposite side walls of the wire feeding box are respectively provided with a wire inlet hole and a wire outlet hole, a tensioning mechanism and a wire feeding mechanism are sequentially arranged in the wire feeding box along the conveying direction of welding wires, the tensioning mechanism comprises a supporting frame, a connecting plate, a connecting frame, a tensioning spring and a tensioning wheel, the supporting frame is fixed in the wire feeding box, the top of the supporting frame is open, the connecting plate is transversely arranged in the supporting frame and is in sliding fit with the two side walls of the supporting frame, the bottom of the connecting plate is connected with the inner bottom wall of the supporting frame through the tensioning spring, the connecting frame is connected to the connecting plate and; the wire feeding mechanism comprises a driving gear, a driving wire feeding wheel, a driven gear and a driven wire feeding wheel, the driving gear and the driving wire feeding wheel are coaxially connected and are all rotatably connected in a wire feeding box, the driving gear is connected with a wire feeding motor, the driven gear is meshed with the driving gear, and the driven wire feeding wheel and the driven gear are coaxially connected and are all rotatably connected in the wire feeding box.

2. The articulated welding robot of claim 1, wherein: the welding wire box top is articulated to have the case lid, be equipped with the handle on the case lid.

3. The articulated welding robot of claim 1, wherein: the wire feeding box is characterized in that a stopping mechanism is further arranged in the wire feeding box, the stopping mechanism comprises a supporting plate, a stopping plate, a traction plate and a threaded rod, the supporting plate is fixed in the wire feeding box between a wire feeding mechanism and a wire outlet hole, the cross section of the supporting plate is L-shaped, a chute extending along the direction of conveying the welding wire and a groove used for supporting the welding wire are formed in the supporting plate, the stopping plate is arranged above the groove, the lower portion of the stopping plate extends in a bending mode towards the direction of the wire outlet hole, the middle of the stopping plate is connected to the supporting plate in a rotating mode, one end of the traction plate is connected with the top of the stopping plate in a rotating mode, the other end of the traction plate is connected with a sliding rod, the sliding rod is connected into the chute in a sliding mode and is connected.