CN219113254U - An Angle Adjustment Mechanism of a Welding Robot - Google Patents

Abstract

The utility model relates to the technical field of welding robots, in particular to an angle adjustment mechanism of a welding robot, which comprises a base, a sliding assembly fixedly connected to the top of the base, a first sliding block connected to the sliding assembly in transmission, the bottom of the first sliding block and the top of the base Sliding connection, the top of the first slider is fixed to the bottom of the first rotating mechanism, the top of the first rotating mechanism is fixed to the bottom of the first mechanical arm, the upper side wall of the first mechanical arm is fixed to the side of the second rotating mechanism, the second The other side of the rotating mechanism is fixedly connected with the second mechanical arm, the second rotating mechanism is fixedly connected with the side wall of one end of the second mechanical arm, and the other end of the second mechanical arm is fixedly connected with one side of the third rotating mechanism, and the third rotating mechanism The other side is fixedly connected with a welding mechanism. The utility model can achieve the purpose of improving the rotation precision and the rotation speed of the angle adjustment mechanism.

Description

An Angle Adjustment Mechanism of a Welding Robot

technical field

The utility model relates to the technical field of welding robots, in particular to an angle adjustment mechanism of a welding robot.

Background technique

A welding robot is an industrial robot engaged in welding. It is a reprogrammable, automatic control manipulator with three or more programmable axes, which is used to automate the welding process.

The existing welding robot angle adjustment mechanism usually uses the turntable bearing as the angle adjustment device, but the angle adjustment accuracy is limited by the number of gear teeth due to the meshing connection between the turntable bearing and the driving mechanism, while the transmission efficiency of the welding robot angle adjustment mechanism using belt transmission The lower speed makes the welding robot slower when changing the angle, and the work efficiency is low. Therefore, an angle adjustment mechanism of the welding robot is urgently needed to solve the problem.

Utility model content

The purpose of this utility model is to provide an angle adjustment mechanism of a welding robot to solve the above problems and achieve the purpose of improving the rotation accuracy and rotation speed of the angle adjustment mechanism.

In order to achieve the above object, the utility model provides the following scheme:

An angle adjustment mechanism for a welding robot, comprising a base, a sliding assembly is fixedly connected to the top of the base, the sliding assembly is transmission-connected to a first slider, the bottom of the first slider is slidably connected to the top of the base, the The top of the first slider is fixedly connected to the bottom of the first rotating mechanism, the top of the first rotating mechanism is fixed to the bottom of the first mechanical arm, and the upper side wall of the first mechanical arm is fixed to one side of the second rotating mechanism. The other side of the second rotating mechanism is fixedly connected with a second mechanical arm, the second rotating mechanism is fixedly connected with the side wall of one end of the second mechanical arm, and the other end of the second mechanical arm is fixedly connected with a second mechanical arm. One side of the third rotating mechanism, and a welding mechanism fixedly connected to the other side of the third rotating mechanism;

The first rotating mechanism includes a first mounting plate, one side of the first mounting plate is rotatably connected to one end of the active transmission part, and the other end of the active transmission part is rotatably connected to a second mounting plate, and the first mounting plate is connected to the first mounting plate. The second mounting plate is arranged symmetrically, the first mounting plate and the second mounting plate are fixedly connected by a plurality of first brackets, the active transmission part is connected to the driven transmission part through a synchronous belt, and the driven The transmission part is located between the first mounting plate and the second mounting plate, and the two ends of the driven transmission part are respectively connected to the first mounting plate and the second mounting plate in rotation, and the driven transmission The transmission part is connected with a turntable, the active transmission part is connected with a first drive part, the first drive part is fixedly connected with the first installation plate, the second rotation mechanism and the third rotation mechanism are connected with the The structure of the first rotating mechanism is the same.

Preferably, the active transmission part includes a drive shaft, the two ends of the drive shaft are respectively rotatably connected to the first mounting plate and the second mounting plate, and a second frustum wheel is sleeved on the drive shaft, The second frustum wheel is slidingly connected to the driving shaft, and the first frustum wheel is also sleeved on the driving shaft, the first frustum wheel is fixedly connected to the driving shaft, and the first frustum wheel The table wheel is arranged opposite to the conical surface of the second table wheel, the synchronous belt is located between the first table wheel and the second table wheel, and the first table wheel and the second table wheel The frustum wheel is in frictional contact with the side of the synchronous belt; a paddle is clamped on the edge of the second frustum wheel, and the inner wall of the paddle is slidably connected with the edge of the second frustum wheel. A lifting part is connected, and the lifting part is fixedly connected with the first mounting plate.

Preferably, the driven transmission part includes a driven shaft, the two ends of the driven shaft are respectively connected to the first mounting plate and the second mounting plate in rotation, and the driven shaft is sleeved with a fourth A frustum wheel, the fourth frustum wheel is fixedly connected to the driven shaft, and a third frustum wheel is sleeved on the driven shaft, and the third frustum wheel slides with the driven shaft connected, the third frustum wheel and the fourth frustum wheel conical surface are oppositely arranged, a spring is provided between the bottom of the third frustum wheel and the second mounting plate, and one end of the spring is connected to the The third frustum wheel is in contact, the other end of the spring is in contact with the second mounting plate, the driven shaft is fixedly connected to the turntable, the third frustum wheel and the fourth frustum wheel are in contact with the The side wall of the synchronous belt is in contact.

Preferably, the lifting part includes a lifting cylinder, a first mounting block is fixedly connected to the moving end of the lifting cylinder, a second mounting block is fixedly connected to the side wall of the first mounting block, and one end of the second mounting block is fixedly connected to There are several sliding rods, the several sliding rods are arranged symmetrically, and the several sliding rods pass through the first mounting plate and are fixedly connected with the paddles.

Preferably, the sliding assembly includes two first baffles, the bottoms of the two first baffles are fixedly connected to the top of the base, the two first baffles are arranged symmetrically, and the two first baffles rotate A threaded rod is connected, the threaded rod runs through the middle of the first slider, the threaded rod is threadedly connected with the first slider, the threaded rod is connected with a second driving part, and the sliding assembly also includes Two clamping strips, the two clamping strips are fixedly connected to the top of the base, the clamping strips are vertically arranged in the space of the first baffle, the two first baffles are located between the two clamping strips, the The side wall of the clamping bar is slidably connected with the side wall of the first slider.

Preferably, the first drive part includes a first drive motor, the side wall of the first drive motor is fixedly connected to the first mounting plate, and the output shaft of the first drive motor passes through the first mounting plate and the first mounting plate. The drive shaft is fixedly connected.

Preferably, the second drive part includes a second drive motor, the side wall of the second drive motor is fixedly connected to any one of the side walls of the first baffle, and the output shaft of the second drive motor passes through the first baffle. The baffle is fixedly connected with the threaded rod.

Preferably, the clip is a right-angled trapezoidal structure, one side of the short side of the clip is fixedly connected to the top of the base, and one side of the hypotenuse of the clip is slidably connected to the side wall of the first slider.

The utility model has the following technical effects: when in use, the sliding assembly is connected to the first sliding block through the sliding assembly fixed on the top of the base, and the first sliding block is slidably arranged on the top of the base so that the first sliding block can be driven by the sliding assembly. Move horizontally on the top of the base, the top of the first slider is fixed to the bottom of the second mounting plate of the first rotating mechanism, the top of the first mounting plate of the first rotating mechanism is fixed to the bottom of the first mechanical arm, and the upper part of the first mechanical arm The side wall is affixed to one side of the second mounting plate of the second rotating mechanism, the side of the first mounting plate of the second rotating mechanism away from the first mechanical arm is fixed to the side wall of one end of the second mechanical arm, and the other end of the second mechanical arm is fixed to the side wall. The end part is fixedly connected to the first mounting plate of the third rotating mechanism, and the second mounting plate of the third rotating mechanism is fixedly connected to the welding mechanism on the side away from the second mechanical arm, and the whole device is rotated horizontally through the first rotating mechanism. The second mechanical arm is driven to rotate in the vertical plane by the second rotating mechanism, the rotation of the welding mechanism is realized by the third rotating mechanism, and the three rotating mechanisms, the sliding assembly and the mechanical arm cooperate with each other to realize the whole device in multiple spaces. Direction adjustment makes the whole device have a higher degree of freedom.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings according to these drawings without paying creative efforts.

Fig. 1 is the structural representation of the utility model;

Fig. 2 is a structural schematic diagram of the first rotating mechanism of the utility model;

Fig. 3 is a structural sectional view of the first rotating mechanism of the utility model;

Fig. 4 is a structural schematic diagram of the utility model plectrum;

Fig. 5 is the structural representation of the utility model embodiment 2;

Fig. 6 is a structural schematic diagram of the welding mechanism of Embodiment 2 of the present utility model;

Fig. 7 is a schematic diagram of the structure of the curved chute in Embodiment 2 of the utility model;

Among them, 1. base; 2. clip; 3. first slider; 4. first baffle; 5. second drive motor; 6. threaded rod; 7. first mechanical arm; 8. first rotating mechanism 9, the second rotating mechanism; 10, the second mechanical arm; 11, the third rotating mechanism; 12, the welding mechanism; 801, the turntable; 802, the first driving motor; 803, the second mounting block; 804, the slide bar; 805, lifting cylinder; 806, the first mounting block; 807, the first mounting plate; 808, the first bracket; 809, the second mounting plate; 810, the first cone wheel; 811, the second cone wheel; 812, The third cone wheel; 813, the fourth cone wheel; 814, spring; 815, synchronous belt; 816, paddle; 817, driving shaft; 818, driven shaft; 1201, welding nozzle; 1202, the third mounting plate 1203, the second bracket; 1204, the fourth mounting plate; 1205, the rotating shaft; 1206, the connecting block; 1207, the connecting rod; 1208, the curved chute; 1209, the motor mounting plate;

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

In order to make the above purpose, features and advantages of the utility model more obvious and understandable, the utility model will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Referring to Figures 1-4, this embodiment provides an angle adjustment mechanism for a welding robot, which includes a base 1, a sliding assembly is fixedly connected to the top of the base 1, and the sliding assembly is connected to a first slider 3 through transmission, and the bottom of the first slider 3 is connected to the The top of the base 1 is slidingly connected, the top of the first slider 3 is fixedly connected to the bottom of the first rotating mechanism 8, the top of the first rotating mechanism 8 is fixedly connected to the bottom of the first mechanical arm 7, and the upper side wall of the first mechanical arm 7 is fixedly connected to the bottom of the first mechanical arm 7. One side of the second rotating mechanism 9, the other side of the second rotating mechanism 9 is fixedly connected with the second mechanical arm 10, the second rotating mechanism 9 is fixedly connected with the side wall of one end of the second mechanical arm 10, and the other end of the second mechanical arm 10 is One side of the third rotating mechanism 11 is fixedly connected, and the other side of the third rotating mechanism 11 is fixedly connected with a welding mechanism 12;

The first rotating mechanism 8 includes a first mounting plate 807, one end of the active transmission portion is rotatably connected to one side of the first mounting plate 807, and a second mounting plate 809 is rotatably connected to the other end of the active transmission portion. The plates 809 are arranged symmetrically, the first mounting plate 807 and the second mounting plate 809 are fixedly connected by a plurality of first brackets 808, the active transmission part is connected to the driven transmission part through a timing belt 815, and the driven transmission part is located on the first mounting plate 807 and the second mounting plate 809, the two ends of the driven transmission part are respectively connected in rotation with the first mounting plate 807 and the second mounting plate 809, the driven transmission part is connected to the turntable 801, and the driving transmission part is connected to the first drive The first driving part is fixedly connected to the first mounting plate 807, and the second rotating mechanism 9 and the third rotating mechanism 11 have the same structure as the first rotating mechanism 8.

When in use, through the sliding assembly affixed to the top of the base 1, the sliding assembly is in transmission connection with the first slider 3, and the first sliding block 3 is slidably arranged on the top of the base 1, so that the first sliding block 3 can move on the base under the drive of the sliding assembly. 1. The top moves laterally. The top of the first slider 3 is fixedly connected to the bottom of the second mounting plate 809 of the first rotating mechanism 8. The top of the first mounting plate 807 of the first rotating mechanism 8 is fixed to the bottom of the first mechanical arm 7. The second The upper side wall of a mechanical arm 7 is fixedly connected to the second mounting plate 809 side of the second rotating mechanism 9, and the first mounting plate 807 of the second rotating mechanism 9 is away from the side of the first mechanical arm 7 and one end of the second mechanical arm 10 The side wall is fixed, the other end of the second mechanical arm 10 is fixed to the first mounting plate 807 of the third rotating mechanism 11, and the second mounting plate 809 of the third rotating mechanism 11 is welded to the side away from the second mechanical arm 10. The mechanism 12 is fixedly connected, and the whole device can be rotated in the horizontal direction through the first rotating mechanism 8, and the second mechanical arm 10 is driven to rotate in the vertical plane through the second rotating mechanism 9, and the rotation of the welding mechanism 12 is realized through the third rotating mechanism 11 , through the cooperation of three rotating mechanisms, sliding components and mechanical arms, the whole device can be adjusted in multiple directions in space, so that the whole device has a higher degree of freedom;

The second rotating mechanism 9 and the third rotating mechanism 11 have the same structure as the first rotating mechanism 8, and the first rotating mechanism 8 is used as an example for illustration;

The first rotating mechanism 8 includes a first mounting plate 807 and a second mounting plate 809, the first mounting plate 807 and the second mounting plate 809 are arranged symmetrically, and several first brackets are passed between the first mounting plate 807 and the second mounting plate 809 808 is fixedly connected, so that the first mounting plate 807, the second mounting plate 809 and several first brackets 808 form a firm whole. The number of the first brackets 808 in this embodiment is preferably four, and the four first brackets 808 are along the first The four corners of the mounting plate 807 are distributed, and guard plates can also be installed between two adjacent first brackets 808, and the mounting frame formed by the first mounting plate 807, the second mounting plate 809 and several first brackets 808 is completely sealed to prevent dust from entering The first mounting plate 807 and the second mounting plate 809 are provided with an active transmission portion, the first mounting plate 807 and the second mounting plate 809 are respectively rotationally connected with two ends of the active transmission portion, and the active transmission portion is in transmission connection with the first drive portion, The first driving part drives the active transmission part to rotate, and a driven transmission part is also provided between the first mounting plate 807 and the second mounting plate 809. The active transmission part and the driven transmission part are arranged symmetrically, and the active transmission part and the driven transmission part The parts are connected by a synchronous belt 815 transmission. When the active transmission part rotates, the driven transmission part also rotates with the rotation of the active transmission part. The synchronous belt 815 of this embodiment is preferably a steel V-belt with a certain thickness, and the driven transmission part The two ends of the part are rotationally connected with the first mounting plate 807 and the second mounting plate 809 respectively, and the driven transmission part is also connected with the turntable 801. The shaft is fixed, when the first driving part drives the active transmission part to rotate, the active transmission part drives the driven transmission part to rotate through the synchronous belt 815, and then the turntable 801 rotates, and the first drive can be changed through the active transmission part and the driven transmission part. part output speed, so that the speed of the turntable 801 is different from that of the first drive part, and then realize speed regulation, and the synchronous belt 815 does not need to be meshed through the gear teeth during transmission, and the rotation of the turntable 801 is not limited by the number of teeth, so that the rotation accuracy of the turntable 801 is improved. The turntable 801 is fixedly connected with the first mechanical arm 7 , so the rotation accuracy and speed of the first mechanical arm 7 can be improved.

To further optimize the scheme, the active transmission part includes a driving shaft 817, the two ends of the driving shaft 817 are respectively connected to the first mounting plate 807 and the second mounting plate 809 in rotation, the driving shaft 817 is sleeved with a second cone wheel 811, the second cone The table wheel 811 is slidingly connected with the drive shaft 817, and the drive shaft 817 is also provided with a first cone wheel 810. The first cone wheel 810 is fixedly connected to the drive shaft 817. The 811 conical surfaces are arranged oppositely, and the synchronous belt 815 is located between the first truncated conical wheel 810 and the second truncated conical wheel 811, and the first truncated conical wheel 810 and the second truncated conical wheel 811 are in frictional contact with the side of the synchronous belt 815; The side of the table wheel 811 is clamped with a paddle 816 , the inner wall of the paddle 816 is slidingly connected with the side of the second cone table wheel 811 , the paddle 816 is fixedly connected with a lifting part, and the lifting part is fixedly connected with the first mounting plate 807 .

To further optimize the solution, the driven transmission part includes a driven shaft 818, the two ends of the driven shaft 818 are respectively connected to the first mounting plate 807 and the second mounting plate 809 in rotation, and the driven shaft 818 is sleeved with a fourth frustum wheel 813 , the fourth cone wheel 813 is fixedly connected with the driven shaft 818, the driven shaft 818 is also provided with a third cone wheel 812, the third cone wheel 812 is slidingly connected with the driven shaft 818, the third cone wheel 812 and the fourth cone wheel 813 conical surfaces are arranged oppositely, a spring 814 is arranged between the bottom of the third cone wheel 812 and the second mounting plate 809, one end of the spring 814 is in contact with the third cone wheel 812, and the other end of the spring 814 is in contact with the third cone wheel 812. The second mounting plate 809 is in contact, the driven shaft 818 is fixedly connected to the turntable 801 , and the third truncated cone wheel 812 and the fourth truncated cone wheel 813 are in contact with the side wall of the synchronous belt 815 .

The first frustum wheel 810, the second frustum wheel 811, the third frustum wheel 812, and the fourth frustum wheel 813 have the same structure. Taking the first frustum wheel 810 as an example, the circumferential sleeve at the bottom of the first frustum wheel 810 A flat ring is provided, and the inner wall of the ring is fixedly connected to the bottom side wall of the first cone wheel 810;

Pick piece 816 is an arc-shaped steel sheet with a certain thickness, and the side wall of the inner ring of pick piece 816 is provided with a chute, and the chute matches the flat ring affixed to the bottom side wall of the first cone wheel 810, so that the pick piece The piece 816 is clamped with the first cone wheel 810 through the flat ring, and at the same time, the side wall of the flat ring is slidably connected with the chute of the pick piece 816;

A spring 814 is arranged between the bottom of the third cone wheel 812 and the second mounting plate 809, one end of the spring 814 is in contact with the bottom of the third cone wheel 812, the other end of the spring 814 is in contact with the second mounting plate 809, and the spring 814 remains in a compressed state , so that the spring 814 always pushes the third frustum wheel 812 to the fourth frustum wheel 813;

When the plectrum 816 changes in height through the lifting part, it drives the first frustum wheel 810 to slide up and down on the driving shaft 817, thereby changing the distance between the first frustum wheel 810 and the second frustum wheel 811. The table wheel 810 is a truncated cone structure, so that the synchronous belt 815 slides along the inclined plane of the first truncated cone wheel 810 and the second truncated cone wheel 811. When the first truncated cone wheel 810 and the second truncated cone wheel 811 are close, the synchronous belt 815 expands away from the driving shaft 817, so that the radius of rotation of the synchronous belt 815 at one end of the driving shaft 817 increases. Simultaneously, because the total length of the synchronous belt 815 remains unchanged, when the first cone wheel 810 pushes the synchronous belt 815 to move, the synchronous belt 815 pushes The third cone wheel 812 moves toward the second mounting plate 809, the first cone wheel 810 and the third cone wheel 812 move in the same direction, so that the synchronous belt 815 keeps rotating coaxially, and the synchronous belt 815 rotates at one end of the driven shaft 818 The radius shrinks, and as the radius of rotation of the synchronous belt 815 increases at one end of the drive shaft 817, the rotational speed of the driven shaft 818 gradually increases. Similarly, when the first frustum wheel 810 and the second frustum wheel 811 are far away from each other, the synchronous belt 815 reduces the radius of rotation at one end of the driving shaft 817, the third cone wheel 812 approaches the fourth cone wheel 813 under the action of the spring 814, and the rotation radius of the synchronous belt 815 increases at the end of the driven shaft 818, so that the rotation speed of the turntable 801 gradually increases. decrease, thereby realizing the adjustment of the rotation speed of the turntable 801 and improving the rotation accuracy of the first mechanical arm 7 .

To further optimize the scheme, the lifting part includes a lifting cylinder 805, the moving end of the lifting cylinder 805 is fixedly connected with a first mounting block 806, the side wall of the first mounting block 806 is fixedly connected with a second mounting block 803, and one end of the second mounting block 803 is fixedly connected with a A plurality of sliding bars 804 are arranged symmetrically, and the plurality of sliding bars 804 pass through the first mounting plate 807 and are fixedly connected to the paddle 816 .

The moving end of the lifting cylinder 805 is affixed with a first installation block 806, and the side wall of the first installation block 806 is affixed with a second installation block 803. The first installation block 806 and the second installation block 803 are integrally formed. A plurality of sliding rods 804 are fixedly connected to the bottom of the 803 , and the plurality of sliding rods 804 are arranged symmetrically. In this embodiment, the number of sliding bars 804 is preferably two, so that the direction of the plectrum 816 remains unchanged when moving up and down, and the number of sliding bars 804 is at least two.

To further optimize the scheme, the sliding assembly includes two first baffles 4, the bottoms of the two first baffles 4 are fixedly connected to the top of the base 1, the two first baffles 4 are arranged symmetrically, and a threaded rod is rotatably connected between the two first baffles 4 6. The threaded rod 6 runs through the middle of the first slider 3. The threaded rod 6 is threadedly connected with the first slider 3. The threaded rod 6 is connected to the second drive part. The sliding assembly also includes two clips 2, and the two clips 2 and The top of the base 1 is fixed, and the clip bar 2 is vertically arranged with the first baffle plate 4. The two first baffle plates 4 are located between the two clip bars 2, and the side walls of the clip bar 2 are slidably connected with the side walls of the first slider 3.

The middle part of the first slider 3 is provided with a through threaded hole, through which the threaded hole in the middle part of the first slider 3 is threadedly connected with the threaded rod 6, the bottom of the first slider 3 is an isosceles trapezoidal structure, and the upper part of the first slider 3 is a cuboid Structure, the isosceles trapezoidal structure at the bottom of the first slider 3 matches the chute surrounded by the two clips 2, so that the first slider 3 can only slide along the top of the base 1, and the base 1 is prevented from falling off through the two clips 2. Improve the directionality when base 1 slides.

In a further optimization solution, the first drive part includes a first drive motor 802, the side wall of the first drive motor 802 is fixed to the first mounting plate 807, and the output shaft of the first drive motor 802 passes through the first mounting plate 807 and is fixed to the drive shaft 817 .

In a further optimization solution, the second drive part includes a second drive motor 5, the side wall of the second drive motor 5 is fixed to the side wall of any first baffle plate 4, and the output shaft of the second drive motor 5 passes through the first baffle plate 4 and the screw thread Rod 6 is fixedly connected.

To further optimize the scheme, the clip 2 has a right-angled trapezoidal structure, one side of the short side of the clip 2 is fixedly connected to the top of the base 1, and one side of the hypotenuse of the clip 2 is slidably connected to the side wall of the first slider 3 .

The working process of this embodiment is as follows: when in use, the second drive motor 5 drives the threaded rod 6 to rotate to make the first slider 3 move laterally on the top of the base 1, and the drive shaft 817 is driven to rotate by the first drive motor 802 to make the drive shaft 817 drives the first frustum wheel 810 and the second frustum wheel 811 to rotate, the first frustum wheel 810 and the second frustum wheel 811 rotate the synchronous belt 815 through friction, and then the synchronous belt 815 drives the third conical belt 815 through friction. The frustum wheel 812 and the fourth frustum wheel 813 rotate, so that the driven shaft 818 rotates, and then the turntable 801 is rotated, so that the whole device can be adjusted in multiple directions in space, so that the whole device has a higher degree of freedom. When 816 produces a height change through the lifting cylinder 805, it drives the first frustum wheel 810 to slide up and down on the drive shaft 817, thereby changing the distance between the first frustum wheel 810 and the second frustum wheel 811, so that the synchronous belt 815 moves along the first A truncated cone wheel 810 and the second truncated cone wheel 811 slide on an inclined plane. When the first truncated cone wheel 810 and the second truncated cone wheel 811 are close together, the synchronous belt 815 is expanded away from the driving shaft 817, so that the synchronous belt 815 is The radius of rotation at one end of the driving shaft 817 increases, and at the same time, since the total length of the synchronous belt 815 remains unchanged, the synchronous belt 815 pushes the third cone wheel 812 to move to the second mounting plate 809, so that the synchronous belt 815 keeps rotating coaxially, so that the synchronous belt 815 The radius of rotation at one end of the driven shaft 818 decreases, and as the radius of rotation of the synchronous belt 815 increases at one end of the drive shaft 817, the rotational speed of the driven shaft 818 gradually increases. Similarly, when the first frustum wheel 810 and the second frustum wheel When 811 were away from each other, the radius of rotation of the synchronous belt 815 at one end of the driving shaft 817 decreased, and the third conical wheel 812 approached the fourth conical wheel 813 under the action of the spring 814, and the radius of rotation of the synchronous belt 815 increased at one end of the driven shaft 818. large, so that the rotation speed of the turntable 801 gradually decreases, thereby adjusting the rotation speed of the turntable 801 and improving the rotation accuracy of the first mechanical arm 7 .

Example 2

Referring to Figures 5-7, the only difference between this embodiment and Embodiment 1 is that the welding mechanism 12 includes a third mounting plate 1202, and the third mounting plate 1202 is circumferentially fixed with a plurality of second brackets 1203, and the plurality of second brackets 1203 are separately One end is fixedly connected with a fourth mounting plate 1204, the third mounting plate 1202 and the fourth mounting plate 1204 are arranged symmetrically, a rotating shaft 1205 is arranged between the third mounting plate 1202 and the fourth mounting plate 1204, and the two ends of the rotating shaft 1205 are connected to the third mounting plate 1205 respectively. The mounting plate 1202 and the fourth mounting plate 1204 are rotationally connected, one end of the rotating shaft 1205 runs through the third mounting plate 1202 and is fixedly connected to the welding tip 1201, and a connecting block 1206 is set outside the middle of the rotating shaft 1205, and the connecting block 1206 is fixedly connected to the rotating shaft 1205. 1206 is hinged with one end of a connecting rod 1207, and the other end of the connecting rod 1207 is slidingly connected with the curved chute 1208, and one end of the curved chute 1208 is fixedly connected with the output shaft of the third drive motor 1210, and the third drive motor 1210 is connected to the motor mounting plate 1209 through the motor mounting plate 1209 The third mounting plate 1202 is fixedly connected, and the axis of the output shaft of the third drive motor 1210 is arranged in line with the axis of the connecting block 1206 .

The curved chute 1208 is an arc-shaped steel sheet, and the side wall of the curved chute 1208 is provided with a through chute, which is matched with one end of the connecting rod 1207, so that one end of the connecting rod 1207 passes through the through chute and the curved chute. 1208 is slidingly connected, and the end of the connecting rod 1207 near the curved chute 1208 is provided with a screw hole, and the connecting rod 1207 can be fixedly connected to the curved chute 1208 by bolts. When the third driving motor 1210 drives the curved chute 1208 to rotate, The curved chute 1208 drives the connecting rod 1207 to rotate, thereby causing the rotating shaft 1205 to swing, causing the welding tip 1201 to swing left and right. One end of the connecting rod 1207 slides in the curved chute 1208, and the connecting rod 1207 is connected to the curved sliding groove through a nut. The groove 1208 is fixedly connected to realize the adjustment of the swing range of the rotating shaft 1205, and then realize the adjustment of the swing range of the welding tip 1201, which facilitates the swing of the welding tip 1201 during the welding operation and improves the accuracy of the welding operation.

In describing the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical" , "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the utility model, rather than Any indication or implication that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should not be construed as limiting the invention.

The above-mentioned embodiment is only to describe the preferred mode of the present utility model, not to limit the scope of the present utility model. The various deformations and improvements mentioned above should all fall within the scope of protection determined by the claims of the present utility model.

Claims (8)

1. An angle adjustment mechanism of welding robot, its characterized in that: the novel mechanical arm comprises a base (1), wherein a sliding component is fixedly connected to the top of the base (1), a first sliding block (3) is connected to the sliding component in a transmission mode, the bottom of the first sliding block (3) is connected with the top of the base (1) in a sliding mode, a first rotating mechanism (8) is fixedly connected to the top of the first sliding block (3), a first mechanical arm (7) is fixedly connected to the bottom of the top of the first rotating mechanism (8), a second rotating mechanism (9) is fixedly connected to one side of the side wall of the upper portion of the first mechanical arm (7), a second mechanical arm (10) is fixedly connected to the other side of the second rotating mechanism (9), a third rotating mechanism (11) is fixedly connected to one side of the side wall of one end of the second mechanical arm (10), and a welding mechanism (12) is fixedly connected to the other side of the third rotating mechanism (11).

The first rotating mechanism (8) comprises a first mounting plate (807), one side of the first mounting plate (807) is rotationally connected with one end of a driving speed changing part, the other end of the driving speed changing part is rotationally connected with a second mounting plate (809), the first mounting plate (807) and the second mounting plate (809) are symmetrically arranged, the first mounting plate (807) and the second mounting plate (809) are fixedly connected through a plurality of first brackets (808), the driving speed changing part is in transmission connection with a driven speed changing part through a synchronous belt (815), the driven speed changing part is located between the first mounting plate (807) and the second mounting plate (809), two ends of the driven speed changing part are respectively in rotational connection with the first mounting plate (807) and the second mounting plate (809), the driven speed changing part is in transmission connection with a rotary table (801), the driving speed changing part is in transmission connection with a first driving part, the first driving part is fixedly connected with the first mounting plate (807), and the second rotating mechanism (9) and the third rotating mechanism (11) are identical in structure with the first rotating mechanism (8).

2. The angle adjustment mechanism of a welding robot of claim 1, wherein: the driving speed change part comprises a driving shaft (817), two ends of the driving shaft (817) are respectively and rotatably connected with the first mounting plate (807) and the second mounting plate (809), a second conical table wheel (811) is sleeved on the driving shaft (817), a first conical table wheel (810) is sleeved on the driving shaft (817), the first conical table wheel (810) is fixedly connected with the driving shaft (817), the first conical table wheel (810) and the conical surface of the second conical table wheel (811) are oppositely arranged, a synchronous belt (815) is positioned between the first conical table wheel (810) and the second conical table wheel (811), and the first conical table wheel (810) and the second conical table wheel (811) are in frictional contact with the side face of the synchronous belt (815); the side part of the second cone pulley (811) is clamped with a poking piece (816), the inner wall of the poking piece (816) is in sliding connection with the side part of the second cone pulley (811), the poking piece (816) is fixedly connected with a lifting part, and the lifting part is fixedly connected with the first mounting plate (807).

3. The angle adjustment mechanism of a welding robot of claim 2, wherein: driven variable speed portion includes driven shaft (818), driven shaft (818) both ends respectively with first mounting panel (807) with second mounting panel (809) rotate and are connected, the cover is equipped with fourth cone pulley (813) on driven shaft (818), fourth cone pulley (813) with driven shaft (818) fixed connection, still the cover is equipped with third cone pulley (812) on driven shaft (818), third cone pulley (812) with driven shaft (818) sliding connection, third cone pulley (812) with fourth cone pulley (813) conical surface sets up relatively, third cone pulley (812) bottom with be equipped with spring (814) between second mounting panel (809), spring (814) one end with third cone pulley (812) contact, the spring (814) other end with second mounting panel (809) contact, driven shaft (818) rigid coupling, third cone pulley (812) with fourth cone pulley (813) conical surface contacts with carousel (815) lateral wall.

4. The angle adjustment mechanism of a welding robot of claim 2, wherein: the lifting part comprises a lifting cylinder (805), a first mounting block (806) is fixedly connected to the moving end of the lifting cylinder (805), a second mounting block (803) is fixedly connected to the side wall of the first mounting block (806), a plurality of sliding rods (804) are fixedly connected to one end of the second mounting block (803), the sliding rods (804) are symmetrically arranged, and the sliding rods (804) penetrate through the first mounting plate (807) and are fixedly connected with the shifting plate (816).

5. The angle adjustment mechanism of a welding robot of claim 1, wherein: the sliding assembly comprises two first baffles (4), two the bottoms of the first baffles (4) are fixedly connected with the tops of the bases (1), two the first baffles (4) are symmetrically arranged, a threaded rod (6) is connected between the first baffles (4) in a rotating mode, the threaded rod (6) penetrates through the middle of the first sliding block (3), the threaded rod (6) is in threaded connection with the first sliding block (3), the threaded rod (6) is in transmission connection with a second driving part, the sliding assembly further comprises two clamping strips (2), two clamping strips (2) are fixedly connected with the tops of the bases (1), the clamping strips (2) are vertically arranged in space of the first baffles (4), the two first baffles (4) are located between the clamping strips (2), and the side walls of the clamping strips (2) are in sliding connection with the side walls of the first sliding block (3).

6. The angle adjustment mechanism of a welding robot of claim 2, wherein: the first driving part comprises a first driving motor (802), the side wall of the first driving motor (802) is fixedly connected with the first mounting plate (807), and the output shaft of the first driving motor (802) penetrates through the first mounting plate (807) to be fixedly connected with the driving shaft (817).

7. The angle adjustment mechanism of a welding robot of claim 5, wherein: the second driving part comprises a second driving motor (5), the side wall of the second driving motor (5) is fixedly connected with the side wall of any first baffle (4), and the output shaft of the second driving motor (5) penetrates through the first baffle (4) and is fixedly connected with the threaded rod (6).

8. The angle adjustment mechanism of a welding robot of claim 5, wherein: the clamping strip (2) is of a right trapezoid structure, one side of the short side of the clamping strip (2) is fixedly connected with the top of the base (1), and one side of the bevel edge of the clamping strip (2) is in sliding connection with the side wall of the first sliding block (3).

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