CN111085809B

CN111085809B - Welding manipulator

Info

Publication number: CN111085809B
Application number: CN202010032003.9A
Authority: CN
Inventors: 李焕廷
Original assignee: De Shile Transmission Equipment Chengdu Co ltd
Current assignee: Deshele Transmission Equipment (Sichuan) Co.,Ltd.
Priority date: 2020-01-13
Filing date: 2020-01-13
Publication date: 2022-03-01
Anticipated expiration: 2040-01-13
Also published as: CN111085809A

Abstract

The invention discloses a welding manipulator which comprises a first transmission mechanism, a second transmission mechanism and a third transmission mechanism; the first transmission structure is fixedly arranged on an opening of a main shaft ring of the second transmission structure in a bolt mode, wherein the third-stage gear A is meshed with the second-stage gear A; and the third transmission mechanism is fixed at the left end of the second transmission mechanism in a bolt mode. This welding machines hand is connected through hollow manipulator output main shaft and manipulator gear box for the pencil directly passes the robot and connects, thereby hides the pencil in welding machines hand's inside, has protected the safety of pencil when the welding, also makes welding machines hand have the advantage that the overall arrangement is compacter simultaneously and avoids the wire winding. On the other hand, the gears are in gapless fit, so that gear adjustment errors are reduced, the position accuracy of the rotation positioning of the welding gun is enhanced, and the overall welding quality of the welding manipulator is improved.

Description

Welding manipulator

Technical Field

The invention relates to the technical field of welding, in particular to a welding manipulator.

Background

At present, a welding manipulator generally rotates in a mode that a driving motor is directly connected with a rotary mandrel through a coupler, and the position precision of the rotary positioning of a welding gun is insufficient due to the existence of a gap, so that the overall welding quality of the welding manipulator is reduced. The arrangement of robot electric wire generally adopts the wire band to tie in the outside of vertical scroll or through set up the casing in the vertical scroll outside and include the electric wire in the casing, because the welding can bring the abominable service environment conditions such as splash, smoke and dust, high temperature, the pencil of tying in the vertical scroll outside through the wire band receives the damage easily, and still has the equipment and is not pleasing to the eye, the shortcoming of equipment local structure not compact.

Disclosure of Invention

The invention aims to solve the problems that the existing welding manipulator is low in welding quality and easy to damage wire harnesses, and provides a welding manipulator.

A welding manipulator comprises a first transmission mechanism, a second transmission mechanism and a third transmission mechanism;

the first transmission mechanism comprises a reduction gearbox flange, a gear box, a secondary gear shaft, a primary gear and a secondary gear A, and the reduction gearbox flange is fixedly arranged on the gear box; the secondary gear A is rotatably fixed on a reduction gearbox flange through a secondary gear shaft; the primary gear is rotatably arranged in the gear box and is meshed with the secondary gear A;

the second transmission mechanism comprises a conical shaft barrel, a main bearing mounting ring, a main shaft ring, a tertiary gear A, a main mandrel and a crossed roller bearing, wherein the main shaft ring is of a hollow cylindrical structure, and an opening is formed in the side edge of the main shaft ring; a main bearing mounting ring is nested in the main shaft ring; the crossed roller bearing, the locating ring and the tertiary gear A are sequentially sleeved on the main mandrel from left to right, wherein the tertiary gear A is fixedly sleeved and can rotate along with the main mandrel; the crossed roller bearing 27 is in limited sleeve joint in the main bearing mounting ring; the conical shaft barrel is spliced and arranged at the left end of the main shaft barrel; the left end of the main mandrel penetrates through the main shaft ring and is fixedly installed with the right end of the main shaft barrel;

the third transmission mechanism comprises a gear shaft, a secondary gear B, a locking nut, a box body, a tertiary gear B and a main shaft, wherein the tertiary gear B is fixedly sleeved on the main shaft, and the main shaft is rotatably arranged in the box body; the secondary gear B is rotatably arranged in the box body through a locking nut; the gear shaft is rotatably arranged at the upper left corner of the box body; the upper left corner of the secondary gear B is meshed with the gear shaft, and the lower right corner of the secondary gear B is meshed with the tertiary gear B;

the first transmission structure is fixedly arranged on an opening of a main shaft ring of the second transmission structure in a bolt mode, wherein the third-stage gear A is meshed with the second-stage gear A; and the third transmission mechanism is fixed at the left end of the second transmission mechanism in a bolt mode.

Furthermore, a reduction box cover is fixedly arranged at the front end of the gear box.

Furthermore, a sealing flange used for sealing the main mandrel in the main shaft ring is further arranged at the right end of the main shaft ring.

Furthermore, the right end of the main shaft is also spliced and provided with a special-shaped oil seal.

Furthermore, an antiwear ring is sleeved at the connection position of the main shaft barrel and the main spindle.

Furthermore, a positioning ring is further sleeved on the main mandrel and is positioned between the crossed roller bearing and the third-stage gear A.

Furthermore, an output shaft sealing plate is arranged on the front end face of the box body, and a round hole used for extending the main shaft is formed in the middle of the output shaft sealing plate.

Furthermore, a gear sealing cover is installed on the upper end face of the box body, and a rear sealing plate is arranged on the rear end face of the box body.

The invention has the beneficial effects that: this welding machines hand is connected through hollow manipulator output main shaft and manipulator gear box for the pencil directly passes the robot and connects, thereby hides the pencil in welding machines hand's inside, has protected the safety of pencil when the welding, also makes welding machines hand have the advantage that the overall arrangement is compacter simultaneously and avoids the wire winding. On the other hand, the gears are in gapless fit, so that gear adjustment errors are reduced, the position accuracy of the rotation positioning of the welding gun is enhanced, and the overall welding quality of the welding manipulator is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of a robot;

FIG. 2 is a schematic side view of the robot;

FIG. 3 is a schematic view of a robot explosion mechanism;

FIG. 4 is a schematic diagram of an exploded structure of the first transmission mechanism;

FIG. 5 is a schematic view of an exploded structure of the second transmission mechanism;

FIG. 6 is an exploded view of the third drive mechanism;

FIG. 7 is a schematic perspective view of the robot;

in the figure, 1-gear shaft, 2-secondary gear B, 3-lock nut, 4-box body, 5-gear sealing cover, 6-rear sealing plate, 7-conical shaft barrel, 8-main shaft barrel, 9-antiwear ring, 10-main bearing mounting ring, 11-main shaft ring, 12-locating ring, 13-tertiary gear A, 14-main shaft, 15-sealing flange, 16-reduction box flange, 17-gear box, 18-secondary gear shaft, 19-primary gear, 20-secondary gear A, 21-reduction box cover, 22-special-shaped oil seal, 23-tertiary gear B, 24-main shaft, 25-output shaft sealing plate and 26-crossed roller bearing.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Example (b):

as shown in fig. 1 to 7, a welding manipulator includes a first transmission mechanism, a second transmission mechanism and a third transmission mechanism;

the first transmission mechanism comprises a reduction gearbox flange 16, a gear box 17, a secondary gear shaft 18, a primary gear 19 and a secondary gear A20, wherein the reduction gearbox flange 16 is fixedly arranged on the gear box 17; the secondary gear A20 is rotatably fixed on the reduction gearbox flange 16 through a secondary gear shaft 18; the gear box 17 is provided with an opening at the center, the primary gear 19 is rotatably arranged in the gear box 17 and is meshed with the secondary gear A20; the primary gear 19 extends out of the opening and is connected with the output end of the driving motor.

The second transmission mechanism comprises a conical shaft barrel 7, a main shaft barrel 8, a main bearing mounting ring 10, a main shaft ring 11, a tertiary gear A13, a main mandrel 14 and a crossed roller bearing 27, wherein the main shaft ring 11 is of a hollow cylindrical structure, and an opening is formed in the side edge of the main shaft ring 11; a main bearing mounting ring 10 is nested in the main shaft ring 11; the crossed roller bearing 27, the locating ring 12 and the tertiary gear A13 are simultaneously sleeved on the main mandrel 14 from left to right in sequence, wherein the tertiary gear A13 is fixedly sleeved and can rotate together with the main mandrel 14; the crossed roller bearing 27 is in limited sleeve joint in the main bearing mounting ring 10; the conical shaft barrel 7 is spliced and arranged at the left end of the main shaft barrel 8; the left end of the main mandrel 14 penetrates through the main shaft ring 11 and is fixedly installed with the right end of the main shaft barrel 8; under the rotation of the main spindle 14, the conical shaft barrel 7 and the main spindle barrel 8 are driven to rotate simultaneously.

The third transmission mechanism comprises a gear shaft 1, a secondary gear B2, a locking nut 3, a box body 4, a tertiary gear B23 and a main shaft 24, wherein the tertiary gear B23 is fixedly sleeved on the main shaft 24, and the main shaft 24 is rotatably arranged in the box body 4; the secondary gear B2 is rotatably arranged in the box body 4 through a locking nut 3; the gear shaft 1 is rotatably arranged at the upper left corner of the box body 4; the upper left corner of the secondary gear B2 is meshed with the gear shaft 1, and the lower left corner of the secondary gear B2 is meshed with the tertiary gear B23;

the first transmission structure is fixedly arranged on the opening of the main shaft ring 11 of the second transmission structure in a bolt mode, wherein a tertiary gear A13 is meshed with a secondary gear A20; and the third transmission mechanism is fixed at the left end of the second transmission mechanism in a bolt mode.

The front end of the gear box 17 is also fixedly provided with a reduction box cover 21. The reduction box cover 21 is used for covering the gear box 17 and preventing foreign matters from falling into the reduction box to cause machine damage.

The right end of the spindle ring 11 is further provided with a sealing flange 15 for sealing the main spindle 14 inside the spindle ring 11. The sealing flange 15 is used for sealing the right end of the spindle ring 11, and meanwhile, the sealing flange 15 can be connected with other mechanisms.

The right end of the main shaft 24 is also spliced and provided with a special-shaped oil seal 22. The shaped oil seal 22 serves to prevent leakage of lubricating oil.

The joint of the main shaft barrel 8 and the main mandrel 14 is also sleeved with an antiwear ring 9. The antiwear ring 9 is used for preventing the joint of the main spindle 14 and the main spindle barrel 8 from generating friction on the inner wall of the main spindle ring 11 when rotating, and reduces the abrasion degree of the inner wall.

The main spindle 14 is further sleeved with a locating ring 12, and the locating ring 12 is located between the crossed roller bearing 27 and the third-stage gear a 13. The cage 12 is used to limit the distance between the cross roller bearing 27 and the third-stage gear a13, and also to prevent friction between the cross roller bearing 27 and the third-stage gear a13, thereby reducing the loss.

An output shaft sealing plate 25 is arranged on the front end face of the box body 4, and a round hole for extending the main shaft 24 is formed in the middle of the output shaft sealing plate 25. The main shaft 24 extends from the circular hole and can be connected with other driving components.

The gear closing cap 5 is installed to the up end of box 4, and the rear end face of box 4 is provided with back shrouding 6. The gear sealing cover 5 is used for sealing the top of the box body 4, and the rear sealing plate 6 is used for sealing the bottom of the back of the box body 4; prevent foreign matters from falling into the machine to cause mechanical abrasion.

The working principle of the manipulator is as follows:

the manipulator needs two driving motors to realize the rotation of the manipulator and the power output of the tail end of the manipulator.

As shown in fig. 1 and 5, the rotation of the robot: the primary gear 19 extends out of the opening and is connected with the output end of the driving motor; the primary gear 19 drives the secondary gear A20 to rotate; the secondary gear A20 drives the tertiary gear A13 to rotate; the three-stage gear A13 is fixedly arranged on the main mandrel 14, so that the main mandrel 14 is driven to rotate; at this time, the crossed roller bearing 27 assists the main spindle 14 to rotate; because the left end of the main mandrel 14 is fixedly connected with the main mandrel barrel 8 through the pin, the main mandrel barrel 8 and the conical barrel 7 rotate under the driving of the main mandrel 14, and the rotation of the manipulator is integrally realized.

As shown in fig. 2, 6 and 7, the power output of the tail end of the manipulator is as follows: the output end of the driving motor is connected with the gear shaft 1 from the back of the box body 4 to rotate, the third-stage gear B23 rotates under the transmission of the second-stage gear B2, and the third-stage gear B23 is fixedly sleeved on the main shaft 24 to further drive the main shaft 24 to rotate; the main shaft 24 extends from the gear shaft 1 through a circular hole in the output shaft cover plate 25, and may be connected to other driving components.

This welding machines hand is connected through hollow manipulator output main shaft and manipulator gear box for the pencil directly passes the robot and connects, thereby hides the pencil in welding machines hand's inside, has protected the safety of pencil when the welding, also makes welding machines hand have the advantage that the overall arrangement is compacter simultaneously and avoids the wire winding. On the other hand, the gears are in gapless fit, so that gear adjustment errors are reduced, the position accuracy of the rotation positioning of the welding gun is enhanced, and the overall welding quality of the welding manipulator is improved.

The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. A welding manipulator which characterized in that: the device comprises a first transmission mechanism, a second transmission mechanism and a third transmission mechanism;

the first transmission mechanism comprises a reduction gearbox flange (16), a gear box (17), a secondary gear shaft (18), a primary gear (19) and a secondary gear A (20), and the reduction gearbox flange (16) is fixedly arranged on the gear box (17); the secondary gear A (20) is rotatably fixed on the reduction gearbox flange (16) through a secondary gear shaft (18); the primary gear (19) is rotatably mounted in the gear box (17) and is meshed with the secondary gear A (20);

the second transmission mechanism comprises a conical shaft barrel (7), a main shaft barrel (8), a main bearing mounting ring (10), a main shaft ring (11), a three-stage gear A (13), a main mandrel (14) and a crossed roller bearing (27), the main shaft ring (11) is of a hollow cylindrical structure, and an opening is formed in the side edge of the main shaft ring (11); a main bearing mounting ring (10) is nested in the main shaft ring (11); the crossed roller bearing (27), the locating ring (12) and the tertiary gear A (13) are sequentially sleeved on the main mandrel (14) from left to right, wherein the tertiary gear A (13) is fixedly sleeved and can rotate along with the main mandrel (14); the crossed roller bearing (27) is in limited sleeve joint in the main bearing mounting ring (10); the conical shaft barrel (7) is spliced and installed at the left end of the main shaft barrel (8); the left end of the main mandrel (14) penetrates through the main shaft ring (11) and is fixedly installed with the right end of the main shaft barrel (8);

the third transmission mechanism comprises a gear shaft (1), a secondary gear B (2), a locking nut (3), a box body (4), a tertiary gear B (23) and a main shaft (24), the tertiary gear B (23) is fixedly sleeved on the main shaft (24), and the main shaft (24) is rotatably arranged in the box body (4); the secondary gear B (2) is rotatably arranged in the box body (4) through a locking nut (3); the gear shaft (1) is rotatably arranged at the upper left corner of the box body (4); the upper left corner of the secondary gear B (2) is meshed with the gear shaft (1), and the lower right corner of the secondary gear B (2) is meshed with the tertiary gear B (23);

the first transmission structure is fixedly arranged on an opening of a main shaft ring (11) of the second transmission structure in a bolt mode, wherein a third-stage gear A (13) is meshed with a second-stage gear A (20); the third transmission mechanism is fixed at the left end of the second transmission mechanism in a bolt mode;

the main mandrel (14) is further sleeved with a positioning ring (12), and the positioning ring (12) is located between the crossed roller bearing (27) and the third-stage gear A (13).

2. A welding manipulator according to claim 1, characterised in that: the front end of the gear box (17) is also fixedly provided with a reduction box cover (21).

3. A welding manipulator according to claim 1, characterised in that: the right end of the main shaft ring (11) is also provided with a sealing flange (15) used for sealing the main mandrel (14) in the main shaft ring (11).

4. A welding manipulator according to claim 1, characterised in that: the right end of the main shaft (24) is also spliced and provided with a special-shaped oil seal (22).

5. A welding manipulator according to claim 1, characterised in that: the joint of the main shaft barrel (8) and the main mandrel (14) is further sleeved with an antiwear ring (9).

6. A welding manipulator according to claim 1, characterised in that: an output shaft sealing plate (25) is arranged on the front end face of the box body (4), and a round hole used for extending the main shaft (24) is formed in the middle of the output shaft sealing plate (25).

7. A welding manipulator according to claim 1, characterised in that: the gear sealing cover (5) is installed on the upper end face of the box body (4), and the rear sealing plate (6) is arranged on the rear end face of the box body (4).