WO2019090719A1 - Welding gun support arm and robot - Google Patents

Welding gun support arm and robot Download PDF

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Publication number
WO2019090719A1
WO2019090719A1 PCT/CN2017/110531 CN2017110531W WO2019090719A1 WO 2019090719 A1 WO2019090719 A1 WO 2019090719A1 CN 2017110531 W CN2017110531 W CN 2017110531W WO 2019090719 A1 WO2019090719 A1 WO 2019090719A1
Authority
WO
WIPO (PCT)
Prior art keywords
sleeve
arm
gun arm
flange
connecting portion
Prior art date
Application number
PCT/CN2017/110531
Other languages
French (fr)
Chinese (zh)
Inventor
蒋华
王磊
Original Assignee
深圳配天智能技术研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to CN201790000921.5U priority Critical patent/CN209407755U/en
Priority to PCT/CN2017/110531 priority patent/WO2019090719A1/en
Publication of WO2019090719A1 publication Critical patent/WO2019090719A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element

Definitions

  • the present invention relates to the field of robot technology, and in particular, to a welding gun arm and a robot.
  • the arc welding robot is equipped with a welding torch at the end flange of the robot to weld the workpiece.
  • a welding torch at the end flange of the robot to weld the workpiece.
  • the inventor of the present application found that the price of the built-in welding torch is high, so that the production cost is high, and for the external welding torch, the robot that clamps the external welding torch needs to install the welding torch on the sixth axis.
  • the welding gun arm when the welding gun arm holds the welding torch, the welding gun is different from the end flange of the robot, and the accessibility of the welding torch is low.
  • the invention provides a welding gun arm and a robot to solve the technical problem that the external welding torch and the end flange of the robot have different axes and low accessibility.
  • a technical solution adopted by the present invention is to provide a welding gun arm that is fixedly connected to a body of the robot, and the robot includes an end flange, including:
  • a gun arm sleeve includes a receiving hole for holding the welding gun
  • the connecting member includes a first connecting portion and a second connecting portion connected to the first connecting portion, wherein the first connecting portion is for positioning and fixed connection with the connecting flange, and the second connecting portion is for Positioning and fixing with the gun arm sleeve, and making the connecting flange coaxial with the gun arm sleeve.
  • a robot including a body and a welding gun arm, and a connecting flange of the welding gun arm is fixedly connected with an end flange on the body.
  • the welding gun arm comprises:
  • a gun arm sleeve includes a receiving hole for holding the welding gun
  • the connecting member includes a first connecting portion and a second connecting portion connected to the first connecting portion, wherein the first connecting portion is for positioning and fixed connection with the connecting flange, and the second connecting portion is for Positioning and fixing with the gun arm sleeve, and making the connecting flange coaxial with the gun arm sleeve.
  • the welding gun arm provided by the present invention is fixedly connected between the connecting flange and the end flange on the body, and the first connecting portion of the connecting member is fixedly connected with the connecting flange, and the second portion thereof
  • the connecting portion is fixedly connected with the arm sleeve of the gun, so that the connecting flange is coaxial with the arm sleeve of the gun, so that the end flange is coaxial with the welding gun, thereby effectively improving the accessibility of the welding gun.
  • the use of the welding gun arm to hold the external welding torch can effectively reduce the cost.
  • FIG. 1 is a schematic structural view of a robot according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a welding gun arm in the robot shown in FIG. 1;
  • FIG 3 is a schematic view showing the structure of the gun arm of the welding gun shown in Figure 2 at another angle;
  • FIG 4 is an exploded perspective view of the gun arm of the welding gun shown in Figure 3;
  • Figure 5 is a schematic view showing the structure of the connecting flange of the welding gun arm of Figure 4 at another angle;
  • Figure 6 is a schematic view showing the structure of the welding gun arm holding the welding torch shown in Figure 2.
  • an embodiment of the present invention provides a robot 100 .
  • the robot 100 can be, but is not limited to, an arc welding robot.
  • the robot 100 is described by taking an arc welding robot as an example.
  • the robot 100 includes a body 10 and a torch arm 30.
  • the body 10 includes an end flange 11 in which the torch arm 30 is fixedly coupled to the end flange 11 of the body 10 to secure the torch arm 30 to the body 10. connection.
  • the welding gun arm 30 includes a connecting flange 31, a gun arm sleeve 33 and a connecting member 35, wherein the connecting flange 31 is for fixed connection with the end flange 11; the gun arm sleeve 33
  • the receiving hole includes a first connecting portion 351 and a second connecting portion 352 connected to the first connecting portion 351.
  • the first connecting portion 351 is configured to be positioned with the connecting flange 31.
  • the second connecting portion 352 is used for positioning and fixed connection with the gun arm sleeve 33, and the connecting flange 31 is coaxial with the gun arm sleeve 30, so that the end flange 11 is coaxial with the welding gun 200.
  • the welding torch 200 can be an external welding torch.
  • the connecting flange 31 includes a first surface 311 and a second surface 312 disposed away from the first surface 311.
  • the first surface 311 defines a recess 313, and the connecting member 35 includes a first connecting portion 351.
  • the first connecting portion 351 is positioned to position the connecting member 35 to fix the connecting connecting flange 31.
  • the grooves 313 are strip-shaped, open in the center of the first surface 311 and penetrate through the two sides of the first surface 311.
  • the position and shape of the recess 313 can be adjusted accordingly.
  • the second surface 312 defines a first counterbore 314.
  • the first counterbore 314 extends through the recess 313.
  • the first connecting portion 351 defines a matching hole 353, the matching hole 353 and the plurality of first counterbore holes.
  • the connecting flange 31 is fixedly connected with the connecting member 35 for receiving a locking member (not shown), wherein the locking member may be a stud or a screw.
  • the second surface 312 is spaced apart from the three first counterbore holes 314.
  • the first counterbore hole 314 extends through the recess 313, so that after the first connecting portion 351 is inserted into the recess 313, the locking member is second.
  • the surface 312 is sequentially screwed into the first counterbore hole 314 and the fitting hole 353, thereby fixedly connecting the connecting flange 31 and the connecting member 35.
  • the number of second counterbore holes 315 can be adjusted as needed.
  • a region of the first surface 311 where the recess 313 is not formed is further provided with a plurality of second counterbore holes 315 for use with the threaded holes on the end flange 11 (not shown).
  • One-to-one correspondence is to securely connect the connecting flange 31 with the end flange 11 by means of a locking member.
  • the first surface 311 is provided with six second counterbore holes 315 , and the six second counterbore holes 315 are spaced around the edge of the first surface 311 .
  • the size of the second counterbored hole 315 is matched with the size of the threaded hole, so that the locking member can be sequentially screwed into the second counterbore hole 315 and the threaded hole, thereby fixing the connecting flange 31 and the end flange 11 connection.
  • the second connecting portion 352 includes two branches 354 arranged in parallel.
  • One side of the gun arm sleeve 33 is provided with a mounting ear 331.
  • the mounting ear 331 is clamped and fixed by two of the branches 354 for fixed connection.
  • Each of the branches 354 is provided with a connecting hole 355, and the connecting holes 355 of the two branches 354 are aligned one by one, and the mounting ear 331 is provided with a through hole 332 for fixing the mounting ear 331 through the locking member. Between the two branches 354.
  • each of the branches 354 is provided with a plurality of connecting holes 355, and the connecting holes 355 of the two branches 354 are aligned one by one.
  • the mounting ears 331 are provided with three through holes 332, and the mounting ears are 331 by the locking members. The fixing is sandwiched between the two branches 354. Since a plurality of connecting holes 355 are formed in each branch 354, the height of the mounting ears 331 can be adjusted according to requirements.
  • the specification of the welding torch 200 is various. When the distance between the end of the welding torch 200 and the end flange 11 is too small, during operation, the end of the welding torch 200 and the end flange 11 are easily contacted and rubbed, causing wear.
  • the height of the mounting ears 331 can be adjusted, so that the distance between the end of the welding torch 200 and the end flange 11 can be adjusted according to requirements. Adjustment.
  • the connecting member 35 has an L shape, that is, the first connecting portion 351 and the second connecting portion 352 are combined into an L shape.
  • the connecting member 35 may connect the connecting flange 31 and the gun arm sleeve 33 in other forms.
  • the connecting member 35 includes two connecting rods, and the two connecting rods respectively fix the connecting connecting flange 31 and the gun arm. Both sides of the sleeve 33 are such that the end flange 11 and the welding gun 200 are coaxial.
  • the gun arm sleeve 33 includes a first arm sleeve 333 and a second arm sleeve 334.
  • the first arm sleeve 333 and the second arm sleeve 334 are connected by screws and form a receiving hole for holding the welding gun 200 (as shown in FIG. 6). Show).
  • the mounting ear 331 can be disposed on the first arm sleeve 333 or the second arm sleeve 334. In this embodiment, the mounting ear 331 can be disposed on the first arm sleeve 333.
  • the mounting ears 331 and the first arm sleeve 333 may be integrally formed, or the mounting ears 331 may be detachably fixedly disposed on the first arm sleeve 333.
  • the lug 331 is integrally formed with the first arm sleeve 333.
  • the welding gun 200 has different specifications, and the first arm sleeve 333 and the second arm sleeve 334 are detachably fixedly connected to form the receiving hole, so that the gun arm sleeve 33 is suitable for the welding torch 200 of different specifications.
  • the welding gun arm 30 further includes an insulating sleeve 37 for inserting into the receiving hole to insulate the gun arm sleeve 33 from the welding gun 200.
  • the insulating sleeve 37 includes a first insulating sleeve 371 and a second insulating sleeve 372.
  • the first insulating sleeve 371 is connected to the second insulating sleeve 372 and forms a hollow annular insulating sleeve 37.
  • the first insulating portion 371 and the second insulating sleeve 372 are respectively protruded from the first insulating portion 373 and the second insulating portion 374 in a direction away from each other, and the insulating sleeve 37 is interposed on the welding gun arm 30.
  • the first insulating portion 373 and the second insulating portion 374 are hung on the edge of the welding gun arm 30 so that the welding torch 200 does not come into contact with the gun arm sleeve 30 when the welding gun 200 is placed in the receiving hole.
  • the depth of the insulating sleeve 37 is greater than the depth of the welding gun arm 30 to further ensure insulation between the welding torch 200 and the welding gun arm 30.
  • the welding gun arm 30 provided by the embodiment of the present invention is fixedly connected with the end flange 11 on the body 10 through the connecting flange 31, and the first connecting portion 351 and the connecting flange of the connecting member 35 are connected.
  • 31 is fixedly connected
  • the second connecting portion 352 is fixedly connected with the gun arm sleeve 33 such that the connecting flange 31 is coaxial with the gun arm sleeve 33, so that the end flange 11 is coaxial with the welding gun 200, thereby effectively Improve the accessibility of the welding torch 200.
  • the use of the welding gun arm 30 to clamp the external welding torch 200 can effectively reduce the cost.

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Resistance Welding (AREA)

Abstract

Disclosed are a welding gun support arm (30) and a robot (100), wherein the welding gun support arm (30) is fixedly connected to a body (10) of the robot (100). The robot (100) comprises an end flange (11). The welding gun support arm (30) comprises a connecting flange (31) for being fixedly connected to the end flange (11); a support arm sleeve (33) comprising an accommodating hole used for clamping a welding gun (200); and a connecting member (35) comprising a first connecting portion (351) and a second connecting portion (352) connected to the first connecting portion (351), wherein the first connecting portion (351) is used for being positioned and fixedly connected to the connecting flange (31), and the second connecting portion (352) is used for being positioned and fixedly connected to the support arm sleeve (33) and enabling the connecting flange (31) to be coaxial with the support arm sleeve (33).

Description

一种焊***枪臂及机器人 Welding gun arm and robot
【技术领域】[Technical Field]
本发明涉及机器人技术领域，尤其涉及一种焊***枪臂及机器人。The present invention relates to the field of robot technology, and in particular, to a welding gun arm and a robot.
【背景技术】 【Background technique】
随着科技的发展和进步，越来越多的工业机器人代替人类在工厂中从事着重复而又复杂的工作，例如弧焊、点焊、码垛、装配、搬运、注塑、冲压、喷漆等。With the development and advancement of technology, more and more industrial robots are replacing humans in the factory for repeated and complicated work, such as arc welding, spot welding, palletizing, assembly, handling, injection molding, stamping, painting and so on.
其中，弧焊机器人是在机器人末端法兰安装焊枪对工件进行焊接工作，目前，弧焊机器人焊枪有两种：其中一种是中空手腕焊接机器人内置焊枪；另一种是外置焊枪。Among them, the arc welding robot is equipped with a welding torch at the end flange of the robot to weld the workpiece. At present, there are two kinds of arc welding robot welding torches: one is a hollow wrist welding robot built-in welding torch; the other is an external welding torch.
本申请的发明人在长期的研发过程中，发现内置焊枪的价格高，使得生产成本较高，而对于外置焊枪来讲，因夹持外置焊枪的机器人需要在第六轴上安装焊***枪臂，在焊***枪臂夹持焊枪时，焊枪与机器人的末端法兰不同轴，焊枪的可达性较低。In the long-term development process, the inventor of the present application found that the price of the built-in welding torch is high, so that the production cost is high, and for the external welding torch, the robot that clamps the external welding torch needs to install the welding torch on the sixth axis. In the gun arm, when the welding gun arm holds the welding torch, the welding gun is different from the end flange of the robot, and the accessibility of the welding torch is low.
【发明内容】 [Summary of the Invention]
本发明提供一种焊***枪臂及机器人，以解决现有技术中外置焊枪与机器人的末端法兰不同轴，可达性较低的技术问题。The invention provides a welding gun arm and a robot to solve the technical problem that the external welding torch and the end flange of the robot have different axes and low accessibility.
为解决上述技术问题，本发明采用的一个技术方案是：提供一种焊***枪臂，与机器人的本体固定连接，所述机器人包括末端法兰，包括：In order to solve the above technical problem, a technical solution adopted by the present invention is to provide a welding gun arm that is fixedly connected to a body of the robot, and the robot includes an end flange, including:
连接法兰，用于与所述末端法兰固定连接；a connecting flange for fixed connection with the end flange;
支枪臂套，包括容纳孔，所述容纳孔用于夹持焊枪；a gun arm sleeve includes a receiving hole for holding the welding gun;
连接件，包括第一连接部及与所述第一连接部相连的第二连接部，其中所述第一连接部用于与所述连接法兰定位固定连接，所述第二连接部用于与所述支枪臂套定位固定连接，并使得所述连接法兰与所述支枪臂套同轴。The connecting member includes a first connecting portion and a second connecting portion connected to the first connecting portion, wherein the first connecting portion is for positioning and fixed connection with the connecting flange, and the second connecting portion is for Positioning and fixing with the gun arm sleeve, and making the connecting flange coaxial with the gun arm sleeve.
为解决上述技术问题，本发明采用的另一个技术方案是：提供一种机器人，包括本体及焊***枪臂，所述焊***枪臂的连接法兰与所述本体上的末端法兰固定连接，其中，所述焊***枪臂包括：In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a robot including a body and a welding gun arm, and a connecting flange of the welding gun arm is fixedly connected with an end flange on the body. Wherein the welding gun arm comprises:
连接法兰，用于与所述末端法兰固定连接；a connecting flange for fixed connection with the end flange;
支枪臂套，包括容纳孔，所述容纳孔用于夹持焊枪；a gun arm sleeve includes a receiving hole for holding the welding gun;
连接件，包括第一连接部及与所述第一连接部相连的第二连接部，其中所述第一连接部用于与所述连接法兰定位固定连接，所述第二连接部用于与所述支枪臂套定位固定连接，并使得所述连接法兰与所述支枪臂套同轴。The connecting member includes a first connecting portion and a second connecting portion connected to the first connecting portion, wherein the first connecting portion is for positioning and fixed connection with the connecting flange, and the second connecting portion is for Positioning and fixing with the gun arm sleeve, and making the connecting flange coaxial with the gun arm sleeve.
区别于现有技术，本发明提供的焊***枪臂通过连接法兰与本体上的末端法兰之间固定连接，将连接件的第一连接部与连接法兰定位固定连接，而其第二连接部与支枪臂套定位固定连接，使得连接法兰与支枪臂套同轴，进而使得末端法兰与焊枪同轴，从而有效提高焊枪的可达性。另外，与内置焊枪比较，使用焊***枪臂夹持外置焊枪能够有效降低成本。Different from the prior art, the welding gun arm provided by the present invention is fixedly connected between the connecting flange and the end flange on the body, and the first connecting portion of the connecting member is fixedly connected with the connecting flange, and the second portion thereof The connecting portion is fixedly connected with the arm sleeve of the gun, so that the connecting flange is coaxial with the arm sleeve of the gun, so that the end flange is coaxial with the welding gun, thereby effectively improving the accessibility of the welding gun. In addition, compared to the built-in welding torch, the use of the welding gun arm to hold the external welding torch can effectively reduce the cost.
【附图说明】 [Description of the Drawings]
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，其中：In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings may be obtained according to these drawings without any creative work, wherein:
图1是本发明实施方式提供的机器人的结构示意图；1 is a schematic structural view of a robot according to an embodiment of the present invention;
图2是图1所示的机器人中的焊***枪臂的结构示意图；2 is a schematic structural view of a welding gun arm in the robot shown in FIG. 1;
图3是图2所示的焊***枪臂另一角度的结构示意图；Figure 3 is a schematic view showing the structure of the gun arm of the welding gun shown in Figure 2 at another angle;
图4是图3所示的焊***枪臂的分解示意图；Figure 4 is an exploded perspective view of the gun arm of the welding gun shown in Figure 3;
图5是图4中的焊***枪臂中的连接法兰另一角度的结构示意图；Figure 5 is a schematic view showing the structure of the connecting flange of the welding gun arm of Figure 4 at another angle;
图6是图2所示的焊***枪臂夹持焊***构示意图。Figure 6 is a schematic view showing the structure of the welding gun arm holding the welding torch shown in Figure 2.
【具体实施方式】【Detailed ways】
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，均属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
请参阅图1，本发明实施方式提供一种机器人100，该机器人100可为但不限于为弧焊机器人，本实施方式中，机器人100以弧焊机器人为例进行说明。机器人100包括本体10及焊***枪臂30，本体10包括末端法兰11，其中，焊***枪臂30与本体10上的末端法兰11固定连接，以使焊***枪臂30与本体10固定连接。Referring to FIG. 1 , an embodiment of the present invention provides a robot 100 . The robot 100 can be, but is not limited to, an arc welding robot. In the present embodiment, the robot 100 is described by taking an arc welding robot as an example. The robot 100 includes a body 10 and a torch arm 30. The body 10 includes an end flange 11 in which the torch arm 30 is fixedly coupled to the end flange 11 of the body 10 to secure the torch arm 30 to the body 10. connection.
请结合参阅图2至图5，焊***枪臂30包括连接法兰31、支枪臂套33以及连接件35，其中连接法兰31用于与末端法兰11固定连接；支枪臂套33包括容纳孔，容纳孔用于夹持焊枪200；连接件35包括第一连接部351及与第一连接部351相连的第二连接部352，第一连接部351用于与连接法兰31定位固定连接，第二连接部352用于与支枪臂套33定位固定连接，并使得连接法兰31与支枪臂套30同轴，进而使得末端法兰11与焊枪200同轴。其中，焊枪200可以是外置焊枪。Referring to FIG. 2 to FIG. 5, the welding gun arm 30 includes a connecting flange 31, a gun arm sleeve 33 and a connecting member 35, wherein the connecting flange 31 is for fixed connection with the end flange 11; the gun arm sleeve 33 The receiving hole includes a first connecting portion 351 and a second connecting portion 352 connected to the first connecting portion 351. The first connecting portion 351 is configured to be positioned with the connecting flange 31. The second connecting portion 352 is used for positioning and fixed connection with the gun arm sleeve 33, and the connecting flange 31 is coaxial with the gun arm sleeve 30, so that the end flange 11 is coaxial with the welding gun 200. Wherein, the welding torch 200 can be an external welding torch.
连接法兰31包括第一表面311及与第一表面311背离设置的第二表面312，其中，第一表面311开设有凹槽313，连接件35包括第一连接部351，凹槽313用于定位容置第一连接部351，以将连接件35定位固定连接连接法兰31。The connecting flange 31 includes a first surface 311 and a second surface 312 disposed away from the first surface 311. The first surface 311 defines a recess 313, and the connecting member 35 includes a first connecting portion 351. The first connecting portion 351 is positioned to position the connecting member 35 to fix the connecting connecting flange 31.
本实施方式中，凹槽313为条形，开设于第一表面311的中央，并贯穿至第一表面311的两侧。当然，在其它实施方式中，凹槽313的位置和形状可根据需求进行相应的调整。In the embodiment, the grooves 313 are strip-shaped, open in the center of the first surface 311 and penetrate through the two sides of the first surface 311. Of course, in other embodiments, the position and shape of the recess 313 can be adjusted accordingly.
第二表面312开设有第一沉头孔314，第一沉头孔314贯穿至凹槽313，相应的，第一连接部351开设有配合孔353，配合孔353与多个第一沉头孔314对应，以用于接收锁紧件（未图示）将连接法兰31与连接件35固定连接，其中，锁紧件可以为螺柱或螺钉。The second surface 312 defines a first counterbore 314. The first counterbore 314 extends through the recess 313. Correspondingly, the first connecting portion 351 defines a matching hole 353, the matching hole 353 and the plurality of first counterbore holes. Corresponding to 314, the connecting flange 31 is fixedly connected with the connecting member 35 for receiving a locking member (not shown), wherein the locking member may be a stud or a screw.
可选的，第二表面312间隔开设三个第一沉头孔314，第一沉头孔314贯穿至凹槽313，以使得第一连接部351***凹槽313后，锁紧件由第二表面312依次旋入第一沉头孔314、配合孔353，从而将连接法兰31与连接件35固定连接。当然，第二沉头孔315的数量可以根据需求进行调整。Optionally, the second surface 312 is spaced apart from the three first counterbore holes 314. The first counterbore hole 314 extends through the recess 313, so that after the first connecting portion 351 is inserted into the recess 313, the locking member is second. The surface 312 is sequentially screwed into the first counterbore hole 314 and the fitting hole 353, thereby fixedly connecting the connecting flange 31 and the connecting member 35. Of course, the number of second counterbore holes 315 can be adjusted as needed.
此外，第一表面311未开设凹槽313的区域还贯通开设有多个第二沉头孔315，多个第二沉头孔315用于与末端法兰11上的螺纹孔（未图示）一一对应，以通过锁紧件将连接法兰31与末端法兰11固定连接。In addition, a region of the first surface 311 where the recess 313 is not formed is further provided with a plurality of second counterbore holes 315 for use with the threaded holes on the end flange 11 (not shown). One-to-one correspondence is to securely connect the connecting flange 31 with the end flange 11 by means of a locking member.
可选的，第一表面311开设有六个第二沉头孔315，该六个第二沉头孔315围绕第一表面311的边缘间隔设置。Optionally, the first surface 311 is provided with six second counterbore holes 315 , and the six second counterbore holes 315 are spaced around the edge of the first surface 311 .
可以理解，第二沉头孔315的尺寸与螺纹孔的尺寸相匹配，以使锁紧件能够依次旋入第二沉头孔315及螺纹孔，从而将连接法兰31与末端法兰11固定连接。It can be understood that the size of the second counterbored hole 315 is matched with the size of the threaded hole, so that the locking member can be sequentially screwed into the second counterbore hole 315 and the threaded hole, thereby fixing the connecting flange 31 and the end flange 11 connection.
第二连接部352包括平行间隔设置的两个分支354，支枪臂套33的一侧设有挂耳331，所述挂耳331通过两个所述分支354夹持定位固定，用于固定连接所述支枪臂套33与所述第二连接部352。The second connecting portion 352 includes two branches 354 arranged in parallel. One side of the gun arm sleeve 33 is provided with a mounting ear 331. The mounting ear 331 is clamped and fixed by two of the branches 354 for fixed connection. The gun arm sleeve 33 and the second connecting portion 352.
其中，每一分支354上开设有连接孔355，且两个分支354上的连接孔355一一对准，挂耳331上开设有通孔332，以通过锁紧件将挂耳331固定夹设于两个分支354之间。Each of the branches 354 is provided with a connecting hole 355, and the connecting holes 355 of the two branches 354 are aligned one by one, and the mounting ear 331 is provided with a through hole 332 for fixing the mounting ear 331 through the locking member. Between the two branches 354.
可选的，每一分支354上开设有多个连接孔355，两个分支354上的连接孔355一一对准，挂耳331上开设有三个通孔332，通过锁紧件将挂耳331固定夹设在两个分支354之间。由于每一分支354上开设有多个连接孔355，挂耳331的高度可以根据需求进行调整。Optionally, each of the branches 354 is provided with a plurality of connecting holes 355, and the connecting holes 355 of the two branches 354 are aligned one by one. The mounting ears 331 are provided with three through holes 332, and the mounting ears are 331 by the locking members. The fixing is sandwiched between the two branches 354. Since a plurality of connecting holes 355 are formed in each branch 354, the height of the mounting ears 331 can be adjusted according to requirements.
焊枪200的规格有多种，当焊枪200的端部与末端法兰11之间的距离过小时，在工作时，焊枪200的端部与末端法兰11之间易接触而摩擦，造成磨损。本发明实施方式中通过在每个分支354上开设多个连接孔355，使得挂耳331的高度就可以进行调整，从而使得焊枪200的端部与末端法兰11之间的距离可以根据需求进行调整。The specification of the welding torch 200 is various. When the distance between the end of the welding torch 200 and the end flange 11 is too small, during operation, the end of the welding torch 200 and the end flange 11 are easily contacted and rubbed, causing wear. In the embodiment of the present invention, by providing a plurality of connecting holes 355 in each branch 354, the height of the mounting ears 331 can be adjusted, so that the distance between the end of the welding torch 200 and the end flange 11 can be adjusted according to requirements. Adjustment.
本实施方式中，连接件35呈L形，即第一连接部351与第二连接部352组合成L形。In the present embodiment, the connecting member 35 has an L shape, that is, the first connecting portion 351 and the second connecting portion 352 are combined into an L shape.
在其它实施方式中，连接件35可以以其它形式连接连接法兰31和支枪臂套33，例如连接件35包括两个连接杆，两个连接杆分别固定连接连接法兰31和支枪臂套33的两侧，以使得末端法兰11和焊枪200同轴。In other embodiments, the connecting member 35 may connect the connecting flange 31 and the gun arm sleeve 33 in other forms. For example, the connecting member 35 includes two connecting rods, and the two connecting rods respectively fix the connecting connecting flange 31 and the gun arm. Both sides of the sleeve 33 are such that the end flange 11 and the welding gun 200 are coaxial.
支枪臂套33包括第一臂套333及第二臂套334，第一臂套333与第二臂套334通过螺钉连接并形成容纳孔，容纳孔用于夹持焊枪200（如图6所示）。其中，挂耳331可以设置在第一臂套333或第二臂套334上，在本实施例中，挂耳331可以设置在第一臂套333上。The gun arm sleeve 33 includes a first arm sleeve 333 and a second arm sleeve 334. The first arm sleeve 333 and the second arm sleeve 334 are connected by screws and form a receiving hole for holding the welding gun 200 (as shown in FIG. 6). Show). The mounting ear 331 can be disposed on the first arm sleeve 333 or the second arm sleeve 334. In this embodiment, the mounting ear 331 can be disposed on the first arm sleeve 333.
可以理解，挂耳331与第一臂套333可以是一体成型，也可以是挂耳331可拆卸地固定设置在第一臂套333上。本实施方式中，挂耳331与第一臂套333一体成型。It can be understood that the mounting ears 331 and the first arm sleeve 333 may be integrally formed, or the mounting ears 331 may be detachably fixedly disposed on the first arm sleeve 333. In the present embodiment, the lug 331 is integrally formed with the first arm sleeve 333.
可以理解，焊枪200的规格不同，通过第一臂套333及第二臂套334可拆卸地固定连接形成容纳孔，使得该支枪臂套33适用于不同规格的焊枪200。It can be understood that the welding gun 200 has different specifications, and the first arm sleeve 333 and the second arm sleeve 334 are detachably fixedly connected to form the receiving hole, so that the gun arm sleeve 33 is suitable for the welding torch 200 of different specifications.
此外，焊***枪臂30还包括绝缘套37，绝缘套37用于插置在容纳孔内，以将支枪臂套33与焊枪200绝缘。In addition, the welding gun arm 30 further includes an insulating sleeve 37 for inserting into the receiving hole to insulate the gun arm sleeve 33 from the welding gun 200.
本实施方式中，绝缘套37包括第一绝缘套371及第二绝缘套372，第一绝缘套371与第二绝缘套372连接并形成中空的环形绝缘套37。其中，第一绝缘套371和第二绝缘套372的一端部分别向相互远离的方向凸设第一绝缘部373及第二绝缘部374，绝缘套37夹设在焊***枪臂30上时，第一绝缘部373及第二绝缘部374挂在焊***枪臂30的边缘，以在焊枪200夹设在容纳孔中时，焊枪200不会与支枪臂套30接触。In this embodiment, the insulating sleeve 37 includes a first insulating sleeve 371 and a second insulating sleeve 372. The first insulating sleeve 371 is connected to the second insulating sleeve 372 and forms a hollow annular insulating sleeve 37. The first insulating portion 371 and the second insulating sleeve 372 are respectively protruded from the first insulating portion 373 and the second insulating portion 374 in a direction away from each other, and the insulating sleeve 37 is interposed on the welding gun arm 30. The first insulating portion 373 and the second insulating portion 374 are hung on the edge of the welding gun arm 30 so that the welding torch 200 does not come into contact with the gun arm sleeve 30 when the welding gun 200 is placed in the receiving hole.
进一步的，绝缘套37的深度大于焊***枪臂30的深度，以进一步保证焊枪200与焊***枪臂30之间绝缘。Further, the depth of the insulating sleeve 37 is greater than the depth of the welding gun arm 30 to further ensure insulation between the welding torch 200 and the welding gun arm 30.
区别于现有技术，本发明实施方式提供的焊***枪臂30通过连接法兰31与本体10上的末端法兰11之间固定连接，将连接件35的第一连接部351与连接法兰31定位固定连接，而其第二连接部352与支枪臂套33定位固定连接，使得连接法兰31与支枪臂套33同轴，进而使得末端法兰11与焊枪200同轴，从而有效提高焊枪200的可达性。另外，与内置焊枪200比较，使用焊***枪臂30夹持外置焊枪200能够有效降低成本。Different from the prior art, the welding gun arm 30 provided by the embodiment of the present invention is fixedly connected with the end flange 11 on the body 10 through the connecting flange 31, and the first connecting portion 351 and the connecting flange of the connecting member 35 are connected. 31 is fixedly connected, and the second connecting portion 352 is fixedly connected with the gun arm sleeve 33 such that the connecting flange 31 is coaxial with the gun arm sleeve 33, so that the end flange 11 is coaxial with the welding gun 200, thereby effectively Improve the accessibility of the welding torch 200. In addition, compared with the built-in welding torch 200, the use of the welding gun arm 30 to clamp the external welding torch 200 can effectively reduce the cost.
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (20)

  1. 一种焊***枪臂，与机器人的本体固定连接，所述机器人包括末端法兰，其特征在于，包括：A welding gun arm is fixedly coupled to a body of a robot, the robot including an end flange, and the method includes:
    连接法兰，用于与所述末端法兰固定连接；a connecting flange for fixed connection with the end flange;
    支枪臂套，包括容纳孔，所述容纳孔用于夹持焊枪；a gun arm sleeve includes a receiving hole for holding the welding gun;
    连接件，包括第一连接部及与所述第一连接部相连的第二连接部，其中所述第一连接部用于与所述连接法兰定位固定连接，所述第二连接部用于与所述支枪臂套定位固定连接，并使得所述连接法兰与所述支枪臂套同轴。The connecting member includes a first connecting portion and a second connecting portion connected to the first connecting portion, wherein the first connecting portion is for positioning and fixed connection with the connecting flange, and the second connecting portion is for Positioning and fixing with the gun arm sleeve, and making the connecting flange coaxial with the gun arm sleeve.
  2. 根据权利要求1所述的焊***枪臂，其特征在于，所述连接法兰包括第一表面，所述第一表面开设有凹槽，所述凹槽用于定位容置所述第一连接部，以将所述连接件定位固定连接所述连接法兰。The welding gun arm of claim 1 wherein said connecting flange includes a first surface, said first surface being provided with a recess for positioning said first connection a portion for positioning and connecting the connecting member to the connecting flange.
  3. 根据权利要求2所述的焊***枪臂，其特征在于，所述连接法兰还包括第二表面，所述第二表面开设有第一沉头孔，所述第一沉头孔贯穿至所述凹槽，所述第一连接部开设有配合孔，所述配合孔与多个所述第一沉头孔对应，以用于接收锁紧件将所述连接法兰与所述连接件固定连接。The welding gun arm according to claim 2, wherein the connecting flange further comprises a second surface, the second surface is provided with a first counterbore, and the first counterbore is penetrated to the a groove, the first connecting portion is provided with a matching hole, and the matching hole corresponds to the plurality of the first counterbore holes for receiving the locking member to fix the connecting flange and the connecting member connection.
  4. 根据权利要求1所述的焊***枪臂，其特征在于，所述第一表面未开设所述凹槽的区域贯通开设有多个第二沉头孔，多个所述第二沉头孔用于与所述末端法兰上的螺纹孔一一对应，以通过锁紧件将所述连接法兰与所述末端法兰固定连接。The gun arm of claim 1 , wherein the first surface of the first surface is not open to the groove, and the plurality of second counterbore holes are In one-to-one correspondence with the threaded holes on the end flange, the connecting flange is fixedly connected to the end flange by a locking member.
  5. 根据权利要求1所述的焊***枪臂，其特征在于，所述第二连接部包括平行间隔设置的两个分支，所述支枪臂套的一侧设有挂耳，所述挂耳通过两个所述分支夹持定位固定，用于固定连接所述支枪臂套与所述第二连接部。The welding gun arm according to claim 1, wherein the second connecting portion comprises two branches arranged in parallel, and one side of the gun arm sleeve is provided with a mounting ear, and the hanging ear passes Two of the branches are clamped and fixed for fixing the gun arm sleeve and the second connecting portion.
  6. 根据权利要求5所述的焊***枪臂，其特征在于，每一所述分支上开设至少一连接孔，且两个所述分支上的所述连接孔一一对应，所述挂耳上开设多个通孔，以通过锁紧件将所述挂耳固定夹设于两个所述分支之间。The welding gun arm according to claim 5, wherein at least one connecting hole is defined in each of the branches, and the connecting holes on the two branches are in one-to-one correspondence, and the mounting ears are opened. a plurality of through holes for fixing the mounting ears between the two branches by a locking member.
  7. 根据权利要求5所述的焊***枪臂，其特征在于，所述支枪臂套包括第一臂套以及第二臂套，所述第一臂套与所述第二臂套通过螺钉连接并形成所述容纳孔，其中，所述挂耳凸设于所述第一臂套或所述第二臂套上。The gun arm of claim 5, wherein the arm sleeve comprises a first arm sleeve and a second arm sleeve, the first arm sleeve and the second arm sleeve being screwed together The receiving hole is formed, wherein the mounting ear is protruded from the first arm sleeve or the second arm sleeve.
  8. 根据权利要求1所述的焊***枪臂，其特征在于，所述焊***枪臂还包括绝缘套，所述绝缘套用于插置在所述容纳孔内，以将所述支枪臂套与所述焊枪绝缘。The welding gun arm of claim 1 , wherein the welding gun arm further comprises an insulating sleeve, the insulating sleeve is inserted into the receiving hole to fit the arm of the gun The welding torch is insulated.
  9. 根据权利要求8所述的焊***枪臂，其特征在于，所述绝缘套包括第一绝缘套及第二绝缘套，所述第一绝缘套与所述第二绝缘套连接并形成中空的环形绝缘套。The welding gun arm according to claim 8, wherein the insulating sleeve comprises a first insulating sleeve and a second insulating sleeve, and the first insulating sleeve is connected with the second insulating sleeve and forms a hollow ring. Insulation sleeve.
  10. 根据权利要求1所述的焊***枪臂，其特征在于，所述连接件呈L形。A welding gun arm according to claim 1 wherein said connecting member is L-shaped.
  11. 一种机器人，其特征在于，包括本体及焊***枪臂，所述焊***枪臂的连接法兰与所述本体上的末端法兰固定连接，其中，所述焊***枪臂包括：A robot, comprising: a body and a welding gun arm, wherein a connecting flange of the welding gun arm is fixedly connected to an end flange of the body, wherein the welding gun arm comprises:
    连接法兰，用于与所述末端法兰固定连接；a connecting flange for fixed connection with the end flange;
    支枪臂套，包括容纳孔，所述容纳孔用于夹持焊枪；a gun arm sleeve includes a receiving hole for holding the welding gun;
    连接件，包括第一连接部及与所述第一连接部相连的第二连接部，其中所述第一连接部用于与所述连接法兰定位固定连接，所述第二连接部用于与所述支枪臂套定位固定连接，并使得所述连接法兰与所述支枪臂套同轴。The connecting member includes a first connecting portion and a second connecting portion connected to the first connecting portion, wherein the first connecting portion is for positioning and fixed connection with the connecting flange, and the second connecting portion is for Positioning and fixing with the gun arm sleeve, and making the connecting flange coaxial with the gun arm sleeve.
  12. 根据权利要求11所述的机器人，其特征在于，所述连接法兰包括第一表面，所述第一表面开设有凹槽，所述凹槽用于定位容置所述第一连接部，以将所述连接件定位固定连接所述连接法兰。The robot according to claim 11, wherein the connecting flange comprises a first surface, and the first surface is provided with a groove for positioning to receive the first connecting portion, Positioning the connector is fixedly connected to the connecting flange.
  13. 根据权利要求12所述的机器人，其特征在于，所述连接法兰还包括第二表面，所述第二表面开设有第一沉头孔，所述第一沉头孔贯穿至所述凹槽，所述第一连接部开设有配合孔，所述配合孔与多个所述第一沉头孔对应，以用于接收锁紧件将所述连接法兰与所述连接件固定连接。The robot according to claim 12, wherein the connecting flange further comprises a second surface, the second surface is provided with a first counterbore, and the first counterbore penetrates into the groove The first connecting portion is provided with a matching hole, and the matching hole corresponds to the plurality of the first counterbore holes for receiving the locking member to fixedly connect the connecting flange with the connecting member.
  14. 根据权利要求11所述的机器人，其特征在于，所述第一表面未开设所述凹槽的区域贯通开设有多个第二沉头孔，多个所述第二沉头孔用于与所述末端法兰上的螺纹孔一一对应，以通过锁紧件将所述连接法兰与所述末端法兰固定连接。The robot according to claim 11, wherein a region of the first surface where the groove is not opened is formed with a plurality of second counterbore holes, and the plurality of the second counterbore holes are used for The threaded holes on the end flange are in one-to-one correspondence to securely connect the connecting flange to the end flange by a locking member.
  15. 根据权利要求11所述的机器人，其特征在于，所述第二连接部包括平行间隔设置的两个分支，所述支枪臂套的一侧设有挂耳，所述挂耳通过两个所述分支夹持定位固定，用于固定连接所述支枪臂套与所述第二连接部。The robot according to claim 11, wherein the second connecting portion comprises two branches arranged in parallel, and one side of the gun arm sleeve is provided with a mounting ear, and the hanging ear passes through two places. The branch clamping positioning is fixed for fixing the gun arm sleeve and the second connecting portion.
  16. 根据权利要求15所述的机器人，其特征在于，每一所述分支上开设至少一连接孔，且两个所述分支上的所述连接孔一一对应，所述挂耳上开设多个通孔，以通过锁紧件将所述挂耳固定夹设于两个所述分支之间。The robot according to claim 15, wherein at least one connecting hole is defined in each of the branches, and the connecting holes on the two branches are in one-to-one correspondence, and a plurality of through holes are formed on the mounting ears. a hole for fixing the mounting lug between the two branches by a locking member.
  17. 根据权利要求15所述的机器人，其特征在于，所述支枪臂套包括第一臂套以及第二臂套，所述第一臂套与所述第二臂套通过螺钉连接并形成所述容纳孔，其中，所述挂耳凸设于所述第一臂套或所述第二臂套上。The robot according to claim 15, wherein the lance arm sleeve comprises a first arm sleeve and a second arm sleeve, and the first arm sleeve and the second arm sleeve are connected by screws and form the The receiving hole is protruded from the first arm sleeve or the second arm sleeve.
  18. 根据权利要求11所述的机器人，其特征在于，所述焊***枪臂还包括绝缘套，所述绝缘套用于插置在所述容纳孔内，以将所述支枪臂套与所述焊枪绝缘。The robot according to claim 11, wherein the welding gun arm further comprises an insulating sleeve, the insulating sleeve being inserted into the receiving hole to sleeve the gun arm and the welding torch insulation.
  19. 根据权利要求18所述的机器人，其特征在于，所述绝缘套包括第一绝缘套及第二绝缘套，所述第一绝缘套与所述第二绝缘套连接并形成中空的环形绝缘套。The robot according to claim 18, wherein the insulating sleeve comprises a first insulating sleeve and a second insulating sleeve, and the first insulating sleeve is coupled to the second insulating sleeve and forms a hollow annular insulating sleeve.
  20. 根据权利要求11所述的机器人，其特征在于，所述连接件呈L形。The robot according to claim 11, wherein said connecting member has an L shape.
PCT/CN2017/110531 2017-11-10 2017-11-10 Welding gun support arm and robot WO2019090719A1 (en)

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