CN115351477A - Welding robot for production line - Google Patents

Abstract

The invention discloses a welding robot for a production line, which comprises a robot main body; the sliding rail assembly comprises a first sliding seat, a second sliding seat and a telescopic screw rod, the first sliding seat is connected with the second sliding seat in a sliding mode, a first sliding rail is arranged at the top of the first sliding seat, a second sliding rail is arranged at the top of the second sliding seat, and the telescopic screw rod is rotatably arranged between the first sliding seat and the second sliding seat; the robot comprises a movable base, wherein a robot main body is installed at the top of the movable base through a rotary base, sliding grooves are formed in two sides of the bottom of the movable base, a first sliding block and a second sliding block are arranged in the middle of the movable base, the first sliding rail and the second sliding rail are located in the sliding grooves, the first sliding block and the second sliding block are sleeved on a telescopic screw, and a pulley is arranged at the bottom of the movable base. The telescopic screw rod can extend along with the extension of the first sliding seat, so that the welding position of the robot main body is adjusted, and one-time welding operation with adjustable length can be realized.

Description

Welding robot for production line

Technical Field

The invention relates to the technical field of welding robots, in particular to a welding robot for a production line.

Background

Along with the development of industry, degree of automation is higher and higher, and welding mostly adopts welding robot automatic weld. The welding robot mainly comprises a robot body and a control cabinet. The welding robot not only can be widely applied to the field of automobile manufacturing, but also can be applied to other industries. However, the one-time welding length of the existing welding robot is limited by the guide rail and cannot be adjusted, if the guide rail is too short, the requirement of the one-time welding length of a production line cannot be met, and the guide rail is too long, so that the occupied area is too large.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

In order to solve the technical problems, the invention provides the following technical scheme: a welding robot for a production line comprises a robot main body, a welding robot main body and a welding gun, wherein the robot main body comprises a rotating base, a first arm is rotatably matched at the top of the rotating base, a second arm is hinged to the upper end of the first arm, a third arm is rotatably matched on the second arm, the end part of the third arm is rotatably connected with a clamping piece, and the clamping piece is provided with the welding gun; the sliding rail assembly comprises a first sliding seat, a second sliding seat and a telescopic screw rod, the first sliding seat is connected with the second sliding seat in a sliding mode, a first sliding rail is arranged at the top of the first sliding seat, a second sliding rail is arranged at the top of the second sliding seat, and the telescopic screw rod is rotatably arranged between the first sliding seat and the second sliding seat; the robot comprises a movable base, wherein a robot main body is installed at the top of the movable base through a rotary base, sliding grooves are formed in two sides of the bottom of the movable base, a first sliding block and a second sliding block are arranged in the middle of the movable base, the first sliding rail and the second sliding rail are located in the sliding grooves, the first sliding block and the second sliding block are sleeved on a telescopic screw, and a pulley is arranged at the bottom of the movable base.

As a preferable aspect of the welding robot for a production line of the present invention, wherein: the third arm includes the carousel and with carousel fixed connection's rotor arm, the mounting groove has been seted up to the rotor arm tip, the holder rotates and sets up in the mounting groove.

As a preferable aspect of the welding robot for a production line of the present invention, wherein: the holder includes linking arm, swinging boom and installation clamp, and the linking arm rotates to set up in the mounting groove, and the swinging boom rotates to set up in the linking arm tip, and the installation is pressed from both sides and is connected with the swinging boom, and welder is fixed in on the installation clamp.

As a preferable aspect of the welding robot for a production line of the present invention, wherein: the first sliding seat and the second sliding seat are identical in length, a sliding groove is formed in the first sliding seat, a sliding block is arranged on the second sliding seat, and the sliding block is located in the sliding groove.

As a preferable aspect of the welding robot for a production line of the present invention, wherein: the telescopic screw rod is composed of a first screw rod, a second screw rod, a third screw rod and a fourth screw rod which are connected with each other and have continuous threads.

As a preferable aspect of the welding robot for a production line of the present invention, wherein: the first screw rod, the second screw rod and the third screw rod are internally provided with cavities, the end parts of the second screw rod, the third screw rod and the fourth screw rod are connected with extension rods, and the extension rods are located in the cavities.

As a preferable aspect of the welding robot for a production line of the present invention, wherein: the end part of the extension rod is provided with rotating blocks which are distributed in a cross shape, and displacement grooves which are distributed in a cross shape are arranged in the cavity.

As a preferable aspect of the welding robot for a production line of the present invention, wherein: the length of the extension rod is the integral multiple of the moving distance of the robot main body when the telescopic screw rod rotates for a circle.

As a preferable aspect of the welding robot for a production line of the present invention, wherein: the rotating block is a magnetic block, the magnetic block is arranged at the joint of the first screw and the second screw, the magnetic block is arranged at the joint of the second screw and the third screw, the magnetic blocks are arranged at the two ends of the third screw and the end part of the cavity of the third screw, the magnetic block is arranged at the joint of the fourth screw and the third screw, and the magnetic blocks in contact are different.

As a preferable aspect of the welding robot for a production line of the present invention, wherein: the distance between the first sliding block and the second sliding block is larger than the length of the extension rod.

The invention has the beneficial effects that: the telescopic screw can extend along with the extension of the pulling of the first sliding seat, and the telescopic screw rotates to enable the first sliding block and the second sliding block to move along the telescopic screw, so that the robot main body is driven to move along the movement, the welding position of the robot main body is adjusted, and the length-adjustable one-time welding operation can be realized.

Drawings

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

fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of the robot main body according to the present invention.

Fig. 3 is a schematic view of the slide rail assembly of the present invention.

FIG. 4 is a schematic diagram of a mobile base structure according to the present invention.

FIG. 5 is a schematic view of a third arm-clamp connection structure according to the present invention.

Fig. 6 is a schematic view of the overall structure of the slide rail assembly according to the present invention.

FIG. 7 is a schematic view of the structure of the telescopic screw in a disassembled state.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and it will be appreciated by those skilled in the art that the present invention may be practiced without departing from the spirit and scope of the present invention and that the present invention is not limited by the specific embodiments disclosed below.

Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Example 1

Referring to fig. 1 to 7, a first embodiment of the present invention provides a welding robot for a production line, which includes a robot main body 100, a slide rail assembly 200 and a mobile base 300, wherein the robot main body 100 is mounted on the top of the slide rail assembly 200 through the mobile base 300, so that the robot main body 100 performs a welding action while moving along the slide rail assembly 200, the robot main body 100 includes a rotating base 101, a first arm 102 is pivotally coupled to the top of the rotating base 101, a second arm 103 is pivotally coupled to the upper end of the first arm 102, a third arm 104 is pivotally coupled to the second arm 103, a clamping member 105 is pivotally coupled to the end of the third arm 104, a welding torch 106 is mounted on the clamping member 105, the rotating base 101 drives the robot main body 100 to perform an integral rotation, the first arm 102 and the second arm 103 are swing arms swinging around respective axes, the third arm 104 is rotating around a horizontal axis, the third arm 104 performs a multi-directional welding operation through the welding torch 106 mounted on the clamping member 105, and the robot main body 100 can perform a multi-directional rotation around a vertical direction, and a swing around a horizontal direction, thereby adjusting an angle of the welding torch 106; the sliding rail assembly 200 comprises a first sliding seat 201, a second sliding seat 202 and a telescopic screw 203, wherein the first sliding seat 201 is connected with the second sliding seat 202 in a sliding mode, so that the overall length of the sliding rail assembly 200 is prolonged, the maximum displacement of the robot main body 100 is adjusted according to production line requirements, a first sliding rail 204 is arranged at the top of the first sliding seat 201, a second sliding rail 205 is arranged at the top of the second sliding seat 202, and the telescopic screw 203 is rotatably arranged between the first sliding seat 201 and the second sliding seat 202; the robot comprises a movable base 300, a robot main body 100 is installed on the top of the movable base 300 through a rotating base 101, sliding grooves 301 are formed in two sides of the bottom of the movable base 300, a first sliding block 302 and a second sliding block 303 are arranged in the middle of the bottom of the movable base 300, a first sliding rail 204 and a second sliding rail 205 are located in the sliding grooves 301, the first sliding block 302 and the second sliding block 303 are sleeved on a telescopic screw 203, and a pulley 304 is arranged at the bottom of the movable base 300.

The robot main body 100 is installed on the top of the sliding rail assembly 200 through the mobile base 300, the first sliding base 201 and the second sliding base 202 are connected in a sliding way, and sliding rails are arranged on the top of the first sliding base 201 and the second sliding base 202, sliding grooves 301 are arranged on the bottom of the mobile base 300, two groups of sliding grooves 301 are arranged, the first sliding rail 204 and the second sliding rail 205 are respectively arranged in different sliding grooves 301, the telescopic screw 203 can extend along with the extension and extension of the first sliding base 201, one end of the telescopic screw 203 is rotatably connected with the first sliding base 201, and the other end passes through the second sliding base 202 and is connected with the output end of a driving motor (not shown in the figure), the driving motor drives the telescopic screw 203 to rotate, the first sliding block 302 and the second sliding block 303 are arranged in tandem at the middle position of the movable base 300, the first sliding block 302 and the second sliding block 303 are sleeved on the telescopic screw 203 in a threaded manner, the telescopic screw 203 rotates to enable the first sliding block 302 and the second sliding block 303 to move along the telescopic screw 203, thereby driving the moving base 300 and the top robot main body 100 thereof to be displaced along the telescopic screw 203, thereby adjusting the welding position of the robot main body 100 and realizing a long length of one-time welding work, the bottom of the moving base 300 is provided with a pulley 304, under the supporting action of the pulley 304, most of the gravity of the robot main body 100 and the moving base 300 is borne by the pulley 304, so that the first slide 201, the second slide 202 and the telescopic screw 203 do not need to bear the pressure of the robot main body 100 and the mobile base 300, thereby reduce loss and wearing and tearing, the rotation of being convenient for simultaneously through telescopic screw 203 drives the displacement of robot main part 100, reduces driving motor's output pressure, and pulley 304 also can ensure the stationarity of robot main part 100 in the removal in-process, and is convenient for robot main part 100 to break away from slide rail assembly 200.

Furthermore, the third arm 104 includes a rotating disc 104a and a rotating arm 104b fixedly connected with the rotating disc 104a, an installation groove 104c is opened at an end of the rotating arm 104b, the clamping member 105 is rotatably disposed in the installation groove 104c so as to install the clamping member 105, and the rotating arm 104b is driven to rotate around an axis thereof by the rotating disc 104 a. The holder 105 includes linking arm 105a, swinging boom 105b and installation clamp 105c, linking arm 105a rotates and sets up in mounting groove 104c, swinging boom 105b rotates and sets up in linking arm 105a tip, installation clamp 105c is connected with swinging boom 105b, welder 106 is fixed in on the installation clamp 105c, linking arm 105a can realize around swinging boom 104b certain degree luffing motion, swinging boom 105b is rotatory around linking arm 105a is terminal to realize welder 106 welding position's accurate regulation.

Further, the first sliding seat 201 and the second sliding seat 202 have the same length, a sliding groove 201a is formed in the first sliding seat 201, a sliding block 202a is arranged on the second sliding seat 202, and the sliding block 202a is located in the sliding groove 201 a. By pulling the first sliding seat 201, the first sliding seat 201 is extended along the sliding block 202a in the length direction of the sliding rail assembly 200, and the maximum extension distance is the sum of the lengths of the first sliding seat 201 and the second sliding seat 202, so that the adjustment is performed according to the requirements of a welding field, and the telescopic screw rod 203 of the first sliding seat 201 is extended synchronously in the moving process.

Further, the telescopic screw 203 is composed of a first screw 203a, a second screw 203b, a third screw 203c and a fourth screw 203d which are connected with each other and have continuous threads. Cavities 203e are formed in the first screw rod 203a, the second screw rod 203b and the third screw rod 203c, the end parts of the second screw rod 203b, the third screw rod 203c and the fourth screw rod 203d are connected with extension rods 203f, and the extension rods 203f are located in the cavities 203 e. The end of the extension rod 203f is provided with a rotating block 203g which is distributed in a cross shape, and a displacement groove which is distributed in a cross shape is arranged in the cavity 203 e.

Under a normal state, the first sliding seat 201 and the second sliding seat 202 are overlapped with each other, the first screw 203a, the second screw 203b, the third screw 203c and the fourth screw 203d are tightly connected to form a complete screw section, the extension rods 203f connected with the ends of the second screw 203b, the third screw 203c and the fourth screw 203d are respectively positioned in the cavities 203e formed by the first screw 203a, the second screw 203b and the third screw 203c, and the rotation blocks 203g arranged at the ends of the extension rods 203f and distributed in a cross shape are positioned in the displacement grooves in the cavities 203e, so that when the fourth screw 203d connected with the output end of the driving motor rotates, the first screw 203a, the second screw 203b and the third screw 203c can be synchronously driven to rotate, and along with the rotation of the telescopic screw 203, the first sliding block 302 and the second sliding block 303 sleeved on the upper threads of the telescopic screw 203 displace along the telescopic screw 203, so as to drive the mobile base 300 and the robot main body 100 at the top thereof to displace along the telescopic screw 203, thereby adjusting the welding position of the robot main body 100, and realizing a long welding operation with a long time;

when the welding length of the robot main body 100 needs to be adjusted, the first slide carriage 201 is pulled, so that the first slide carriage 201 is extended to the maximum length along the slide block 202a in the length direction of the slide rail assembly 200, the first slide carriage 201 and the second slide carriage 202 are separated from each other, the telescopic screws 203 are extended synchronously, the extension rods 203f connected with the ends of the second screws 203b, the third screws 203c and the fourth screws 203d extend out of the cavities 203e arranged in the first screws 203a, the second screws 203b and the third screws 203c, the rotating blocks 203g which are distributed in a cross shape and arranged at the ends of the extension rods 203f reach the ends of the displacement grooves in the cavities 203e, the telescopic screws 203 are extended to the maximum length, initially, the first sliding block 302 and the second sliding block 303 are both positioned on the fourth screws 203d and keep a certain distance, the first sliding block 302 is positioned closer to the third screws 203c, and when the driving motor works, the extended telescopic screws 203 are integrally rotated, the first slider 302 and the second slider 303 are displaced along the fourth screw 203d toward the third screw 203c, after a certain distance, the first slider 302 leaves the screw section of the fourth screw 203d and reaches the extension rod 203f of the fourth screw 203d, at this time, the second slider 303 is still at the screw section of the fourth screw 203d, the robot main body 100 and the mobile base 300 are still displaced along the fourth screw 203d under the action of the second slider 303, after a certain distance is displaced again, the first slider 302 reaches the third screw 203c, the second slider 303 reaches the extension rod 203f of the fourth screw 203d, at this time, the robot main body 100 and the mobile base 300 are displaced along the third screw 203c under the action of the first slider 302 and reciprocate in sequence until the first slider 302 reaches the end of the first screw 203a, the robot main body 100 completes the longest welding operation, the driving motor reverses, the robot main body 100 moves back.

It should be noted that the length of the extension rod 203f is an integral multiple of the moving distance of the robot main body 100 when the extension screw 203 rotates once, so that when the first slide block 302 reaches the extension rod 203f of the fourth screw 203d and then contacts the third screw 203c again, the threads of the two can be matched, and the third screw 203c can continue to move along the third screw 203 c. The distance between the first sliding block 302 and the second sliding block 303 is greater than the length of the extension rod 203f, so that when the second sliding block 303 reaches the end of the fourth screw 203d, the first sliding block 302 can contact the third screw 203c again, thereby ensuring the continuity of the movement of the robot main body 100.

Example 2

Referring to fig. 1 to 7, a second embodiment of the present invention is different from the first embodiment in that: the rotating block 203g is a magnetic block, the magnetic block is arranged at the joint of the first screw 203a and the second screw 203b, the magnetic block is arranged at the joint of the second screw 203b and the third screw 203c, the magnetic blocks are arranged at the two ends of the third screw 203c and the end part of the cavity 203e, the magnetic blocks are arranged at the joint of the fourth screw 203d and the third screw 203c, and the magnetism of all the contacted magnetic blocks is different.

In this way, there is no attraction between the first screw 203a and the second screw 203b, there is no attraction between the second screw 203b and the third screw 203c, there is attraction between the third screw 203c and the fourth screw, and there is attraction between the extension rod 203f of the fourth screw and the inner wall of the cavity of the third screw 203c, so when the first slider 201 is pulled, since there is no attraction between the first screw 203a and the second screw 203b, the extension rod 203f of the second screw 203b protrudes from the cavity 203e of the first screw 203a, the slide rail assembly 200 achieves primary extension, and the rotary block 203g at the end of the extension rod 203f of the second screw 203b and the end of the first screw 203a are attracted to be fixed, the first slider 201 is pulled with a greater action force, the second screw 203b and the third screw 203c are disengaged from each other, the slide rail assembly 200 achieves secondary extension, and the rotary block 203g at the end of the extension rod 203f of the third screw 203c and the magnetic block at the end of the second screw 203b are attracted to be fixed, the rotary block 203d is pulled with a greater action force, the rotary block 203d and the magnetic block 203d at the end of the fourth screw 203c and the extended length of the third screw 203d is separated from the magnetic block 203d, and the rotary block 203d, i.e. It should be noted that the attractive force between the second screw 203b and the third screw 203c and the attractive force between the third screw 203c and the fourth screw are sufficient to overcome the force generated by the displacement of the first slide block 302 and the second slide block 303 thereon, and when the slide rail assembly 200 achieves the first-stage extension or the second-stage extension, the separation of the second screw 203b and the third screw 203c and the separation of the third screw 203c and the fourth screw are not caused. Thus, multi-stage adjustment of the slide rail assembly 200 can be achieved.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (10)

1. A welding robot for production line which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the robot comprises a robot main body (100) and a robot control system, wherein the robot main body comprises a rotating base (101), a first arm (102) is rotationally matched with the top of the rotating base (101), a second arm (103) is hinged to the upper end of the first arm (102), a third arm (104) is rotationally matched with the second arm (103), the end part of the third arm (104) is rotationally connected with a clamping piece (105), and a welding gun (106) is installed on the clamping piece (105);

the sliding rail assembly (200) comprises a first sliding seat (201), a second sliding seat (202) and a telescopic screw (203), the first sliding seat (201) is connected with the second sliding seat (202) in a sliding mode, a first sliding rail (204) is arranged at the top of the first sliding seat (201), a second sliding rail (205) is arranged at the top of the second sliding seat (202), and the telescopic screw (203) is rotatably installed between the first sliding seat (201) and the second sliding seat (202);

remove base (300), install in removing base (300) top through rotating base (101) robot main body (100), remove base (300) bottom both sides and seted up sliding tray (301), the centre is provided with first sliding block (302) and second sliding block (303), first slide rail (204) and second slide rail (205) are located sliding tray (301), and on telescopic screw (203) was located in first sliding block (302) and second sliding block (303) cover, remove base (300) bottom and be provided with pulley (304).

2. The welding robot for a production line according to claim 1, wherein: third arm (104) including carousel (104 a) and with carousel (104 a) fixed connection's rotor arm (104 b), mounting groove (104 c) have been seted up to rotor arm (104 b) tip, holder (105) rotate and set up in mounting groove (104 c).

3. The welding robot for a production line as set forth in claim 2, wherein: holder (105) include linking arm (105 a), swinging boom (105 b) and installation clamp (105 c), and linking arm (105 a) rotate to set up in mounting groove (104 c), and swinging boom (105 b) rotates to set up in linking arm (105 a) tip, and installation clamp (105 c) are connected with swinging boom (105 b), and welder (106) are fixed in on installation clamp (105 c).

4. A welding robot for a production line according to any one of claims 1 to 3, wherein: the length of the first sliding seat (201) is the same as that of the second sliding seat (202), a sliding groove (201 a) is formed in the first sliding seat (201), a sliding block (202 a) is arranged on the second sliding seat (202), and the sliding block (202 a) is located in the sliding groove (201 a).

5. The welding robot for a production line as set forth in claim 4, wherein: the telescopic screw rod (203) is composed of a first screw rod (203 a), a second screw rod (203 b), a third screw rod (203 c) and a fourth screw rod (203 d) which are connected with each other and have continuous threads.

6. The welding robot for a production line according to claim 5, wherein: cavities (203 e) are formed in the first screw (203 a), the second screw (203 b) and the third screw (203 c), end portions of the second screw (203 b), the third screw (203 c) and the fourth screw (203 d) are connected with extension rods (203 f), and the extension rods (203 f) are located in the cavities (203 e).

7. The welding robot for a production line according to claim 6, wherein: the end part of the extension rod (203 f) is provided with rotating blocks (203 g) which are distributed in a cross shape, and the cavity (203 e) is internally provided with displacement grooves which are distributed in a cross shape.

8. The welding robot for a production line as set forth in claim 7, wherein: the length of the extension rod (203 f) is integral multiple of the moving distance of the robot main body (100) when the telescopic screw (203) rotates for one circle.

9. The welding robot for a production line as set forth in claim 8, wherein: the rotating block (203 f) is a magnetic block, the magnetic block is arranged at the joint of the first screw rod (203 a) and the second screw rod (203 b), the magnetic block is arranged at the joint of the second screw rod (203 b) and the third screw rod (203 c), the magnetic blocks are arranged at the two ends of the third screw rod (203 c) and the end part of the cavity (203 e), the magnetic block is arranged at the joint of the fourth screw rod (203 d) and the third screw rod (203 c), and the magnetism of all the contacted magnetic blocks is different.

10. The welding robot for a production line as set forth in claim 9, wherein: the distance between the first sliding block (302) and the second sliding block (303) is larger than the length of the extension rod (203 f).

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