CN116851914A - Intelligent welding robot and welding method - Google Patents
Intelligent welding robot and welding method Download PDFInfo
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- CN116851914A CN116851914A CN202310928053.9A CN202310928053A CN116851914A CN 116851914 A CN116851914 A CN 116851914A CN 202310928053 A CN202310928053 A CN 202310928053A CN 116851914 A CN116851914 A CN 116851914A
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- regular polygon
- nozzle
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- 238000003466 welding Methods 0.000 title claims abstract description 151
- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000011261 inert gas Substances 0.000 claims abstract description 51
- 239000007789 gas Substances 0.000 claims abstract description 50
- 239000000178 monomer Substances 0.000 claims description 24
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 239000007787 solid Substances 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 3
- 238000001125 extrusion Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 239000010410 layer Substances 0.000 description 23
- 230000001681 protective effect Effects 0.000 description 16
- 239000000243 solution Substances 0.000 description 6
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 238000009423 ventilation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 230000002633 protecting effect Effects 0.000 description 2
- 229910052786 argon Inorganic materials 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
Classifications
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- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
- B23K26/1435—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor involving specially adapted flow control means
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention discloses an intelligent welding robot and a welding method, which belong to the technical field of welding robots and comprise a welding robot body, wherein a welding assembly is arranged at the end head of the welding robot body and comprises a nozzle, a plurality of groups of air flow pipes are connected between the nozzle and the welding assembly, each group of air flow pipes is provided with an electromagnetic ball valve, a plurality of groups of air flow channels are arranged in the nozzle, and the air flow channels are connected in a one-to-one correspondence manner. According to the invention, the periphery of the inert gas is divided into areas, different inert gas flows are selected according to the conditions of each area, and the output gas flows are precisely controlled according to the requirements of the protection space, so that the influence of the excessive or insufficient inert gas flows on the welding effect is avoided.
Description
Technical Field
The invention mainly relates to the technical field of welding robots, in particular to an intelligent welding robot and a welding method.
Background
The intelligent welding robot is a high-precision and high-efficiency welding device and is an industrial robot for welding (including cutting and spraying). Industrial robots, which are a versatile, re-programmable, automatic control manipulator with three or more programmable axes for use in the field of industrial automation, are defined by the international organization for standardization industrial robots, which are standard welding robots. The intelligent welding robot has higher performances such as precision, speed, stability and adaptability, can realize automatic production, improves production efficiency and quality, and reduces production cost, thereby making an important contribution to the development of modern industry.
The intelligent robot usually adopts laser welding, which is a modern welding technology for melting or evaporating materials by using a laser beam with high energy density, thereby realizing connection. However, during the welding process, some gas may not be smoothly discharged before the metal in the molten pool is solidified, and pores are formed after cooling and solidification. The pores in the weld joint can reduce the bearing area, and are developed into crack sources, so that the mechanical properties of the weld joint are obviously reduced.
At present, the most effective solution to the welding blowholes is to use a shielding gas, which is generally an inert gas. During welding, a protective zone is formed around the molten pool by the continuously sprayed protective gas, so that oxygen and other impurities in the air are prevented from being brought into the welding zone. Therefore, it is critical to select a proper flow of shielding gas, and if the flow of shielding gas is too large, part of the gas may enter the molten pool, and if the flow is too small, air and the like cannot be effectively isolated, so that the rest of the gas has oxidation problems.
When the robot welds, the shielding gas that is spouted is beaten on the welding face and is dissipated all around, if the welding face is cambered surface or inclined plane, can't make the welding face and the shielding gas injection direction of spouting mutually perpendicular, consequently, the shielding gas that escapes all around can not even diffuse all around to the required area of being covered by shielding gas of each region all around of molten bath is also different, and the gas flow of output does not consider the requirement of protection space to carry out the accurate control of corresponding flow, realizes the protection to welding region through the simple regulation and control of gas flow only, causes the gas pocket problem to be unable to obtain perfect solution, makes the welding still have the gas pocket problem.
Disclosure of Invention
The technical scheme of the invention aims at the technical problem that the prior art is too single, provides a solution which is obviously different from the prior art, and mainly provides an intelligent welding robot and a welding method, so as to solve the technical problem that the corresponding flow is accurately controlled without considering the requirement of a protection space when the flow of the protection gas is provided for welding in the prior art, so that air holes still exist in welding.
The technical scheme adopted for solving the technical problems is as follows:
an intelligent welding robot comprises a welding robot body, wherein a welding assembly is arranged at the end head of the welding robot body, the welding assembly comprises a nozzle, a plurality of groups of air flow pipes are connected between the nozzle and the welding assembly, each group of air flow pipes is provided with an electromagnetic ball valve, a plurality of groups of guide channels are arranged in the nozzle, and the guide channels and the air flow pipes are connected in a one-to-one correspondence manner;
the nozzle is sleeved with a top plate, two groups of electric push rods are mounted at the lower end of the top plate, a regular polygon plate is arranged at the lower end of the two groups of electric push rods, a channel for the nozzle to penetrate is formed in the regular polygon plate, a plurality of groups of connecting pieces are connected between the regular polygon plate and the nozzle, and each group of connecting pieces slide on the side wall of the nozzle;
the lower ends of all sides of the regular polygon plate are respectively connected with a protection monomer, each protection monomer comprises a solid part at the upper end and a soft part at the lower end, a plurality of solid parts are in mutual contact and sliding connection, the inner side wall of each protection monomer is concave, the lower end of the inner side wall of the solid part is provided with a wind shield, the wind shield is provided with a vent pipe, the inside of the regular polygon plate is provided with a gas collecting groove, and a plurality of vent pipes are connected with the gas collecting groove;
every the breather pipe is inside all to be equipped with the carriage, it has the lifter ball to slide on the carriage, the extrusion spring is installed to lifter ball upper end, the carriage embeds there is displacement sensor, and displacement sensor detection end and lifter ball are connected.
Preferably, the welding assembly is a laser welding gun, an air inlet pipeline connected with the air tank and an exhaust pipeline connected with the collecting box are arranged on the welding assembly, a plurality of groups of air flow pipes are connected with the air inlet pipeline, and the exhaust pipeline is connected with the air collecting groove in the regular polygon plate through a hose.
Preferably, the center of the inside of the nozzle is provided with a central channel for the laser beam to pass through, each group of guide channels comprises an inner-layer air channel with a large pipe diameter and an outer-layer air channel with a small pipe diameter, a plurality of groups of inner-layer air channels are connected to the central channel, and a plurality of groups of outer-layer air channels are distributed circumferentially around the central channel.
Preferably, the number of sides of the regular polygon plate is the same as the number of gas flow pipe pipelines, and each gas flow pipe is positioned at the center of each side of the regular polygon plate.
Preferably, the two groups of electric push rods are connected with the regular polygon plate through universal joints, and the connecting piece consists of telescopic rods and universal joints.
Preferably, the displacement sensor, the electromagnetic ball valve and the electric push rod are in telecommunication connection with a control terminal of the welding robot body, the area, which can slide on the sliding frame, of the lifting ball is divided into an unqualified area section, a qualified area section and an overstandard area section from bottom to top in sequence, when the lifting ball is positioned in the unqualified area section and the overstandard area section, the opening of the electromagnetic ball valve is continuously reduced along with the rising of the lifting ball, and when the lifting ball is positioned in the qualified area section, the opening of the electromagnetic ball valve is unchanged.
An intelligent welding robot welding method comprises the following steps:
s1, moving a part to be welded to a welding table and clamping, wherein a welding robot body moves a welding assembly to a position above a welding position of the part to be welded through a welding seam tracking system;
s2, the welding robot body sends out an instruction through a control terminal of the welding robot body, so that the electric push rod pushes the regular polygon plate to move downwards until each protection monomer is pressed on a part to be welded;
s3, the welding robot body sends out an instruction through a control terminal of the welding robot body, so that the electromagnetic ball valve is completely opened, the air inlet pipeline introduces inert gas in the air tank, and after 3-5 seconds of injection, the welding assembly is started for welding;
s4, inert gas is sprayed onto the parts to be welded through the inner layer air passage and the outer layer air passage to form a double-layer gas protection layer;
s5, after the inert gas is in contact with the part to be welded, the inert gas escapes to the periphery and is in contact with the protection monomer, the protection monomer guides the inert gas which is in contact with the inert gas into the vent pipe, the lifting ball is pushed to move upwards by the upward pushing airflow formed by the inert gas, the upward moving distance of the lifting ball is detected by the displacement sensor, the moving information of the lifting ball is transmitted to the control terminal of the welding robot body, and the control terminal of the welding robot body adjusts the opening size of the electromagnetic ball valve according to the moving information of the lifting ball;
s6, enabling the gas passing through the vent pipe to enter a gas collecting groove in the regular polygon plate, and collecting the gas in a collecting box through an exhaust pipeline;
and S7, removing the welding assembly after the welding is finished, and performing the next welding.
Compared with the prior art, the invention has the beneficial effects that:
(1) After the inert gas is sprayed out and contacted with the part to be welded, the inert gas is dissipated to the periphery and contacted with the protective monomer, the protective monomer guides the inert gas contacted with the inert gas into the vent pipe, but the welding surface is not perpendicular to the sprayed direction of the sprayed protective gas, so that the area to be covered by the inert gas dissipated to the periphery is different, the kinetic energy lost by the inert gas is also different when the inert gas is dissipated, the kinetic energy of the inert gas entering into each vent pipe is also different, the upward pushing air flow formed by the inert gas pushes the lifting ball to move upwards, at the moment, each displacement sensor detects the upward moving distance of each lifting ball and transmits the moving information of the lifting ball to the control terminal of the welding robot body, the control terminal of the welding robot body adjusts the opening size of the corresponding electromagnetic ball valve according to the moving information of the lifting ball, so that the lifting ball is stabilized in a standard-reaching area section, the periphery of the inert gas is divided, different inert gas flows are selected according to the conditions of each area, the output air flows are accurately controlled according to the requirements of the protective space, and the welding effect is avoided from being excessively large or excessively small;
(2) The welding robot adopts the inner layer air passage and the outer layer air passage, so that the protective gas forms an inner layer and an outer layer, the double-layer coaxial protective gas can effectively improve the welding seam forming and protecting effects, inhibit welding defects such as hump, splashing and the like, and simultaneously has lower O/N in the welding seam, thereby further improving the welding seam quality;
(3) When the welding surface is a cambered surface or an inclined surface, the welding surface and the jet direction of the jetted protective gas cannot be perpendicular, at the moment, through the rotation of the regular polygon plate and the design of the soft body part, each protective monomer can be completely pressed on the part to be welded to form a gas protection cover, inert gas dissipated to the periphery can be recovered, and the recovered inert gas can be purified and reused, so that the resource consumption is reduced.
The invention will be explained in detail below with reference to the drawings and specific embodiments.
Drawings
FIG. 1 is a schematic view of a welding robot body according to the present invention;
FIG. 2 is a schematic view of a welded assembly according to the present invention;
FIG. 3 is an enlarged view of FIG. 2A in accordance with the present invention;
FIG. 4 is a schematic illustration of the connection of a regular polygon plate and a protective monomer according to the present invention;
FIG. 5 is a schematic diagram of a protective monomer structure according to the present invention;
fig. 6 is a schematic diagram of a sliding frame according to the present invention.
Description of the drawings: 1. welding a robot body; 2. welding the assembly; 21. a nozzle; 22. a gas flow tube; 23. an electromagnetic ball valve; 24. a central lane; 25. an inner airway; 26. an outer airway; 3. a top plate; 31. an electric push rod; 32. a regular polygon plate; 33. a connecting piece; 4. a protective monomer; 41. a solid portion; 42. a soft body part; 43. a wind deflector; 44. a vent pipe; 45. a carriage; 46. a lifting ball; 47. extruding a spring; 5. an air intake duct; 6. an exhaust duct; 71. a non-standard region segment; 72. a standard region section; 73. and (5) exceeding the standard area section.
Detailed Description
In order that the invention may be more fully understood, a more particular description of the invention will be rendered by reference to the appended drawings, in which several embodiments of the invention are illustrated, but which may be embodied in different forms and are not limited to the embodiments described herein, which are, on the contrary, provided to provide a more thorough and complete disclosure of the invention.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may be present, and when an element is referred to as being "connected" to the other element, it may be directly connected to the other element or intervening elements may also be present, the terms "vertical", "horizontal", "left", "right" and the like are used herein for the purpose of illustration only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly connected to one of ordinary skill in the art to which this invention belongs, and the knowledge of terms used in the description of this invention herein for the purpose of describing particular embodiments is not intended to limit the invention, and the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides an intelligent welding robot, includes welding robot body 1, welding robot body 1 end is provided with welding assembly 2, welding assembly 2 is including nozzle 21, the inside center of nozzle 21 is provided with the central road 24 that supplies the laser beam to pass through, be connected with a plurality of groups air current pipe 22 between nozzle 21 and the welding assembly 2, and every group all install electromagnetic ball valve 23 on the air current pipe 22, electromagnetic ball valve 23 adopts CWX DN20 miniature electric ball valve, nozzle 21 is inside to be provided with a plurality of groups of guide ways, and guide way and air current pipe 22 one-to-one connection, every group the guide way all includes inlayer air flue 25 and the outer air flue 26 of little pipe diameter of big pipe diameter, the multiunit inlayer air flue 25 all is connected to on the central road 24, multiunit outer air flue 26 is circumference distribution around the central road 24. The single-layer shielding gas layer is poor in weld joint forming, obvious humps are formed, welding spatter is large, the surface of the weld joint is black brown, and protection is poor, and the welding robot adopts the inner-layer air passage 25 and the outer-layer air passage 26, so that the shielding gas forms an inner layer and an outer layer, the forming and protecting effects of the weld joint can be effectively improved by the double-layer coaxial shielding gas, welding defects such as humps and spatter are restrained, meanwhile, O/N in the weld joint is lower, and the quality of the weld joint is further improved.
Referring to fig. 2-6, the top plate 3 is sleeved on the nozzle 21, two groups of electric push rods 31 are installed at the lower end of the top plate 3, the electric push rods 31 are n kla8 direct current electric push rods, two groups of electric push rods 31 are provided with regular polygon plates 32 at the lower end, channels for the nozzle 21 to penetrate are formed inside the regular polygon plates 32, a plurality of groups of connecting pieces 33 are connected between the regular polygon plates 32 and the nozzle 21, each group of connecting pieces 33 slides on the side wall of the nozzle 21, two groups of electric push rods 31 and the regular polygon plates 32 are connected through universal joints, each connecting piece 33 is composed of a telescopic rod and a universal joint, each side lower end of each regular polygon plate 32 is respectively connected with a protection single body 4, each protection single body 4 comprises a solid portion 41 at the upper end and a soft body 42 at the lower end, the solid portions 41 are in contact with each other in a sliding manner, the welding assembly 2 is a laser welding gun, a pipeline 5 and a collection pipeline 6 are installed on the welding assembly 2, and the collection pipeline 6 are connected through the collection pipeline 6 and the collection pipeline 6. The welding robot body 1 sends out the instruction through self control terminal, makes electric putter 31 promote regular polygon board 32 and moves down, and when the welding face is cambered surface or inclined plane, can't make the welding face and the shielding gas injection direction of spraying mutually perpendicular, at this moment, through the rotation of regular polygon board 32 and the design of software portion 42, can make each protection monomer 4 totally press on waiting to weld the part, forms the gas protection cover, can retrieve the inert gas of dissipation all around, and the inert gas after retrieving carries out purification can put into use once more, reduces resource consumption.
Referring to fig. 2-6, the number of sides of the regular polygon plate 32 and the number of pipes of the air flow pipes 22 are the same, each air flow pipe 22 is located at the center of each side of the regular polygon plate 32, the inner side wall of each protection unit 4 is concave, a wind shield 43 is installed at the lower end of the inner side wall of the solid portion 41, a ventilation pipe 44 is installed on the wind shield 43, an air collecting tank is arranged inside the regular polygon plate 32, and a plurality of ventilation pipes 44 are connected with the air collecting tank. Each gas flow tube 22 has a corresponding shielding element 4, so that the flow rate of the inert gas ejected through the gas flow tube 22 corresponds to the collection amount of the gas in the vent pipe 44 on the corresponding shielding element 4.
Referring to fig. 1-6, a sliding frame 45 is disposed in each ventilation pipe 44, a lifting ball 46 is slid on the sliding frame 45, an extrusion spring 47 is mounted at the upper end of the lifting ball 46, a displacement sensor is disposed in the sliding frame 45, the displacement sensor is a microminiature LT20 displacement sensor, and a detection end of the displacement sensor is connected with the lifting ball 46. The displacement sensor, the electromagnetic ball valve 23 and the electric push rod 31 are in telecommunication connection with a control terminal of the welding robot body 1, the sliding area of the lifting ball 46 on the sliding frame 45 is divided into an unqualified area section 71, a qualified area section 72 and an overstandard area section 73 from bottom to top in sequence, when the lifting ball 46 is positioned in the unqualified area section 71 and the overstandard area section 73, the opening of the electromagnetic ball valve 23 is continuously reduced along with the rising of the lifting ball 46, and when the lifting ball 46 is positioned in the qualified area section 72, the opening of the electromagnetic ball valve 23 is unchanged. After the inert gas is sprayed out and contacts with the part to be welded, the inert gas is then dissipated to the periphery and contacts with the protective monomer 4, the protective monomer 4 guides the inert gas which is contacted into the vent pipe 44, but as the welding surface is not perpendicular to the sprayed direction of the sprayed protective gas, the area to be covered by the inert gas dissipated to the periphery is different, the kinetic energy lost by the inert gas is also different when the inert gas is dissipated, the kinetic energy of the inert gas entering into each vent pipe 44 is also different, the upward pushing air flow formed by the inert gas pushes the lifting ball 46 to move upwards by different distances, the displacement sensor detects the upward moving distance of the lifting ball 46 and transmits the moving information of the lifting ball 46 to the control terminal of the welding robot body 1, the control terminal of the welding robot body 1 adjusts the opening size of the electromagnetic ball valve 23 according to the moving information of the lifting ball 46, so that the lifting ball 46 is stabilized in the standard reaching area section 72, the periphery of the inert gas is divided according to the conditions of each area, the output air flow is controlled by different inert gases according to the requirements of the corresponding inert gas flow, and the welding effect is avoided.
The displacement sensor detects the upward movement distance of the lifting ball 46 and transmits movement information of the lifting ball 46 to the control terminal of the welding robot body 1, when the lifting ball 46 is located at the lowest end, namely, located at the lowest part of the substandard area section 71, the electromagnetic ball valve 23 is in a fully opened state, and when the lifting ball 46 is located at the topmost end, namely, located at the uppermost part of the superscalar area section 73, the electromagnetic ball valve 23 is in a closed state.
An intelligent welding robot welding method comprises the following steps:
s1, moving a part to be welded to a welding table and clamping, wherein a welding robot body 1 moves a welding assembly 2 to a position above a welding position of the part to be welded through a welding seam tracking system;
s2, the welding robot body 1 sends out an instruction through a control terminal of the welding robot body, so that the electric push rod 31 pushes the regular polygon plate 32 to move downwards until each protection monomer 4 is pressed on a part to be welded;
s3, the welding robot body 1 sends out an instruction through a control terminal of the welding robot body, so that the electromagnetic ball valve 23 is completely opened, the air inlet pipeline 5 introduces inert gas in the air tank, and the welding assembly 2 is started for welding after 3-5 seconds of injection;
pretreating, namely discharging air in the pipeline;
s4, inert gas is sprayed onto the parts to be welded through the inner layer air passage 25 and the outer layer air passage 26 to form a double-layer gas protection layer;
argon may be used as the inert gas;
s5, after the inert gas is in contact with the part to be welded, the inert gas escapes to the periphery and is in contact with the protection monomer 4, the protection monomer 4 guides the inert gas which is in contact into the ventilation pipe 44, the upward pushing airflow formed by the inert gas pushes the lifting ball 46 to move upwards, the displacement sensor detects the upward moving distance of the lifting ball 46 and transmits the moving information of the lifting ball 46 to the control terminal of the welding robot body 1, and the control terminal of the welding robot body 1 adjusts the opening size of the electromagnetic ball valve 23 according to the moving information of the lifting ball 46;
s6, enabling the gas passing through the vent pipe 44 to enter a gas collecting groove in the regular polygon plate 32, and then collecting the gas in a collecting box through the exhaust pipeline 6;
and S7, removing the welding assembly 2 after the welding is finished, and performing the next welding.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the embodiments described above, but is intended to be within the scope of the invention, as long as such insubstantial modifications are made by the method concepts and technical solutions of the invention, or the concepts and technical solutions of the invention are applied directly to other occasions without any modifications.
Claims (7)
1. An intelligent welding robot, includes welding robot body (1), its characterized in that: the welding robot comprises a welding robot body (1), wherein a welding assembly (2) is arranged at the end head of the welding robot body, the welding assembly (2) comprises a nozzle (21), a plurality of groups of air flow pipes (22) are connected between the nozzle (21) and the welding assembly (2), an electromagnetic ball valve (23) is arranged on each group of air flow pipes (22), a plurality of groups of guide channels are arranged in the nozzle (21), and the guide channels and the air flow pipes (22) are connected in a one-to-one correspondence manner;
the nozzle (21) is sleeved with a top plate (3), two groups of electric push rods (31) are mounted at the lower end of the top plate (3), a regular polygon plate (32) is arranged at the lower end of each group of electric push rods (31), a channel for the nozzle (21) to penetrate is formed in each regular polygon plate (32), a plurality of groups of connecting pieces (33) are connected between each regular polygon plate (32) and the nozzle (21), and each group of connecting pieces (33) slide on the side wall of the nozzle (21);
the lower ends of all sides of the regular polygon plate (32) are respectively connected with a protection monomer (4), each protection monomer (4) comprises a solid part (41) at the upper end and a soft part (42) at the lower end, a plurality of solid parts (41) are contacted with each other in pairs and are in sliding connection, the inner side wall of each protection monomer (4) is concave, a wind shield (43) is arranged at the lower end of the inner side wall of each solid part (41), a vent pipe (44) is arranged on each wind shield (43), a gas collecting groove is formed in each regular polygon plate (32), and a plurality of vent pipes (44) are connected with the gas collecting grooves;
every breather pipe (44) is inside all to be equipped with carriage (45), it has lifter ball (46) to slide on carriage (45), extrusion spring (47) are installed to lifter ball (46) upper end, the carriage (45) embeds there is displacement sensor, and displacement sensor detection end and lifter ball (46) are connected.
2. The intelligent welding robot of claim 1, wherein: the welding assembly (2) is a laser welding gun, an air inlet pipeline (5) connected with the air tank and an exhaust pipeline (6) connected with the collecting box are arranged on the welding assembly (2), a plurality of groups of air flow pipes (22) are connected with the air inlet pipeline (5), and the air collecting grooves in the exhaust pipeline (6) and the regular polygon plate (32) are connected through hoses.
3. The intelligent welding robot of claim 1, wherein: the inner center of the nozzle (21) is provided with a central channel (24) for a laser beam to pass through, each group of guide channels comprises an inner air channel (25) with a large pipe diameter and an outer air channel (26) with a small pipe diameter, a plurality of groups of inner air channels (25) are connected to the central channel (24), and a plurality of groups of outer air channels (26) are circumferentially distributed around the central channel (24).
4. The intelligent welding robot of claim 1, wherein: the number of sides of the regular polygon plate (32) is the same as the number of the air flow pipes (22) and the air flow pipes (22) are positioned at the center of each side of the regular polygon plate (32).
5. The intelligent welding robot of claim 1, wherein: the two groups of electric push rods (31) are connected with the regular polygon plate (32) through universal joints, and the connecting piece (33) consists of telescopic rods and universal joints.
6. The intelligent welding robot of claim 1, wherein: the displacement sensor, the electromagnetic ball valve (23) and the electric push rod (31) are in telecommunication connection with a control terminal of the welding robot body (1), a sliding area of the lifting ball (46) on the sliding frame (45) is divided into an unqualified area section (71), a qualified area section (72) and an out-of-standard area section (73) from bottom to top in sequence, and when the lifting ball (46) is located in the unqualified area section (71) and the out-of-standard area section (73), the opening of the electromagnetic ball valve (23) is continuously reduced along with the rising of the lifting ball (46), and when the lifting ball (46) is located in the qualified area section (72), the opening of the electromagnetic ball valve (23) is unchanged.
7. An intelligent welding robot welding method based on any one of claims 1-6, comprising the steps of:
s1, moving a part to be welded onto a welding table and clamping, wherein a welding robot body (1) moves a welding assembly (2) to a position above a welding position of the part to be welded through a welding seam tracking system;
s2, the welding robot body (1) sends out an instruction through a control terminal of the welding robot body, so that the electric push rod (31) pushes the regular polygon plate (32) to move downwards until each protection monomer (4) is pressed on a part to be welded;
s3, the welding robot body (1) sends out an instruction through a control terminal of the welding robot body, so that the electromagnetic ball valve (23) is completely opened, the air inlet pipeline (5) introduces inert gas in the air tank, and after spraying for 3-5 seconds, the welding assembly (2) is started for welding;
s4, inert gas is sprayed onto the parts to be welded through the inner layer air passage (25) and the outer layer air passage (26) to form a double-layer gas protection layer;
s5, after the inert gas is in contact with the part to be welded, the inert gas escapes to the periphery and is in contact with the protection monomer (4), the protection monomer (4) guides the inert gas which is in contact into the vent pipe (44), the lifting ball (46) is pushed to move upwards by the upward pushing airflow formed by the inert gas, the upward moving distance of the lifting ball (46) is detected by the displacement sensor, the moving information of the lifting ball (46) is transmitted to the control terminal of the welding robot body (1), and the control terminal of the welding robot body (1) adjusts the opening size of the electromagnetic ball valve (23) according to the moving information of the lifting ball (46);
s6, enabling the gas passing through the vent pipe (44) to enter a gas collecting groove in the regular polygon plate (32), and collecting the gas in a collecting box through an exhaust pipeline (6);
and S7, removing the welding assembly (2) after the welding is finished, and performing the next welding.
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Cited By (1)
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| CN116851914B (en) | 2024-01-09 |
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