CN117300459B - Automatic welding mechanical arm and accurate control method - Google Patents
Automatic welding mechanical arm and accurate control method Download PDFInfo
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- CN117300459B CN117300459B CN202311605731.4A CN202311605731A CN117300459B CN 117300459 B CN117300459 B CN 117300459B CN 202311605731 A CN202311605731 A CN 202311605731A CN 117300459 B CN117300459 B CN 117300459B
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- 238000003466 welding Methods 0.000 title claims abstract description 121
- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000007788 liquid Substances 0.000 claims abstract description 68
- 239000000110 cooling liquid Substances 0.000 claims abstract description 51
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 238000001802 infusion Methods 0.000 claims description 8
- 239000012528 membrane Substances 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000003754 machining Methods 0.000 claims 1
- 230000001276 controlling effect Effects 0.000 abstract description 10
- 239000002699 waste material Substances 0.000 abstract description 6
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000004544 sputter deposition Methods 0.000 description 4
- 239000002826 coolant Substances 0.000 description 3
- 239000012634 fragment Substances 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000013021 overheating Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000001338 self-assembly Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000208140 Acer Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 239000007921 spray Substances 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- 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
- B23K37/003—Cooling 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
- 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
-
- 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
- B23K37/0247—Driving 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to the technical field of mechanical arm control devices and discloses an automatic welding mechanical arm and an accurate control method, the automatic welding mechanical arm comprises a servo mechanical arm body, a liquid control mechanism is arranged on the servo mechanical arm body, a switch of a cooling liquid conveying valve is regulated along with the movement of the servo mechanical arm body, a transfusion mechanism is used for controlling the conveying efficiency of cooling liquid, the servo mechanical arm body carries out displacement regulation on a longitudinal axis through a self component to regulate the lifting of a welding head, the welding head descends to contact an object to be welded, a rack is driven by a first support arm and a second support arm to descend along with the rack, so that a gear is driven to rotate, then the rack is driven to rotate, a one-way valve is opened, cooling liquid in a liquid storage tank flows into a cylinder sleeve, the rack is driven to ascend along with the lifting of the welding head, so that the one-way valve is closed, the cooling liquid is prevented from continuously flowing out, and the cooling liquid is accurately controlled to go in and go out through the action of the servo mechanical arm body, and waste is avoided.
Description
Technical Field
The invention relates to the technical field of manipulator control devices, in particular to an automatic welding mechanical arm and an accurate control method.
Background
The mechanical arm is a high-precision high-speed dispensing robot arm, and is a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety explosion protection, etc.
In order to realize high-precision operation, the control of the welding mechanical arm is a crucial part, and the core of the control is the planning of continuous track motion of a welding gun at the end of the welding mechanical arm and the control of welding strength or methods for different welding positions during welding, so that the precision, reliability and efficiency of the welding mechanical arm are directly influenced by the quality of the welding mechanical arm.
In the welding operation process, the cooling liquid is required to be sprayed continuously, so that the purpose of quickly cooling a welding surface and preventing sputtering is achieved, but the cooling liquid is continuously sprayed, so that the cooling liquid is wasted in the welding interval and the mechanical arm displacement process, and resources are wasted. Therefore, an automatic welding mechanical arm and an accurate control method are provided to solve the above-mentioned problems.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides an automatic welding mechanical arm and an accurate control method, which solve the problem of waste caused by continuous spraying of cooling liquid in the welding operation of a mechanical arm.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an automatic welding arm, includes servo arm body, install accuse liquid mechanism on the servo arm body, follow servo arm body motion and adjust the check valve switch of coolant liquid, transfusion system is used for controlling the conveying efficiency of coolant liquid, actuating mechanism is used for stabilizing centre gripping article and controlling its circumference rotation and reaches the even purpose of welding face, and control transfusion system work, clamping mechanism is used for stable centre gripping to wait to weld the article, and match according to waiting to weld the article size and adjust, control mechanism is used for controlling servo arm body and carries out axial displacement, realize the interior spot welding of processing region.
Preferably, the liquid control mechanism comprises a welding head and a liquid storage tank, the welding head is arranged on the servo mechanical arm body, one end of a first support arm is connected to the welding head, the inner wall of the first support arm is connected with a second support arm in a sliding mode, a rack is integrally connected to one end of the second support arm away from the first support arm, one end of a liquid outlet pipe is arranged on the liquid storage tank in a communicating mode, a one-way valve is arranged on the other end of the liquid outlet pipe, a gear is sleeved on a valve rod of the one-way valve, the gear is meshed with the rack, the driving mechanism comprises a machine table, a double-shaft motor is arranged on the machine table, and rotary shafts are connected to two output ends of the double-shaft motor.
Preferably, the three-jaw hydraulic clamp is arranged on the rotating shaft on one side of the double-shaft motor, the infusion mechanism comprises a rotating rod, one end of the rotating rod is connected to the rotating shaft on the other side of the double-shaft motor through a coupling, a rotating disc is connected to the other end of the rotating rod, one side, far away from the rotating rod, of the rotating disc is hinged to one end of a first crank through a bolt, the other end of the first crank is hinged to one end of a second crank through a bolt, a groove is formed in the other end of the second crank, the inner wall of the groove is hinged to one end of a push-pull rod through a bolt, and a piston head is connected to the other end of the push-pull rod.
Preferably, the first liquid outlet pipe is connected with a cylinder sleeve through a one-way valve and is communicated with the first liquid outlet pipe, the piston head is slidably connected to the inner wall of the cylinder sleeve, one side, away from the one-way valve, of the cylinder sleeve is connected with one end of the second liquid outlet pipe and is communicated with the second liquid outlet pipe, a sleeve is slidably sleeved at the other end of the second liquid outlet pipe, and a waterproof film is arranged between the inner wall of the sleeve and the outer wall of the second liquid outlet pipe and is attached to the second liquid outlet pipe through the waterproof film.
Preferably, the fixture comprises a bottom plate, two guide plates are symmetrically arranged on the bottom plate, a hydraulic rod is arranged between the two guide plates, a support plate is connected to an inner rod of the hydraulic rod, the support plate is slidably connected between the two guide plates, one end of a linkage shaft is rotatably connected to the support plate through a bearing, another three-jaw hydraulic clamp is arranged on the other end of the linkage shaft, and one end of the sleeve, which is far away from the liquid outlet pipe II, extends to the upper part of the hydraulic rod.
Preferably, the control mechanism comprises a sliding groove, a rotating motor is installed on one side of the outer wall of the sliding groove, an output shaft of the rotating motor movably penetrates through one side of the inner wall of the sliding groove and is connected with one end of a screw rod, the other end of the screw rod is rotationally connected to the other side of the inner wall of the sliding groove through a bearing, a sliding block is sleeved on the screw rod in a threaded mode, the sliding block is slidably connected to the inner wall of the sliding groove, a mounting plate is installed on the sliding block, the bottom of the mounting plate is attached to the top of the outer wall of the sliding groove, and the bottom plate is connected to one side of the sliding groove.
Preferably, the servo mechanical arm body is installed at the top of the mounting plate, and the servo mechanical arm body is further provided with a lifting appliance, the lifting appliance comprises a suspension arm and a lantern ring which are integrally connected, the suspension arm is fixedly connected with the servo mechanical arm body, and the lantern ring is fixedly sleeved on the outer wall of the extension end of the sleeve.
Preferably, one side of the sliding groove far away from the rotating motor is connected with a base, a supporting table is arranged on the base, the liquid storage tank is arranged on the supporting table, one end of a sleeve column is further connected onto the base, one end of a sliding arm is slidably connected onto the inner wall of the sleeve column, the sliding arm is of an L-shaped structure, and the other end of the sliding arm is fixedly connected with a second support arm.
Preferably, the base is fixedly connected with the machine, the drainage groove is connected between the bottom plate and the machine, the base is also connected with a limit sleeve, and the limit sleeve is movably sleeved on the outer wall of the rotating rod.
An accurate control method of an automatic welding mechanical arm comprises the following steps:
s1, clamping an object to be welded through a three-jaw hydraulic clamp on a rotating shaft and a three-jaw hydraulic clamp on a linkage shaft respectively, adjusting the inner rod of a hydraulic rod to shrink, enabling the object to be welded on the rotating shaft and the linkage shaft to be close to each other and attached, controlling a rotating motor to work so as to drive a servo mechanical arm body to axially displace, enabling the servo mechanical arm body to be positioned at the attached position of the object to be welded, and enabling a welding head to descend through longitudinal axis displacement of the servo mechanical arm body to carry out welding operation;
s2, a rotating shaft at one side drives the three-jaw hydraulic clamp to rotate after the double-shaft motor is started, so that an object to be welded is driven to rotate, and the joint surface of the object to be welded can be circularly moved and uniformly contacted with the welding head;
s3, when the welding head on the servo mechanical arm body longitudinally descends, the rack is driven to descend by the first support arm and the second support arm, so that the gear is driven to rotate, then the one-way valve is opened by the valve rod, the cooling liquid in the liquid storage tank is caused to smoothly flow into the cylinder sleeve, otherwise, welding work is not generated when the welding head ascends, and meanwhile, the rack drives the gear to reversely rotate to close the one-way valve, so that the cooling liquid is prevented from flowing out;
s4, the rotating rod is driven to rotate by the rotating shaft on the other side during the rotation of the double-shaft motor, so that the turntable and the two cranks are linked, the piston head is driven to slide in the cylinder sleeve through the push-pull rod, so that the cooling liquid is pumped and extruded, the cooling liquid rapidly enters the sleeve along the second liquid outlet pipe and is sprayed to the welding position, the chips are prevented from sputtering, the overheating of the welding head and the welding surface is avoided, the in-out of the cooling liquid is accurately controlled through the action of the servo mechanical arm body, and the waste is avoided.
(III) beneficial effects
Compared with the prior art, the invention provides the automatic welding mechanical arm and the accurate control method, which have the following beneficial effects:
1. according to the automatic welding mechanical arm and the accurate control method, the servo mechanical arm body is adopted to carry out displacement adjustment on the longitudinal axis through the self assembly to adjust the lifting of the welding head, the welding head is enabled to descend to contact an object to be welded, the first support arm and the second support arm drive racks to descend along with each other, so that gears are driven to rotate, then the valve rods are driven to rotate and the check valve is opened, cooling liquid in the liquid storage tank flows into the cylinder sleeve, the racks ascend along with each other and drive the gears to rotate reversely when the welding head ascends, the check valve is closed, the cooling liquid is prevented from continuously flowing out, the cooling liquid is accurately controlled to come in and go out through the action of the servo mechanical arm body, and waste is avoided.
2. According to the automatic welding mechanical arm and the accurate control method, when the double-shaft motor is adopted for starting, the rotating shaft on one side drives the three-jaw hydraulic clamp to rotate, two object joint surfaces to be welded are locally spot-welded together through the welding head, so that the objects to be welded are driven to rotate, the two object joint surfaces to be welded are enabled to circularly move and contact with the welding joint, and the effect of fixed-point uniform welding is achieved.
3. According to the automatic welding mechanical arm and the accurate control method, the rotating rod is driven to rotate by the rotating shaft on the other side during the rotation of the double-shaft motor, so that the turntable and the two cranks are linked, the piston head is driven to slide in the cylinder sleeve through the push-pull rod to suck and squeeze flowing cooling liquid, the cooling liquid is accelerated to enter the sleeve along the second liquid outlet pipe, the cooling liquid is sprayed to the welding position to prevent fragments from sputtering, and the welding head and the welding surface are prevented from being overheated.
4. According to the automatic welding mechanical arm and the accurate control method, after the double-shaft motor is stopped, the piston head does not work any more, so that the cooling liquid output is stopped, in the multi-point welding process, even if the double-shaft motor is not stopped, when the axial displacement of the servo mechanical arm body changes the welding point position, the welding head only rises to be far away from an object, the one-way valve can be closed, cooling liquid cannot flow into the cylinder sleeve, and therefore the liquid leakage phenomenon cannot occur.
Drawings
FIG. 1 is a schematic diagram of an overall structure of an automatic welding mechanical arm and an accurate control method according to the present invention;
FIG. 2 is a schematic structural diagram of a servo mechanical arm body of an automatic welding mechanical arm and an accurate control method according to the present invention;
FIG. 3 is a schematic diagram of a driving mechanism, a liquid control mechanism and an infusion mechanism of an automatic welding mechanical arm and an accurate control method according to the present invention;
FIG. 4 is a schematic structural diagram of an automatic welding mechanical arm and a liquid control mechanism of an accurate control method according to the present invention;
FIG. 5 is an enlarged view of an automated welding robot and an accurate control method A according to the present invention;
FIG. 6 is a schematic structural diagram of a clamping mechanism for an automatic welding robot and an accurate control method according to the present invention;
fig. 7 is a schematic structural diagram of a control mechanism of an automatic welding mechanical arm and an accurate control method according to the present invention.
In the figure: 1. a servo mechanical arm body; 2. a liquid control mechanism; 21. a welding head; 22. a first support arm; 23. a second support arm; 24. a rack; 25. a liquid storage tank; 26. a liquid outlet pipe I; 27. a one-way valve; 28. a gear; 3. a driving mechanism; 31. a machine table; 32. a biaxial motor; 33. a rotating shaft; 34. a three-jaw hydraulic clamp; 4. an infusion mechanism; 41. a rotating rod; 42. a turntable; 43. a crank I; 44. a second crank; 45. a push-pull rod; 46. a piston head; 47. cylinder sleeve; 48. a liquid outlet pipe II; 49. a sleeve; 5. a clamping mechanism; 51. a bottom plate; 52. a guide plate; 53. a hydraulic rod; 54. a support plate; 55. a linkage shaft; 6. a control mechanism; 61. a chute; 62. a rotating electric machine; 63. a screw; 64. a slide block; 65. a mounting plate; 7. a lifting appliance; 8. a base; 9. a supporting table; 10. a sleeve column; 11. a slide arm; 12. a limit sleeve; 13. drainage groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, the present invention provides a technical solution: an automatic welding mechanical arm comprises a servo mechanical arm body 1, a liquid control mechanism 2 is arranged on the servo mechanical arm body 1, a one-way valve 27 for adjusting cooling liquid along with the movement of the servo mechanical arm body 1 is opened and closed, an infusion mechanism 4 is used for controlling the conveying efficiency of the cooling liquid, a driving mechanism 3 is used for stabilizing and clamping objects and controlling the circumferential rotation of the objects to achieve the purpose of uniform welding surface, and controlling the infusion mechanism 4 to work, a clamping mechanism 5 is used for stabilizing and clamping the objects to be welded and carrying out matched adjustment according to the size of the objects to be welded, a control mechanism 6 is used for controlling the servo mechanical arm body 1 to carry out axial displacement to realize spot welding in a processing area, the liquid control mechanism 2 comprises a welding head 21 and a liquid storage tank 25, the liquid storage tank 25 is provided with an existing structure filling port and can carry out filling of the cooling liquid, the welding head 21 is arranged on the servo mechanical arm body 1, the welding head 21 can move up and down along with the longitudinal axis component of the servo mechanical arm body 1, one end of a first support arm 22 is connected to the welding head 21, the inner wall of the first support arm 22 is connected with a second support arm 23 in a sliding manner, during the movement of the servo mechanical arm body 1, the first support arm 22 slides on the second support arm 23 without obstruction, one end of the second support arm 23 far away from the first support arm 22 is integrally connected with a rack 24, one end of a liquid outlet pipe 26 is communicated with a liquid storage tank 25, the other end of the liquid outlet pipe 26 is provided with a one-way valve 27, a valve rod of the one-way valve 27 is sleeved with a gear 28, the gear 28 is meshed with the rack 24, the lifting of the support arm 21 can drive the rack 24 along with the lifting of the welding head, and the switch of the one-way valve 27 is controlled through the rotation of the gear 28, the driving mechanism 3 comprises a machine 31, a double-shaft motor 32 is arranged on the machine 31, two output ends of the double-shaft motor 32 are connected with a rotating shaft 33, the three-jaw hydraulic clamp 34 is arranged on the rotating shaft 33 on one side of the double-shaft motor 32, and can effectively clamp an object to be welded, so that the stability is high.
According to the invention, the transfusion mechanism 4 comprises a rotating rod 41, one end of the rotating rod 41 is connected to a rotating shaft 33 on the other side of the double-shaft motor 32 through a coupler, the double-shaft motor 32 can drive a clamping object to rotationally weld and accelerate the flowing efficiency of cooling liquid, the other end of the rotating rod 41 is connected with a rotary disc 42, one side of the rotary disc 42, which is far away from the rotating rod 41, is hinged with one end of a crank I43 through a bolt, the other end of the crank I43 is hinged with one end of a crank II 44 through a bolt, a groove is formed in the other end of the crank II 44, the inner wall of the groove is hinged with one end of a push-pull rod 45 through a bolt, the other end of the push-pull rod 45 is connected with a piston head 46, the liquid outlet pipe I26 is connected with a cylinder sleeve 47 through a one-way valve 27 and is communicated with the other end of the push-pull rod, the piston head 46 is connected with the inner wall of the cylinder sleeve 47 in a sliding manner, the rotary disc 42 and the two cranks produce linkage, one side of the cylinder sleeve 47, which is far away from the one end of the one-way valve 27 is connected with one end of a liquid outlet pipe II 48 in a communicating manner, the other end of the liquid outlet pipe II 48 is sleeved with a sliding sleeve 49, a waterproof membrane is arranged between the inner wall of the sleeve 49 and the outer wall of the liquid outlet pipe 48 through the waterproof membrane, and leakage of the waterproof membrane is avoided.
In this embodiment, fixture 5 includes bottom plate 51, install two guide boards 52 on the bottom plate 51 symmetry, install hydraulic stem 53 between two guide boards 52, the coolant liquid of spraying falls into between two guide boards 52, be connected with extension board 54 on the interior pole of hydraulic stem 53, extension board 54 sliding connection is between two guide boards 52, be connected with the one end of universal driving shaft 55 through the bearing rotation on the extension board 54, install another three-jaw hydraulic clamp 34 on the other end of universal driving shaft 55, the one end that drain pipe two 48 was kept away from to sleeve pipe 49 extends to the top of hydraulic stem 53, sleeve pipe 49 one end is towards soldered connection 21, can accurate spray on the welded surface cooling.
Notably, the control mechanism 6 includes the spout 61, the rotating electrical machines 62 are installed to outer wall one side of spout 61, the output shaft activity of rotating electrical machines 62 runs through to spout 61 inner wall one side, and be connected with the one end of screw 63, the other end of screw 63 passes through the bearing rotation and connects at spout 61's inner wall opposite side, screw 63 goes up the thread bush and is equipped with slider 64, and slider 64 sliding connection is at spout 61 inner wall, install mounting panel 65 on the slider 64, and laminating between the bottom of mounting panel 65 and spout 61's the outer wall top, the bottom plate 51 is connected in spout 61's one side, servo arm body 1 installs the top at mounting panel 65, rotating electrical machines 62 work drives servo arm body 1 through mounting panel 65 and carries out axial displacement, the location is to waiting the welded part, and still be provided with hoist 7 on the servo arm body 1, hoist 7 includes the davit is fixed connection between davit and the servo arm body 1 to connect, the lantern ring fixed sleeve is established at sleeve 49's extension end outer wall, sleeve 49's one end is hung fixedly through hoist 7.
It is worth noting that, one side of the sliding groove 61 far away from the rotating motor 62 is connected with the base 8, the support table 9 is installed on the base 8, the liquid storage tank 25 is installed on the support table 9, one end of the sleeve column 10 is also connected on the base 8, one end of the sliding arm 11 is slidably connected to the inner wall of the sleeve column 10, the sliding arm 11 is of an L-shaped structure, the other end of the sliding arm 11 is fixedly connected with the second support arm 23, therefore, the problem of one side dislocation cannot occur, the base 8 is fixedly connected with the machine table 31, the drainage groove 13 is connected between the base 51 and the machine table 31, the cooling liquid flows to the drainage groove 13 along the base 51 and is discharged, the limiting sleeve 12 is further connected on the base 8, the limiting sleeve 12 is movably sleeved on the outer wall of the rotating rod 41, and the limiting sleeve 12 is used for carrying out stress support on the rotating rod 41.
An accurate control method of an automatic welding mechanical arm comprises the following steps:
s1, clamping an object to be welded through a three-jaw hydraulic clamp 34 on a rotating shaft 33 and a three-jaw hydraulic clamp 34 on a linkage shaft 55 respectively, adjusting the inner rod of a hydraulic rod 53 to shrink to enable the object to be welded on the rotating shaft 33 and the linkage shaft 55 to be close to each other and attached, controlling a rotating motor 62 to work to drive a servo mechanical arm body 1 to axially displace, enabling the servo mechanical arm body 1 to be positioned at an attached position of the object to be welded, and enabling a welding head 21 to descend to carry out welding operation through longitudinal axis displacement of the servo mechanical arm body 1; the first support arm 22 slides on the second support arm 23 without obstruction, and the sleeve 49 also slides along the second liquid outlet pipe 48 to be adjusted, so that displacement obstruction is not generated;
s2, a rotating shaft 33 at one side drives a three-jaw hydraulic clamp 34 to rotate after the double-shaft motor 32 is started, so that an object to be welded is driven to rotate, and the joint surface of the object to be welded can be circularly moved and uniformly contacted with a welding head 21; when the double-shaft motor 32 is started, the object to be welded is driven to rotate, so that the fixed-point uniform welding effect is realized;
s3, when the welding head 21 on the servo mechanical arm body 1 longitudinally descends, the rack 24 is driven to descend by the first support arm 22 and the second support arm 23, so that the gear 28 is driven to rotate, the one-way valve 27 is opened by the valve rod, the cooling liquid in the liquid storage tank 25 is caused to smoothly flow into the cylinder sleeve 47, otherwise, welding work is not generated when the welding head 21 ascends, and meanwhile, the rack 24 drives the gear 28 to reversely rotate to close the one-way valve 27, so that the cooling liquid is prevented from flowing out; the welding head 21 descends to contact the object to be welded so as to drive the gear 28 to rotate to open the one-way valve 27, and when the welding head 21 ascends, the one-way valve 27 is closed so as to prevent the cooling liquid from continuously flowing out;
s4, the rotating rod 41 is driven by the rotating shaft 33 at the other side to rotate during the rotation of the double-shaft motor 32, so that the turntable 42 and the two cranks are linked, and the piston head 46 is driven by the push-pull rod 45 to slide in the cylinder sleeve 47, so that extrusion cooling liquid is pumped, the cooling liquid rapidly enters the sleeve 49 along the second liquid outlet pipe 48 and is sprayed to a welding position, chips are prevented from sputtering, overheating of the welding head 21 and the welding surface is avoided, the in-out of the cooling liquid is accurately controlled through the action of the servo mechanical arm body 1, and waste is avoided; the push-pull rod 45 drives the piston head 46 to slide in the cylinder sleeve 47 to suck and squeeze flowing cooling liquid, and the cooling liquid is accelerated to enter the sleeve along the liquid outlet pipe II 48, so that the cooling liquid is sprayed to a welding position to prevent fragments from being sputtered, and the welding head 21 and a welding surface are prevented from being overheated.
According to the working principle, at least two objects to be welded are clamped and aligned through the three-jaw hydraulic clamps 34 on two sides, the adjusting hydraulic rod 53 stretches and contracts to enable the objects to be welded on the support plate 54 to approach and attach to the objects to be welded on the double-shaft motor 32, the rotating motor 62 works to drive the screw 63 to rotate and enable the sliding block 64 to slide along the inner wall of the sliding groove 61, then the mounting plate 65 drives the servo mechanical arm body 1 to axially displace, the welding head 21 on the servo mechanical arm body 1 is located at the attaching position of the objects to be welded, during the moving of the servo mechanical arm body 1, the first support arm 22 slides on the second support arm 23 without obstruction, meanwhile the sleeve 49 also carries out sliding adjustment along the second liquid outlet pipe 48 without displacement obstruction, the servo mechanical arm body 1 carries out displacement adjustment on the longitudinal axis through the self assembly to lift the welding head 21, and the welding head 21 descends to contact the attaching surface of the objects to be welded to carry out welding operation.
When the double-shaft motor 32 is started, the rotating shaft 33 at one side drives the three-jaw hydraulic clamp 34 to rotate, so that the objects to be welded are driven to rotate, and at the moment, the joint surfaces of the two objects to be welded are locally spot-welded together through the welding head 21, so that the two objects to be welded can rotate simultaneously, the joint surfaces move circularly and contact the welding head 21, and the effect of fixed-point uniform welding is realized;
when the welding head 21 on the servo mechanical arm body 1 longitudinally descends, the first support arm 22 and the second support arm 23 drive the rack 24 to descend along with the descending, so that the gear 28 is driven to rotate, the valve rod is driven to rotate and the one-way valve 27 is opened, cooling liquid in the liquid storage tank 25 smoothly flows into the cylinder sleeve 47 along the first liquid outlet pipe 26, the rotating shaft 33 on the other side drives the rotating rod 41 to rotate during rotation of the double-shaft motor 32, the turntable 42 and the two cranks are linked, the piston head 46 is driven by the push-pull rod 45 to slide in the cylinder sleeve 47 to suck and squeeze flowing cooling liquid, the cooling liquid is accelerated to enter the sleeve 49 along the second liquid outlet pipe 48, the waterproof film avoids overflowing leakage of the cooling liquid, finally, the cooling liquid is sprayed to a welding position to prevent fragments from being sputtered, one end of the sleeve 49 is suspended and fixed through the lifting appliance 7, and only moves along the servo mechanical arm body 1 along the transverse axis, so that the problem of blocking cannot occur.
When the welding head 21 on the servo mechanical arm body 1 rises, the welding work is completed, at the moment, the rack 24 rises and drives the gear 28 to rotate reversely, so that the check valve 27 is closed to prevent the cooling liquid from continuously flowing out, after the double-shaft motor 32 stops, the piston head 46 does not work any more, and therefore the cooling liquid output is stopped, for example, in the multi-point welding process, even if the double-shaft motor 32 does not stop, when the axial displacement of the servo mechanical arm body 1 changes the welding point position, the check valve 27 is closed as long as the welding head 21 rises away from an object, the cooling liquid cannot flow in the cylinder sleeve 47, no liquid leakage phenomenon can be generated, the cooling liquid is accurately controlled to come in and go out through the action of the servo mechanical arm body 1, and waste is avoided.
The sprayed cooling liquid falls between the two guide plates 52 and flows to the drainage groove 13 along the bottom plate 51 and is discharged, the problem of water accumulation is avoided, so that the hydraulic rod 53 is prevented from generating the problem of water soaking, the machine table 31 supports and installs the double-shaft motor 32, the support table 9 supports and installs the liquid storage tank 25, the sliding arm 11 and the support arm II 23 are fixed, the problem of dislocation of one side is avoided, the rack 24 can be stably meshed on the gear 28, meanwhile, the sliding arm 11 follows the support arm to lift in the sleeve column 10 to carry out limiting sliding, and the limiting sleeve 12 is used for carrying out stress support on the rotating rod 41, so that structural damage is avoided due to suspension stress at one end of the rotating rod 41.
The scheme relates to a YCT series speed regulating motor produced by Shanghai maple letter transmission machinery company, and a matched circuit and a power supply are also provided by the manufacturer; in addition, the present case relates to the servo mechanical arm body 1, the three-jaw hydraulic clamp 34, the circuit, the electronic components and the modules, which are all in the prior art, and can be completely realized by a person skilled in the art without redundancy, and the equipment in the prior art is not limited to be unique, and can be used for replacing any equipment model which meets the characteristics of the present case in the market.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (7)
1. An automatic welding mechanical arm comprises a servo mechanical arm body (1), and is characterized in that: the servo mechanical arm body (1) is provided with a liquid control mechanism (2), and a one-way valve (27) for adjusting cooling liquid along with the movement of the servo mechanical arm body (1) is opened and closed;
the infusion mechanism (4) is used for controlling the conveying efficiency of the cooling liquid;
the driving mechanism (3) is used for stably clamping the object, controlling the object to rotate circumferentially to achieve the aim of uniform welding surface and controlling the transfusion mechanism (4) to work;
the clamping mechanism (5) is used for stably clamping the object to be welded and carrying out matching adjustment according to the size of the object to be welded;
the control mechanism (6) is used for controlling the servo mechanical arm body (1) to axially displace so as to realize spot welding in a machining area;
the liquid control mechanism (2) comprises a welding head (21) and a liquid storage tank (25), the welding head (21) is arranged on a servo mechanical arm body (1), one end of a first support arm (22) is connected to the welding head (21), the inner wall of the first support arm (22) is connected with a second support arm (23) in a sliding mode, one end, far away from the first support arm (22), of the second support arm (23) is integrally connected with a rack (24), one end, communicated with a liquid outlet pipe (26), of the liquid storage tank (25), a one-way valve (27) is arranged on the other end of the liquid outlet pipe (26), a gear (28) is sleeved on a valve rod of the one-way valve (27), the gear (28) is meshed with the rack (24), the driving mechanism (3) comprises a machine table (31), two output ends of the two-shaft motor (32) are connected with rotating shafts (33);
the infusion mechanism is characterized in that a three-jaw hydraulic clamp (34) is arranged on a rotating shaft (33) on one side of the double-shaft motor (32), the infusion mechanism (4) comprises a rotating rod (41), one end of the rotating rod (41) is connected to the rotating shaft (33) on the other side of the double-shaft motor (32) through a coupling, a rotating disc (42) is connected to the other end of the rotating rod (41), one side, far away from the rotating rod (41), of the rotating disc (42) is hinged with one end of a crank I (43) through a bolt, the other end of the crank I (43) is hinged with one end of a crank II (44) through a bolt, a groove is formed in the other end of the crank II (44), the inner wall of the groove is hinged with one end of a push-pull rod (45) through a bolt, and a piston head (46) is connected to the other end of the push-pull rod (45);
the liquid outlet pipe I (26) is connected with a cylinder sleeve (47) through a one-way valve (27) and is communicated with the cylinder sleeve, the piston head (46) is connected to the inner wall of the cylinder sleeve (47) in a sliding mode, one side, away from the one-way valve (27), of the cylinder sleeve (47) is connected with one end of a liquid outlet pipe II (48) and is communicated with the liquid outlet pipe II, a sleeve (49) is sleeved on the other end of the liquid outlet pipe II (48) in a sliding mode, and a waterproof membrane is arranged between the inner wall of the sleeve (49) and the outer wall of the liquid outlet pipe II (48) and is attached through the waterproof membrane.
2. An automated welding robot as recited in claim 1, wherein: the clamping mechanism (5) comprises a bottom plate (51), two guide plates (52) are symmetrically arranged on the bottom plate (51), a hydraulic rod (53) is arranged between the guide plates (52), a support plate (54) is connected to the inner rod of the hydraulic rod (53), the support plate (54) is slidably connected between the two guide plates (52), one end of a linkage shaft (55) is rotatably connected to the support plate (54) through a bearing, another three-jaw hydraulic clamp (34) is arranged on the other end of the linkage shaft (55), and one end of a sleeve (49) away from a liquid outlet pipe II (48) extends to the upper portion of the hydraulic rod (53).
3. An automated welding robot as recited in claim 2, wherein: the control mechanism (6) comprises a sliding groove (61), a rotating motor (62) is installed on one side of the outer wall of the sliding groove (61), an output shaft of the rotating motor (62) movably penetrates through one side of the inner wall of the sliding groove (61) and is connected with one end of a screw rod (63), the other end of the screw rod (63) is rotatably connected to the other side of the inner wall of the sliding groove (61) through a bearing, a sliding block (64) is sleeved on the screw rod (63) in a threaded mode, the sliding block (64) is slidably connected to the inner wall of the sliding groove (61), a mounting plate (65) is installed on the sliding block (64), the bottom of the mounting plate (65) is attached to the top of the outer wall of the sliding groove (61), and the bottom plate (51) is connected to one side of the sliding groove (61).
4. An automated welding robot as recited in claim 3, wherein: the servo mechanical arm body (1) is installed at the top of the mounting plate (65), and the servo mechanical arm body (1) is further provided with a lifting appliance (7), the lifting appliance (7) comprises a suspension arm and a lantern ring which are integrally connected, the suspension arm is fixedly connected with the servo mechanical arm body (1), and the lantern ring is fixedly sleeved on the outer wall of the extending end of the sleeve (49).
5. An automated welding robot as recited in claim 3, wherein: one side that rotating electrical machines (62) were kept away from to spout (61) is connected with base (8), install on base (8) and prop up platform (9), install on prop up platform (9) liquid reserve tank (25), still be connected with the one end of cover post (10) on base (8), the inner wall sliding connection of cover post (10) has the one end of arm (11), arm (11) are L type structure, and fixed connection between the other end of arm (11) and support arm two (23).
6. An automated welding robot as recited in claim 5, wherein: the novel rotary table is characterized in that the base (8) is fixedly connected with the machine table (31), a drainage groove (13) is connected between the bottom plate (51) and the machine table (31), the base (8) is further connected with a limiting sleeve (12), and the limiting sleeve (12) is movably sleeved on the outer wall of the rotary rod (41).
7. A precise control method of an automatic welding robot arm for an automatic welding robot arm as claimed in claim 6, comprising the steps of:
s1, clamping an object to be welded through a three-jaw hydraulic clamp (34) on a rotating shaft (33) and a three-jaw hydraulic clamp (34) on a linkage shaft (55), adjusting the inner rod of a hydraulic rod (53) to shrink, enabling the object to be welded on the rotating shaft (33) and the linkage shaft (55) to be close to each other and attached, controlling a rotating motor (62) to work so as to drive a servo mechanical arm body (1) to axially displace, enabling the servo mechanical arm body (1) to be positioned at the attached position of the object to be welded, and enabling a welding head (21) to descend for welding through longitudinal axis displacement of the servo mechanical arm body (1);
s2, a rotating shaft (33) at one side of the double-shaft motor (32) drives a three-jaw hydraulic clamp (34) to rotate after being started, so that an object to be welded is driven to rotate, and the joint surface of the object to be welded can be circularly moved and uniformly contacted with a welding joint (21);
s3, when the welding head (21) on the servo mechanical arm body (1) longitudinally descends, the rack (24) is driven to descend by the first support arm (22) and the second support arm (23), so that the gear (28) is driven to rotate, the one-way valve (27) is opened by the valve rod, cooling liquid in the liquid storage tank (25) is caused to smoothly flow into the cylinder sleeve (47), otherwise, welding work is not generated when the welding head (21) ascends, and meanwhile, the rack (24) drives the gear (28) to reversely close the one-way valve (27);
s4, the rotating rod (41) is driven to rotate by the rotating shaft (33) at the other side during the rotation of the double-shaft motor (32), so that the turntable (42) and the two cranks are linked, the piston head (46) is driven to slide in the cylinder sleeve (47) through the push-pull rod (45) to suck cooling liquid, and the cooling liquid enters the sleeve (49) along the liquid outlet pipe II (48) and is sprayed to a welding position.
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| CN202311605731.4A CN117300459B (en) | 2023-11-29 | 2023-11-29 | Automatic welding mechanical arm and accurate control method |
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| CN202311605731.4A CN117300459B (en) | 2023-11-29 | 2023-11-29 | Automatic welding mechanical arm and accurate control method |
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