CN117359656A

CN117359656A - Welding polishing robot

Info

Publication number: CN117359656A
Application number: CN202311418179.8A
Authority: CN
Inventors: 罗勇; 潘俊武; 叶丹; 何朝辉
Original assignee: Guangzhou Wusuo Environmental Equipment Co ltd
Current assignee: Guangzhou Wusuo Environmental Equipment Co ltd
Priority date: 2023-10-30
Filing date: 2023-10-30
Publication date: 2024-01-09

Abstract

The application relates to a welding and polishing robot, which comprises a base; the mechanical arm is arranged on the base and is used for providing moving force; the link mechanism is arranged at the tail end of the mechanical arm; a welding mechanism disposed on the link mechanism and configured to perform a welding process; and a polishing mechanism disposed on the link mechanism and configured to perform polishing processing. Compared with the prior art, in the scheme, the welding mechanism and the polishing mechanism are integrally configured on the same mechanical arm through the linking mechanism and are fixedly loaded through the same base, so that the robot has the welding and polishing double-processing capacity, the welding and polishing integrated design is realized, the number of the robots is reduced, the equipment cost and the occupied space of a site are reduced, the welding and polishing two processing procedures are continuously and compactly completed, the time consumption of processing intermittence is reduced, and the production efficiency is improved.

Description

Welding polishing robot

Technical Field

The application relates to the technical field of automatic processing robots, in particular to a welding polishing robot.

Background

At present, in industries such as manufacturing industry, the processing of products often involves the steps of welding and assembling parts and polishing and flattening welded parts. In order to meet the requirements of two processing procedures of part welding and polishing, two robot devices of a welding robot and a polishing robot are generally required to be configured at the same time, so that the robot is high in configuration quantity, high in equipment cost and large in occupied space, meanwhile, a product flow needs to consume a certain time for welding and polishing two stations, processing intermittence is caused, and production efficiency can be affected to a certain extent due to the existence of the processing intermittence.

Disclosure of Invention

Based on the problems, the welding polishing robot is necessary to solve the problems of high equipment cost, large occupied area and influence on production efficiency.

The application provides a welding grinding robot, it includes:

a base;

the mechanical arm is arranged on the base and is used for providing moving force;

the link mechanism is arranged at the tail end of the mechanical arm;

a welding mechanism disposed on the link mechanism and configured to perform a welding process; the method comprises the steps of,

and the polishing mechanism is arranged on the link mechanism and is used for polishing.

When the welding polishing robot of the scheme works, after a product to be processed is placed in a processing station, the mechanical arm is started to output a moving force, the linking mechanism, the welding mechanism and the polishing mechanism are driven to synchronously enter the processing station, and the welding mechanism is adjusted to be in contact with the product to be processed first, so that the welding processing of the product to be processed is finished first, then the mechanical arm moves the welding mechanism to leave the product to be processed through the linking mechanism again, the polishing mechanism is in contact with a welding part on the product to be processed, and the polishing processing of the welding part is finished through the polishing mechanism. Compared with the prior art, in the scheme, the welding mechanism and the polishing mechanism are integrally configured on the same mechanical arm through the linking mechanism and are fixedly loaded through the same base, so that the robot has the welding and polishing double-processing capacity, the welding and polishing integrated design is realized, the number of the robots is reduced, the equipment cost and the occupied space of a site are reduced, the welding and polishing two processing procedures are continuously and compactly completed, the time consumption of processing intermittence is reduced, and the production efficiency is improved.

The technical scheme of the application is further described below:

in one embodiment, the linking mechanism comprises a connecting rod and a loading plate, one end of the connecting rod is connected with the tail end of the mechanical arm, the other end of the connecting rod is connected with the loading plate, the welding mechanism is configured at one end of the loading plate in the length direction, the polishing mechanism is configured at the other end of the loading plate in the length direction, and the polishing mechanism and the welding mechanism are arranged at intervals.

In one embodiment, the polishing mechanism comprises a polishing seat body, the polishing seat body is provided with a first flange plate, the loading plate is provided with a second flange plate, and the second flange plate is detachably connected with the first flange plate.

In one embodiment, the welding mechanism comprises a welding seat body, the welding seat body is provided with a third flange, the loading plate is provided with a fourth flange, and the fourth flange is detachably connected with the third flange.

In one embodiment, the polishing mechanism further comprises a telescopic driver, a polishing motor and a polishing sheet, wherein the telescopic driver is arranged on the polishing base, a telescopic shaft of the telescopic driver is connected with the polishing motor, and a driving shaft of the polishing motor is connected with the polishing sheet.

In one embodiment, the polishing mechanism further comprises an elastic assembly, wherein the elastic assembly is connected with the telescopic shaft of the telescopic driver, and the elastic assembly is connected with the polishing motor.

In one embodiment, the grinding mechanism further comprises a grinding depth adjusting rod connected between the telescopic driver and the elastic assembly.

In one embodiment, the welding mechanism further comprises a welding gun, wherein the welding gun is arranged on the welding seat body, and the welding gun is provided with a welding gun nozzle.

In one embodiment, the welding gun is provided with a switch key, a cable and an air pipe.

In one embodiment, the robotic arm is configured as a multi-axis robotic arm.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application.

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a welding grinding robot according to an embodiment of the present application.

Fig. 2 is a partially enlarged structural view at a in fig. 1.

Fig. 3 is a schematic structural diagram of another view of fig. 1.

Fig. 4 is a partially enlarged structural view at B in fig. 3.

Reference numerals illustrate:

100. welding a polishing robot; 10. a base; 20. a mechanical arm; 30. a link mechanism; 31. a connecting rod; 32. a loading plate; 321. a second flange; 322. a fourth flange; 40. a welding mechanism; 41. a welding seat body; 411. a third flange; 42. a welding gun; 43. a welding gun nozzle; 44. a switching key; 50. a polishing mechanism; 51. polishing the base body; 511. a first flange; 52. a telescopic drive; 53. polishing a motor; 54. polishing the sheet; 55. an elastic component; 56. and (5) grinding the depth adjusting rod.

Detailed Description

In order to make the above objects, features and advantages of the present application more 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 application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that, if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., these terms refer to the orientation or positional relationship based on the drawings, which are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.

In this application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, the two parts can be fixedly connected, detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.

Referring to fig. 1 and 3, a welding and polishing robot 100 according to an embodiment of the present application includes a base 10, a mechanical arm 20, a link mechanism 30, a welding mechanism 40, and a polishing mechanism 50.

Wherein the base 10 plays the role of the entire welding sanding robot 100 carrying a substrate. The base 10 may be of a fixed design, for example, the base 10 may be of a box-type structure having a certain weight, according to practical needs. Alternatively, the base 10 may be of a removable design, for example, the bottom of the base 10 is provided with moving parts such as rollers, tracks, etc. In this embodiment, in order to ensure that the welding and polishing robot 100 works stably and reliably in the work site, the base 10 is of a fixed design.

The mechanical arm 20 is mounted on the base 10, and the mechanical arm 20 is used for providing a moving force. Specifically, the robot arm 20 in the present embodiment is provided as a multi-axis robot arm. For example, the multi-axis robot may be any one of a three-axis robot, a five-axis robot, a six-axis robot, and the like. The multi-axis mechanical arm is arranged, so that the rotation and movement degrees of freedom in multi-axis directions can be provided, and the welding mechanism 40 and the polishing mechanism 50 can move flexibly in space, so that the welding and polishing requirements of various products with various shapes and different positions on the products are met.

It will be appreciated that the welding mechanism 40 may function by welding two separate components together, or by filling gaps between the different components that were otherwise integrally connected, etc. The polishing mechanism 50 is used for polishing the structures such as the bulges, burrs and the like formed after welding processing to be smooth so as to improve the appearance and the safety of the product.

The link mechanism 30 is mounted on the distal end of the robot arm 20, the welding mechanism 40 is disposed on the link mechanism 30 for performing a welding process, and the polishing mechanism 50 is disposed on the link mechanism 30 for performing a polishing process.

In summary, implementing the technical scheme of the embodiment has the following beneficial effects: when the welding and polishing robot 100 of the above scheme works, after a product to be processed is placed at a processing station, the mechanical arm 20 is started to output a moving force, so as to drive the link mechanism 30, the welding mechanism 40 and the polishing mechanism 50 to synchronously enter the processing station, and the welding mechanism 40 is adjusted to be in contact with the product to be processed first, so that the welding process of the product to be processed is finished first, then the mechanical arm 20 moves the welding mechanism 40 again through the link mechanism 30 to leave the product to be processed, so that the polishing mechanism 50 is in contact with a welding part on the product to be processed, and the polishing process of the welding part is finished through the polishing mechanism 50. Compared with the prior art, in the scheme, the welding mechanism 40 and the polishing mechanism 50 are integrally arranged on the same mechanical arm 20 through the linking mechanism 30 and are fixedly loaded through the same base 10, so that the robot has the welding and polishing double-processing capability, the welding and polishing integrated design is realized, the number of the robots is reduced, the equipment cost and the occupied space of a site are reduced, and the welding and polishing two processing procedures are continuously and compactly completed, the intermittent time consumption of processing is reduced, and the production efficiency is improved.

With continued reference to fig. 2 and 4, in some alternative embodiments, the link mechanism 30 includes a connecting rod 31 and a loading plate 32, one end of the connecting rod 31 is connected to the end of the mechanical arm 20, the other end of the connecting rod 31 is connected to the loading plate 32, the welding mechanism 40 is disposed at one end of the loading plate 32 in the length direction, the polishing mechanism 50 is disposed at the other end of the loading plate 32 in the length direction, and the polishing mechanism 50 is spaced from the welding mechanism 40.

The connecting rod 31 has a certain length, so that the welding mechanism 40 and the polishing mechanism 50 after being installed can form a sufficient safe distance with the mechanical arm 20, and collision interference with the mechanical arm 20 during processing movement of the welding mechanism 40 and the polishing mechanism 50 is avoided. Further, the welding mechanism 40 and the polishing mechanism 50 are respectively mounted at two opposite ends of the loading plate 32 in the length direction, and the two are arranged at intervals, and can also form a safety interval with each other, when the welding mechanism 40 and the polishing mechanism 50 are switched to be matched with a product to be processed for processing, one of the welding mechanism 40 and the polishing mechanism 50 in a non-processing state can be completely far away from the product to be processed, so that interference problems are avoided.

With continued reference to fig. 2 and 4, in addition, in any of the above embodiments, the polishing mechanism 50 includes a polishing base 51, the polishing base 51 is provided with a first flange 511, the loading plate 32 is provided with a second flange 321, and the second flange 321 is detachably connected to the first flange 511. Further, the welding mechanism 40 includes a welding base 41, the welding base 41 is provided with a third flange 411, the loading plate 32 is provided with a fourth flange 322, and the fourth flange 322 is detachably connected with the third flange 411.

Taking the polishing seat body 51 as an example, the first flange 511 and the second flange 321 can be locked and assembled or quickly disassembled and separated through bolts, so that the assembly and disassembly difficulty and time consumption of the polishing mechanism 50 are reduced, different polishing mechanisms 50 can be flexibly and quickly replaced according to the processing requirements of different products to be processed, and the processing applicability of the welding polishing robot 100 is improved. The welding mechanism 40 has substantially the same technical effect and is not described herein.

Of course, in other embodiments, the assembly connection between the polishing base 51 and the loading plate 32 and between the welding base 41 and the loading plate 32 may be realized by one or a combination of at least two of the above manners, which are also within the scope of protection of the present application.

With continued reference to fig. 2, the polishing mechanism 50 further includes a telescopic driver 52, a polishing motor 53 and a polishing plate 54, where the telescopic driver 52 is disposed on the polishing base 51, and a telescopic shaft of the telescopic driver 52 is connected to the polishing motor 53, and a driving shaft of the polishing motor 53 is connected to the polishing plate 54.

Specifically, the telescopic driver 52 adopts a telescopic cylinder, and the telescopic cylinder can drive the polishing motor 53 to drive the polishing sheet 54 to be close to a product to be processed so as to polish the product to be processed, or drive the polishing motor 53 to drive the polishing sheet 54 to be far away from the product to be processed, so that the back-off after the polishing process is finished is realized. The polishing motor 53 is used for driving the polishing sheet 54 to rotate at a high speed, so that the polishing sheet 54 completes polishing operation of high efficiency and high quality on a product to be processed.

In this embodiment, the sanding plate 54 is a grinding wheel or similar component capable of performing a sanding function. The polishing sheet 54 may be a flat plate structure or a ring structure, and can be used for effectively polishing the surface, the concave-convex surface, the corner and other parts of the product to be processed, thereby improving the processing capability of the polishing mechanism 50.

With continued reference to fig. 2, further, the polishing mechanism 50 further includes an elastic assembly 55, the elastic assembly 55 is connected to the telescopic shaft of the telescopic driver 52, and the elastic assembly 55 is connected to the polishing motor 53. The elastic component 55 enables the polishing mechanism 50 to elastically compress the product to be processed, so that the polishing effect of the polishing mechanism 50 is ensured, and meanwhile, the phenomenon that the product to be processed is crushed due to hard extrusion of the polishing sheet 54 is avoided. In addition, the elastic component 55 also plays a role in buffering at the moment that the mechanical arm 20 drives the polishing mechanism 50 to contact the product to be processed, so that the polishing sheet 54 is prevented from damaging the surface of the product.

Alternatively, the elastic component 55 may be any one or a combination of at least two of a spring, a shrapnel, an elastic column, and the like.

Furthermore, in still other alternative embodiments, grinding mechanism 50 further includes a depth adjustment lever 56, depth adjustment lever 56 being coupled between telescoping drive 52 and resilient assembly 55. The grinding depth adjusting rod 56 can specifically adopt any one of a threaded rod, a telescopic rod and the like, and when the grinding depth adjusting rod 56 is operated, the length of the grinding sheet 54 extending out of the grinding seat body 51 can be adjusted, so that the adjustment of the grinding depth is realized.

In addition to any of the above embodiments, the welding mechanism 40 further includes a welding gun 42, the welding gun 42 is disposed on the welding base 41, and the welding gun 42 is provided with a welding gun nozzle 43. During processing, the welding gun 42 heats the welding gun nozzle 43, and the welding gun nozzle 43 with high temperature can weld the product to be processed.

Further, the welding gun 42 is provided with a switch 44, a cable and an air pipe. The operation switch 44 can switch the on or off state of the welding gun 42. The cable is used for communicating an external power source with the welding gun 42 to supply power to the welding gun 42 so as to enable the welding gun nozzle 43 to generate high temperature. The air pipe is used for sucking toxic and harmful waste gas generated during welding processing, so that the environmental sanitation and the health of surrounding personnel are ensured.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A welding grinding robot, comprising:

a base;

the link mechanism is arranged at the tail end of the mechanical arm;

2. The welding and polishing robot as recited in claim 1, wherein the link mechanism includes a connection rod and a loading plate, one end of the connection rod is connected to a distal end of the mechanical arm, the other end of the connection rod is connected to the loading plate, the welding mechanism is disposed at one end of the loading plate in a longitudinal direction, the polishing mechanism is disposed at the other end of the loading plate in the longitudinal direction, and the polishing mechanism is disposed at a spacing from the welding mechanism.

3. The welding grinding robot of claim 2, wherein the grinding mechanism includes a grinding housing having a first flange, and the loading plate has a second flange removably coupled to the first flange.

4. A welding grinding robot as recited in claim 3, wherein said welding mechanism includes a weld receptacle having a third flange, said load plate having a fourth flange, said fourth flange being removably connected to said third flange.

5. The welding grinding robot of claim 3, wherein the grinding mechanism further comprises a telescopic driver, a grinding motor and a grinding sheet, the telescopic driver is arranged on the grinding base body, a telescopic shaft of the telescopic driver is connected with the grinding motor, and a driving shaft of the grinding motor is connected with the grinding sheet.

6. The welding grinding robot of claim 5, wherein the grinding mechanism further comprises an elastic assembly connected to the telescoping shaft of the telescoping drive, the elastic assembly connected to the grinding motor.

7. The welding grinding robot as recited in claim 6, wherein said grinding mechanism further includes a depth adjustment lever connected between said telescoping drive and said elastic assembly.

8. The welding grinding robot of claim 4, wherein the welding mechanism further comprises a welding gun disposed on the weld base body, and the welding gun is provided with a welding gun nozzle.

9. The welding and polishing robot of claim 8, wherein the welding gun is configured with a switch key, a cable, and an air tube.

10. The welding grinding robot of claim 1, wherein the robotic arm is configured as a multi-axis robotic arm.