CN118268802B

CN118268802B - High-precision welding robot

Info

Publication number: CN118268802B
Application number: CN202410480578.5A
Authority: CN
Inventors: 张正峰; 缪鑫
Original assignee: Jzj Robot Co ltd
Current assignee: Jzj Robot Co ltd
Priority date: 2024-04-22
Filing date: 2024-04-22
Publication date: 2024-09-06
Anticipated expiration: 2044-04-22
Also published as: CN118268802A

Abstract

The invention discloses a high-precision welding robot, relates to the technical field of welding, and solves the problems that the conventional welding robot is difficult to realize continuous processing of a workpiece to be welded and high-precision welding of an arc-shaped surface or an inclined surface when the workpiece to be welded is processed. This high accuracy welding robot includes the loading table, still includes: a welding mechanical structure, a clamping and positioning structure and a material conveying structure; according to the invention, the driving component drives the fixing component to rotate ninety degrees, so that the fixing component can rotate to the position right above the material conveying structure, a new workpiece to be welded is taken, meanwhile, the turntable can rotate a designated angle along with the rotation of the fixing component, so that the workpiece after the last group of welding is rotated to the next station, and the new workpiece to be welded can rotate to the station during the last group of welding, thereby realizing automatic compensation, ensuring that the whole processing flow is smoother, saving the processing efficiency and improving the use effect.

Description

High-precision welding robot

Technical Field

The invention relates to the technical field of welding, in particular to a high-precision welding robot.

Background

Welding technology is an indispensable work in various manufacturing fields, in which welding robots are widely used in order to reduce manpower.

The current chinese patent of publication No. CN113001073B discloses a high accuracy automatic welding robot, and the device reasonable in design drives the apron through the second motor and upwards moves, and first motor drives the spray gun and slides along first slide bar, and then conveniently welds the article of different positions.

However, the welding robot still has the following drawbacks when in specific use:

1. When the welding robot is used for processing a workpiece to be welded, although the high-precision position adjustment of a spray gun (welding gun) is realized through various adjusting structures, after the welding of the workpiece to be welded is finished, continuous processing (such as feeding, clamping, unloading and the like) of the workpiece to be welded is difficult to realize, so that the final welding efficiency is low, the production and processing of the whole parts are influenced, and improvement is needed;

2. When the welding robot is used for different welding workpieces, the welding robot is difficult to realize high-precision welding of the arc surface or the inclined surface when the welding robot faces the welding workpieces with the inclined surface or the arc surface due to different sizes and types of the welding workpieces, and the whole welding precision is still not high enough when the welding robot is used for such welding workpieces, and the final welding finished product is easily influenced.

Disclosure of Invention

The present invention is directed to a high-precision welding robot, which solves the problems set forth in the background art.

In order to achieve the aim of the invention, the invention adopts the following technical scheme:

The high-precision welding robot comprises a bearing workbench, wherein universal wheels are arranged at four corners of the bottom of the bearing workbench;

Further, the high-precision welding robot further includes:

a welding mechanical structure, a clamping and positioning structure and a material conveying structure;

Wherein,

The welding mechanical structure and the clamping and positioning structure are arranged at the top of the bearing workbench, and the material conveying structure is arranged at one side above the bearing workbench;

the welding mechanism includes:

the first rotating shaft is rotationally connected to the top of the bearing workbench;

the chassis is coaxially fixed at the top end of the first rotating shaft;

The bearing frame is fixed on the top of the chassis;

the multidirectional rotating assembly is arranged on the bearing frame;

the fixing assembly is connected with the multidirectional rotating assembly and used for fixing the welding gun; the multidirectional rotating assembly is used for driving the fixed assembly to conduct angle adjustment;

the lifting assembly is arranged at the top of the chassis and used for driving the multidirectional rotating assembly and the fixing assembly to lift;

The driving assembly is arranged at the top of the bearing workbench and used for driving the chassis to rotate;

The clamping and positioning structure comprises:

the rotary table, a plurality of passive clamping pieces which are arranged on the rotary table at equal intervals along the circumferential direction of the top of the rotary table, and an active clamping piece which is arranged at the center of the top of the rotary table; the opposite angles of every two adjacent passive clamping pieces are connected through a linkage piece.

Preferably, the lifting assembly includes:

The device comprises a fifth motor, a first rotating rod, a second rotating rod, a first right-angle gear, a first threaded rod, a lifting plate, a sliding block and a sliding table;

Wherein,

The utility model discloses a motor, including chassis, first bull stick, second bull stick, third motor, fourth motor, fifth motor, fourth motor, fifth motor is installed in the top of chassis, first bull stick and second bull stick all rotate and are connected in the top of chassis, and be connected between the output of fifth motor and the first bull stick, all cup jointed intermeshing's first right-angle gear on first bull stick and the second bull stick, and the top of second bull stick is fixed with first threaded rod, and the outside threaded connection of first threaded rod has the lifter plate, fixed between the bottom of lifter plate's top and support frame, the slip table is fixed in the side of bearing frame, and slider sliding connection is on the slip table, fixed between the side of slider and the side of lifter plate.

Preferably, the multi-directional rotating assembly includes:

The device comprises a support frame, a first connecting arm and a first motor; the device comprises a mounting plate, a second connecting arm and a second motor; the device comprises a mounting frame, a third motor, a synchronous belt transmission structure and a fourth motor;

Wherein,

The first connecting arm is rotatably connected to the support frame, the first motor is mounted on the support frame, and the output end of the first motor is connected with the rotating shaft of the first connecting arm;

The mounting plate is fixed on the first connecting arm, the mounting plate is rotationally connected with the second connecting arm, the mounting plate is also provided with a second motor, and the output end of the second motor is connected with the rotating shaft of the second connecting arm;

The mounting frame is rotationally connected to the second connecting arm, a third motor is mounted on the second connecting arm, the third motor drives the mounting frame to rotate through a synchronous belt transmission structure, and a fourth motor is mounted on the mounting frame.

Preferably, the fixing assembly includes:

The welding gun comprises a connecting plate, a welding gun and a vacuum chuck;

Wherein,

The connecting plate is connected with the output end of the fifth motor, the welding gun is arranged in the middle of the connecting plate, and the vacuum suction cups are at least provided with four and are symmetrically arranged on two sides of the connecting plate.

Preferably, the driving assembly includes:

The device comprises a sixth motor, a third rotating rod, a second right-angle gear and a third right-angle gear;

Wherein,

The sixth motor is installed in the top of plummer, the third bull stick rotates to be connected in the top of plummer, and the output of sixth motor is connected with the top of third bull stick, the outside at the third bull stick is cup jointed to the second right angle gear, the outside at first pivot is cup jointed to the third right angle gear.

Preferably, the bottom of carousel is provided with one-way drive piece, one-way drive piece includes:

the device comprises a third rotating shaft, a rotating box, an elastic piece, a pawl, a fourth rotating shaft, a ratchet wheel and a fifth right-angle gear;

Wherein,

The third rotating shaft is rotationally connected to the bearing workbench, the top end of the third rotating shaft is connected with the bottom end of the rotating box, the elastic piece is arranged on the inner side wall of the rotating box, the pawl is rotationally connected to the inner bottom end of the rotating box and matched with the elastic piece, the fourth rotating shaft is rotationally connected to the middle of the bottom end in the rotating box, the ratchet wheel is sleeved on the outer portion of the fourth rotating shaft and matched with the pawl, and the fifth right-angle gear is sleeved on the outer portion of the rotating box and meshed with the third right-angle gear.

Preferably, the material conveying structure comprises:

two conveyor belts and two shielding plates;

wherein, two shielding plates respectively with two drive belt between the one-to-one, and two shielding plates set up respectively in the opposite end of two drive belts.

Preferably, the active clamping member and the passive clamping member each include two clamping portions disposed opposite to each other, and each clamping portion includes:

the device comprises a guide rod, a sliding plate, a bottom plate, a clamping block, an elastic pad and a connecting rod;

Wherein,

The guide rod is fixed at the top of the turntable, the sliding plate is arranged outside the guide rod in a sliding way, the bottom plate is fixed at the bottom of the sliding plate, the clamping block is arranged at one side of the sliding plate, the other side of the clamping block is connected with the elastic pad, and the connecting rod is used for connecting the bottom plates in the driving clamping piece and the driven clamping piece which are parallel to each other;

The active clamp further includes a locking member.

Preferably, the locking member includes:

A fixed plate and a second threaded rod;

Wherein,

The fixed plate is fixed in the top of carousel, and the second threaded rod runs through the fixed plate and with the threaded connection between the fixed plate, rotate between one end of second threaded rod and the slide and be connected.

Preferably, the linkage member includes:

The rack comprises a support plate, a second rotating shaft, a conical gear, a fourth right-angle gear and a rack;

Wherein,

The support plates are fixed at the top of the turntable, two second rotating shafts are arranged on each support plate in a mutually perpendicular mode, the tail ends of the two second rotating shafts are connected with mutually meshed bevel gears, and the two second rotating shafts are sleeved with fourth right-angle gears, and the racks are fixed on the side edges of the bottom plate and meshed with the fourth right-angle gears.

Compared with the prior art, the above technical scheme has the following beneficial effects:

1. In the high-precision welding robot, the plurality of passive clamping pieces are arranged on the turntable, so that the plurality of workpieces to be welded can be synchronously clamped, after the workpieces to be welded in one passive clamping piece are welded, the welded workpieces can be rotated to the next station by rotating the turntable, and the other group of unwelded workpieces can be rotated to the welding point, so that the workpieces after welding can be subjected to subsequent cooling, polishing and other treatments, and the workpieces on the welding point can be subjected to pre-welding treatment (such as checking the defect condition of the welding part of the workpieces), the whole processing structure is more compact, the occupied area is reduced, and the whole processing efficiency is improved;

2. In the high-precision welding robot, when the fixed component is opposite to one of the passive clamping pieces in the turntable, the fixed component can be driven to rotate ninety degrees through the driving component after welding, the fixed component can be rotated to be right above the material conveying structure, so that a new workpiece to be welded is taken, meanwhile, the turntable can rotate a designated angle along with the rotation of the fixed component, so that the workpiece after the last group of welding is rotated to the next station, and the new workpiece to be welded is rotated to the station during the last group of welding, thereby realizing automatic compensation, ensuring that the whole processing flow is smoother, saving the processing efficiency and improving the use effect;

3. In the high-precision welding robot, through mutual matching of the first motor, the second motor, the third motor and the fourth motor, the final fixed assembly can be subjected to multi-angle fine adjustment, and when the welding structure of the inclined plane or the arc-shaped surface is faced, higher-precision welding can be realized through the multidirectional rotating assembly, so that the welding effect when the inclined plane or the arc-shaped surface is welded is improved;

4. In this high accuracy welding robot, after the work piece that treats the welding is carried out the centre gripping through the initiative holder that sets up, it can regard as the centre gripping standard for follow-up and the same work piece that treats of welding can be fast clamped into passive holder in, need not a plurality of passive holders of one-to-one regulation, just can realize through an initiative holder that the centre gripping of a plurality of passive holders is unified, and whole use is more swift convenient.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

Furthermore, the terms "install," "set," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

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

FIG. 2 is a schematic diagram of the front view of the present invention;

FIG. 3 is a schematic view of the welding mechanism of the present invention in cooperation with a unidirectional drive;

FIG. 4 is a schematic view of the welding machine of the present invention;

FIG. 5 is a schematic view of the structure of the lifting assembly and the multidirectional rotation assembly of the present invention in cooperation with each other;

FIG. 6 is a schematic view of a multi-directional rotating assembly according to the present invention;

FIG. 7 is a schematic view of the structure of the lift assembly of the present invention;

FIG. 8 is a schematic structural view of a securing assembly of the present invention;

FIG. 9 is an enlarged view of the invention at A in FIG. 4;

FIG. 10 is a schematic view of the structure of the unidirectional driving member of the present invention;

FIG. 11 is a schematic view of the bottom structure of the rotating case of the present invention;

FIG. 12 is a schematic view of the material handling structure of the present invention;

FIG. 13 is a schematic view of the clamping and positioning assembly of the present invention;

FIG. 14 is an enlarged view of the invention at B in FIG. 13;

FIG. 15 is a schematic view of the structure of the active and passive clamps of the present invention;

FIG. 16 is a schematic view of the structure of the locking element of the present invention;

In the figure:

1. A carrying workbench; 2. welding a mechanical structure;

21. a first rotating shaft; 22. a chassis; 23. a carrier;

24. a multi-directional rotating assembly; 240. a support frame; 241. a first connecting arm; 242. a first motor; 243. a mounting plate; 244. a second connecting arm; 245. a second motor; 246. a mounting frame; 247. a third motor; 248. a synchronous belt transmission structure; 249. a fourth motor;

25. a fixing assembly; 251. a connecting plate; 252. a welding gun; 253. a vacuum chuck;

26. A lifting assembly; 261. a fifth motor; 262. a first rotating lever; 263. a second rotating rod; 264. a first right angle gear; 265. a first threaded rod; 266. a lifting plate; 267. a slide block; 268. a sliding table;

27. a drive assembly; 271. a sixth motor; 272. a third rotating rod; 273. a second right angle gear; 274. a third right angle gear;

3. a clamping and positioning structure; 31. a turntable; 32. a passive clamp; 33. an active clamp;

331. a guide rod; 332. a slide plate; 333. a bottom plate; 334. clamping blocks; 335. an elastic pad; 336. a connecting rod; 337. a locking member; 3371. a fixing plate; 3372. a second threaded rod;

34. a linkage member; 341. a support plate; 342. a second rotating shaft; 343. a bevel gear; 344. a fourth right angle gear; 345. a rack;

35. a unidirectional driving member; 351. a third rotating shaft; 352. rotating the box; 353. an elastic sheet; 354. a pawl; 355. a fourth rotating shaft; 356. a ratchet wheel; 357. a fifth right angle gear;

4. A material conveying structure; 41. a conveyor belt; 42. a shielding plate.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

Referring to fig. 1-16, a high-precision welding robot comprises a carrying workbench 1, wherein universal wheels are arranged at four corners of the bottom of the carrying workbench 1, the whole welding robot can move through the arranged universal wheels, and a locking structure is arranged on the universal wheels so as to be convenient for stopping immediately; correspondingly, in other alternative embodiments, the universal wheel may be replaced with a roller with an electric driving structure, so as to improve the overall automation effect, which is the prior art and will not be described herein again;

The high precision welding robot further includes:

a welding mechanical structure 2, a clamping and positioning structure 3 and a material conveying structure 4;

Wherein,

The welding mechanical structure 2 and the clamping and positioning structure 3 are arranged at the top of the bearing workbench 1, and the material conveying structure 4 is arranged at one side above the bearing workbench 1;

The welding machine structure 2 includes:

The first rotating shaft 21 is rotatably connected to the top of the bearing workbench 1;

a chassis 22 coaxially fixed to the top end of the first rotating shaft 21;

a carrier 23 fixed to the top of the chassis 22;

the multidirectional rotation assembly 24 is arranged on the bearing frame 23;

a fixing assembly 25 connected to the multi-directional rotating assembly 24 for fixing the welding gun 252; the multi-directional rotating assembly 24 is used for driving the fixed assembly 25 to perform angle adjustment;

The lifting assembly 26 is arranged at the top of the chassis 22 and is used for driving the multidirectional rotation assembly 24 and the fixing assembly 25 to lift;

The driving assembly 27 is arranged at the top of the bearing workbench 1 and is used for driving the chassis 22 to rotate;

The clamping and positioning structure 3 comprises:

the rotary table 31, a plurality of passive clamping pieces 32 which are arranged on the rotary table 31 at equal intervals along the circumferential direction of the top of the rotary table 31, and an active clamping piece 33 which is arranged at the center of the top of the rotary table 31; the diagonal corners of each two adjacent passive clamps 32 are connected by a linkage 34.

Further, please refer to fig. 5 and 7, the lifting assembly 26 includes:

a fifth motor 261, a first rotating rod 262, a second rotating rod 263, a first right angle gear 264, a first threaded rod 265, a lifting plate 266, a sliding block 267 and a sliding table 268;

Wherein,

The fifth motor 261 is installed at the top of the chassis 22, the first rotating rod 262 and the second rotating rod 263 are both rotatably connected at the top of the chassis 22, the output end of the fifth motor 261 is connected with the first rotating rod 262, the first rotating rod 262 and the second rotating rod 263 are both sleeved with a first right-angle gear 264 meshed with each other, the top end of the second rotating rod 263 is fixedly provided with a first threaded rod 265, the outer thread of the first threaded rod 265 is connected with a lifting plate 266, the top of the lifting plate 266 is fixed with the bottom of the supporting frame 240, the sliding table 268 is fixed on the side edge of the bearing frame 23, the sliding block 267 is slidably connected on the sliding table 268, and the side edge of the sliding block 267 is fixed with the side edge of the lifting plate 266;

When in use, after the fifth motor 261 is started, the fifth motor 261 drives the first rotating rod 262 to rotate, so that the first right-angle gear 264 on the first rotating rod 262 rotates, and then the first right-angle gear 264 on the second rotating rod 263 rotates, and the second rotating rod 263 also rotates, and then drives the first threaded rod 265 to rotate, and the lifting plate 266 drives the sliding block 267 to rise or fall when the first threaded rod 265 rotates because the whole height of the first threaded rod 265 is kept unchanged, so as to adjust the rising or falling of the whole multidirectional rotating assembly 24 and the fixed assembly 25.

Further, please refer to fig. 5 and 6, the multi-directional rotating assembly 24 includes:

A support frame 240, a first connecting arm 241, a first motor 242; a mounting plate 243, a second connecting arm 244, a second motor 245; a mounting bracket 246, a third motor 247, a timing belt drive 248, and a fourth motor 249;

Wherein,

The first connecting arm 241 is rotatably connected to the support frame 240, and the first motor 242 is mounted on the support frame 240, and an output end of the first motor 242 is connected with a rotating shaft of the first connecting arm 241;

The mounting plate 243 is fixed on the first connecting arm 241, the mounting plate 243 is rotationally connected with the second connecting arm 244, the mounting plate 243 is also provided with the second motor 245, and the output end of the second motor 245 is connected with the rotating shaft of the second connecting arm 244;

The mounting frame 246 is rotatably connected to the second connecting arm 244, a third motor 247 is mounted on the second connecting arm 244, the third motor 247 drives the mounting frame 246 to rotate through a synchronous belt transmission structure 248, and a fourth motor 249 is mounted on the mounting frame 246;

In summary, when in use, as can be seen in conjunction with fig. 5 and 6, through the mutual cooperation of the first motor 242, the second motor 245, the third motor 247 and the fourth motor 249, the final fixing assembly 25 can be finely adjusted at multiple angles, and when the welding structure of the inclined plane or the arc surface is faced, the welding with higher precision can be realized through the multidirectional rotating assembly 24, so as to be beneficial to improving the welding effect when the welding structure of the inclined plane or the arc surface is welded;

In addition, it should be noted that, in the present embodiment, in order to ensure the effect that the fourth motor 249 drives the fixing component 25 to rotate transversely, the synchronous belt transmission structure 248 is provided, so as to laterally abdy the fixing component 25, and the synchronous belt transmission structure 248 is a mature prior art, therefore, the structure and principle thereof are not specifically described in the present embodiment, and correspondingly, as other alternative embodiments, the synchronous belt transmission structure 248 in the present embodiment may be replaced with a transmission structure in the form of a chain sprocket, etc. so as to meet the requirements of different manufacturers.

Further, please refer to fig. 5 and 8, the fixing assembly 25 includes:

a connection plate 251, a welding gun 252, and a vacuum chuck 253;

Wherein,

The connecting plate 251 is connected with the output end of the fifth motor 261, the welding gun 252 is arranged in the middle of the connecting plate 251, and the vacuum sucking discs 253 are at least provided with four and are symmetrically arranged on two sides of the connecting plate 251;

specifically, when in use, as can be seen in fig. 5 and 8, in the present embodiment, the welding gun 252 is detachably mounted on the connecting plate 251, and the welding gun 252 and the connecting plate can be detached by bolts, so as to facilitate replacement and adjustment;

While the welding gun 252 is well known in the art, the type of integral welding includes, but is not limited to, laser welding, resistance welding, electron beam welding, ultrasonic welding, etc., in this embodiment, laser welding is taken as an example; in the prior art, the laser welding head is not a simple optical-mechanical assembly any more, and integrates various functions of optics, machinery, sensing, image, control, communication, situation awareness, algorithm and the like into a whole, and has a front-end intelligent subsystem; illustrating: the laser welding head in the prior art mainly has the following three important characteristics: 1) The multi-dimensional control capability of the laser focusing light spot; modern means including auto-focusing, spot swinging, parallel beams, etc.; 2) Fast strain capacity when the processing state deviates from the set target, such as a weld deviation due to a positioning error, deformation of a material in processing, and the like, thereby reducing the execution load of the host system; 3) Communication capability can be expanded; the laser welding head is used as an end component, so that a large amount of data exchange with the host system is required, including real-time images, the working state of the welding head, and the action parameters sent by the host system. Therefore, the welding gun 252 in the present embodiment is used as a conventional transmission technology, and is matched with the multi-directional rotating assembly 24 to realize higher-precision welding, so that the overall welding effect is improved, and the welding gun can also be used for various workpieces to be welded in different shapes and sizes.

Further, please refer to fig. 4 and 9, the driving assembly 27 includes:

A sixth motor 271, a third rotary bar 272, a second right angle gear 273, and a third right angle gear 274;

Wherein,

The sixth motor 271 is mounted on the top of the carrying table 1, the third rotating rod 272 is rotatably connected to the top of the carrying table 1, the output end of the sixth motor 271 is connected with the top end of the third rotating rod 272, the second right-angle gear 273 is sleeved outside the third rotating rod 272, and the third right-angle gear 274 is sleeved outside the first rotating shaft 21;

Specifically, when in use, as can be seen from fig. 9, after the sixth motor 271 is started, the sixth motor 271 can drive the third rotating rod 272 to rotate, so that the second right-angle gear 273 on the third rotating rod 272 rotates, and because the second right-angle gear 273 is meshed with the third right-angle gear 274, the third right-angle gear 274 can drive the first rotating shaft 21 to rotate, so that the chassis 22 fixed at the top end of the first rotating shaft 21 rotates, and the whole lifting assembly 26, the multidirectional rotating assembly 24 and the fixing assembly 25 can rotate in a wide range in the transverse direction;

In addition, it should be noted that any motor or other electrical apparatus structure in the present embodiment is controlled individually or uniformly by a controller in the prior art, and the overall control principle is the prior art, and the embodiment is not improved, so that the description is omitted.

Meanwhile, in this embodiment, the plurality of motors may be one or more of a servo motor and a stepper motor, and the specific model of the motors may be determined by the manufacturer.

Further, referring to fig. 10 and 11, the bottom of the turntable 31 is provided with a unidirectional driving member 35, and the unidirectional driving member 35 includes:

A third rotation shaft 351, a rotation case 352, an elastic piece 353, a pawl 354, a fourth rotation shaft 355, a ratchet 356, and a fifth right angle gear 357;

Wherein,

The third rotating shaft 351 is rotatably connected to the carrying table 1, the top end of the third rotating shaft 351 is connected with the bottom end of the rotating box 352, the elastic sheet 353 is arranged on the inner side wall of the rotating box 352, the pawl 354 is rotatably connected to the inner bottom end of the rotating box 352 and is matched with the elastic sheet 353, the fourth rotating shaft 355 is rotatably connected to the middle part of the inner bottom end of the rotating box 352, the ratchet 356 is sleeved outside the fourth rotating shaft 355 and is matched with the pawl 354, and the fifth right-angle gear 357 is sleeved outside the rotating box 352 and is meshed with the third right-angle gear 274;

Further, please refer to fig. 12, the material conveying structure 4 includes:

two conveyor belts 41 and two shielding plates 42;

wherein, the two shielding plates 42 are respectively matched with the two driving belts one by one, and the two shielding plates 42 are respectively arranged at the opposite ends of the two driving belts 41;

Therefore, in summary, as can be seen from fig. 1, when the whole welding machine structure 2 is used in combination with the clamping and positioning structure 3 and the material conveying structure 4, the driving assembly 27 is utilized to drive the whole lifting assembly 26, the multi-directional rotating assembly 24 and the fixing assembly 25 to rotate ninety degrees, so that the fixing assembly 25 can rotate to a position right above the material conveying structure 4, and the material conveying structure 4 is provided with two conveyor belts 41, and a gap is formed between the two conveyor belts, so that the welding gun 252 can be abdied by the gap;

When the fixing assembly 25 rotates to a position right above the material conveying structure 4, the workpieces to be welded on the two conveying belts 41 can be adsorbed one by utilizing the vacuum suction disc 253 (the top end of the vacuum suction disc 253 is connected with a hose, the tail end of the hose is connected with a vacuum negative pressure system, such as a vacuum pump and the like, which is a mature prior art and is not described in detail herein), after the two workpieces to be welded are adsorbed, the fixing assembly 25 reversely rotates ninety degrees to an original position through the driving assembly 27, so that the fixing assembly 25 is positioned right above one of the passive clamping pieces 32, and then the two workpieces to be welded are placed on the passive clamping pieces 32, so that the workpieces to be welded can be welded;

When the driving assembly 27 is utilized to drive the fixing assembly 25 to rotate ninety degrees until the fixing assembly 25 is opposite to the material conveying structure 4, ninety degrees of rotation of the third right-angle gear 274 can just drive the fifth right-angle gear 357 to rotate ninety degrees, the fifth right-angle gear 357 drives the rotating box 352 and the third rotating shaft 351 to rotate ninety degrees, and because in the embodiment, the third right-angle gear 274 rotates anticlockwise when being viewed from top to bottom, the fifth right-angle gear 357 drives the rotating box 352 to rotate clockwise at this moment, and the pawl 354 is matched with the ratchet 356 at this moment, so that the ratchet 356 drives the fourth rotating shaft 355 to rotate ninety degrees clockwise, and the turntable 31 rotates ninety degrees clockwise; when the third right-angle gear 274 rotates ninety degrees reversely (clockwise), the fifth right-angle gear 357 drives the rotating box 352 to rotate anticlockwise, and at this time, the pawl 354 in the rotating box 352 rotates clockwise and does not drive the ratchet 356 to rotate, and meanwhile, the pawl 354 is influenced by the ratchet 356 to continuously press the elastic piece 353, so that the fourth rotating shaft 355 and the turntable 31 do not rotate;

Therefore, the structural design has the following advantages: when the fixed component 25 is in positive correspondence with one of the passive clamping pieces 32 in the turntable 31, the fixed component 25 can be rotated ninety degrees through the driving component 27 after the welding is completed, so that the fixed component 25 can be rotated to the position right above the material conveying structure 4, further, a new workpiece to be welded is taken, and meanwhile, the turntable 31 can be rotated by a designated angle along with the rotation of the fixed component 25, so that the workpiece after the previous group of welding is rotated to the next station, and the new workpiece to be welded can be rotated to the station during the previous group of welding, thereby realizing automatic compensation, enabling the whole processing flow to be smoother, saving the processing efficiency and improving the use effect.

Further, please refer to fig. 13-16, the active clamping member 33 and the passive clamping member 32 each include two oppositely disposed clamping portions, each of which includes:

Guide bar 331, slide plate 332, base plate 333, clamp block 334, resilient pad 335, and connecting bar 336;

Wherein,

The guide rod 331 is fixed on the top of the turntable 31, the sliding plate 332 is slidably arranged outside the guide rod 331, the bottom plate 333 is fixed on the bottom of the sliding plate 332, the clamping block 334 is arranged on one side of the sliding plate 332, the other side of the clamping block 334 is connected with the elastic pad 335, and the connecting rod 336 is used for connecting the bottom plates 333 in the driving clamping piece 33 and the driven clamping piece 32 which are parallel to each other;

The active clamp 33 further includes a locking member 337; the locking piece 337 includes:

a fixed plate 3371 and a second threaded rod 3372;

Wherein,

The fixed plate 3371 is fixed on the top of the turntable 31, and the second threaded rod 3372 penetrates through the fixed plate 3371 and is in threaded connection with the fixed plate 3371, and one end of the second threaded rod 3372 is in rotational connection with the sliding plate 332;

The link 34 includes:

a holder plate 341, a second rotation shaft 342, a bevel gear 343, a fourth right angle gear 344, and a rack 345;

Wherein,

The support plates 341 are fixed on the top of the turntable 31, two second rotating shafts 342 are vertically arranged on each support plate 341, the tail ends of the two second rotating shafts 342 are connected with mutually meshed bevel gears 343, fourth right-angle gears 344 are sleeved on the two second rotating shafts 342, and racks 345 are fixed on the side edges of the bottom plate 333 and meshed with the fourth right-angle gears 344;

When the whole clamping and positioning assembly is used, after a workpiece to be welded is placed on the active clamping piece 33, the second threaded rod 3372 is rotated to enable the two clamping blocks 334 to approach each other or separate from each other, so that the workpiece to be welded is clamped, when the bottom plate 333 in the active clamping piece 33 slides along with the clamping blocks 334, under the action of the connecting rod 336, the bottom plate 333 in the two passive clamping pieces 32 which are parallel to each other with the active clamping piece 33 synchronously moves along with the bottom plate 333 in the active clamping piece 33, and when the bottom plate 333 in the two passive clamping pieces 32 moves, the second threaded rod 3372 can drive the rack 345 connected with the bottom plate 333 to move, so that the fourth right-angle gear 344 meshed with the rack 345 rotates, and under the mutual meshing of the two conical gears 343, the fourth right-angle gear 344 in the other two passive clamping pieces 32 rotates accordingly, so that the rack 345 in the other two passive clamping pieces 32 drives the bottom plate 333 to synchronously move, and the passive clamping pieces 32 on the turntable 31 can be loose and clamped with the active clamping piece 33 synchronously;

That is, after the workpiece to be welded is clamped by the arranged active clamping piece 33, the active clamping piece can be used as a clamping standard, so that the subsequent workpiece to be welded which is identical to the active clamping piece can be quickly clamped into the passive clamping piece 32, the passive clamping pieces 32 do not need to be adjusted one by one, the uniform clamping of the passive clamping pieces 32 can be realized by only one active clamping piece 33, and the whole use is quicker and more convenient;

in addition, it should be noted that, in order to facilitate the taking and placing of the workpiece to be welded in the passive clamping member 32, the elastic pad 335 may be made of materials including but not limited to metal, silica gel, rubber, etc., and the top of the elastic pad 335 may also be provided with a chamfer to facilitate further improving the taking and placing effect.

The present invention is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present invention and the inventive concept thereof, can be replaced or changed within the scope of the present invention.

Claims

1. High accuracy welding robot, including plummer (1), just the four corners department of plummer (1) bottom all is provided with the universal wheel, its characterized in that: the high precision welding robot further includes:

a welding mechanical structure (2), a clamping and positioning structure (3) and a material conveying structure (4);

Wherein,

The welding mechanical structure (2) and the clamping and positioning structure (3) are arranged at the top of the bearing workbench (1), and the material conveying structure (4) is arranged at one side above the bearing workbench (1);

The welding machine structure (2) comprises:

the first rotating shaft (21) is rotatably connected to the top of the bearing workbench (1);

a chassis (22) coaxially fixed to the top end of the first rotating shaft (21);

a carrier (23) fixed to the top of the chassis (22);

A multidirectional rotation assembly (24) disposed on the carrier (23);

The fixing assembly (25) is connected with the multidirectional rotation assembly (24) and is used for fixing the welding gun (252); the multidirectional rotation assembly (24) is used for driving the fixing assembly (25) to conduct angle adjustment;

the lifting assembly (26) is arranged at the top of the chassis (22) and is used for driving the multidirectional rotation assembly (24) and the fixing assembly (25) to lift;

The driving assembly (27) is arranged at the top of the bearing workbench (1) and is used for driving the chassis (22) to rotate;

the clamping and positioning structure (3) comprises:

The rotary table (31) and a plurality of passive clamping pieces (32) which are arranged on the rotary table (31) at equal intervals along the circumferential direction of the top of the rotary table (31) also comprise an active clamping piece (33) which is arranged at the center of the top of the rotary table (31); the opposite angles of every two adjacent passive clamping pieces (32) are connected through a linkage piece (34);

And, the lifting assembly (26) comprises: a fifth motor (261), a first rotating rod (262), a second rotating rod (263), a first right-angle gear (264), a first threaded rod (265), a lifting plate (266), a sliding block (267) and a sliding table (268); the fifth motor (261) is mounted at the top of the chassis (22), the first rotating rod (262) and the second rotating rod (263) are both connected to the top of the chassis (22) in a rotating mode, the output end of the fifth motor (261) is connected with the first rotating rod (262), the first rotating rod (262) and the second rotating rod (263) are both sleeved with a first right-angle gear (264) meshed with each other, the top end of the second rotating rod (263) is fixedly provided with a first threaded rod (265), the outer threads of the first threaded rod (265) are connected with a lifting plate (266), the top of the lifting plate (266) is fixedly connected with the bottom of the supporting frame (240), the sliding table (268) is fixedly arranged on the side edge of the bearing frame (23), a sliding block (267) is slidingly connected to the sliding table (268), and the side edge of the sliding block (267) is fixedly arranged on the side edge of the lifting plate (266).

The multi-directional rotating assembly (24) includes: a support frame (240), a first connecting arm (241), a first motor (242); a mounting plate (243), a second connecting arm (244), and a second motor (245); the device comprises a mounting frame (246), a third motor (247), a synchronous belt transmission structure (248) and a fourth motor (249); the first connecting arm (241) is rotatably connected to the supporting frame (240), the first motor (242) is installed on the supporting frame (240), and the output end of the first motor (242) is connected with the rotating shaft of the first connecting arm (241);

The mounting plate (243) is fixed on the first connecting arm (241), the mounting plate (243) is rotationally connected with the second connecting arm (244), the mounting plate (243) is also provided with the second motor (245), and the output end of the second motor (245) is connected with the rotating shaft of the second connecting arm (244);

The mounting frame (246) is rotationally connected to the second connecting arm (244), a third motor (247) is mounted on the second connecting arm (244), the third motor (247) drives the mounting frame (246) to rotate through a synchronous belt transmission structure (248), and a fourth motor (249) is mounted on the mounting frame (246);

The bottom of carousel (31) is provided with one-way drive piece (35), one-way drive piece (35) include: a third rotation shaft (351), a rotation box (352), an elastic piece (353), a pawl (354), a fourth rotation shaft (355), a ratchet (356), and a fifth right angle gear (357); wherein, third pivot (351) rotate and connect on plummer (1), and the top of third pivot (351) is connected with the bottom of rotating box (352), elastic sheet (353) set up on the inside wall of rotating box (352), pawl (354) rotate and connect in the interior bottom of rotating box (352) and mutually support between with elastic sheet (353), the middle part of bottom in rotating box (352) is connected in rotation in fourth pivot (355), and ratchet (356) cup joint in the outside of fourth pivot (355) and mutually support with pawl (354), fifth right angle gear (357) cup joint in the outside of rotating box (352).

2. The high precision welding robot of claim 1, wherein: the fixing assembly (25) comprises:

A connection plate (251), a welding gun (252), and a vacuum chuck (253);

Wherein,

The connecting plate (251) is connected with the output end of the fifth motor (261), the welding gun (252) is arranged in the middle of the connecting plate (251), and the vacuum sucking discs (253) are at least provided with four and are symmetrically arranged on two sides of the connecting plate (251) in pairs.

3. The high precision welding robot of claim 2, wherein: the drive assembly (27) comprises:

a sixth motor (271), a third rotating lever (272), a second right-angle gear (273), and a third right-angle gear (274);

Wherein,

The sixth motor (271) is mounted at the top of the bearing workbench (1), the third rotating rod (272) is rotationally connected at the top of the bearing workbench (1), the output end of the sixth motor (271) is connected with the top end of the third rotating rod (272), the second right-angle gear (273) is sleeved outside the third rotating rod (272), the third right-angle gear (274) is sleeved outside the first rotating shaft (21), and the third right-angle gear (274) and the fifth right-angle gear (357) are meshed with each other.

4. The high precision welding robot of claim 1, wherein: the material conveying structure (4) comprises:

two conveyor belts (41) and two shielding plates (42);

wherein, two shielding plates (42) are respectively matched with the two driving belts one by one, and the two shielding plates (42) are respectively arranged at the opposite ends of the two driving belts (41).

5. The high precision welding robot of claim 1, wherein: the active clamping piece (33) and the passive clamping piece (32) comprise two clamping parts which are arranged oppositely, and each clamping part comprises:

A guide rod (331), a sliding plate (332), a bottom plate (333), a clamping block (334), an elastic pad (335) and a connecting rod (336);

Wherein,

The guide rod (331) is fixed at the top of the turntable (31), the sliding plate (332) is arranged outside the guide rod (331) in a sliding way, the bottom plate (333) is fixed at the bottom of the sliding plate (332), the clamping block (334) is arranged at one side of the sliding plate (332), the other side of the clamping block (334) is connected with the elastic pad (335), and the connecting rod (336) is used for connecting the bottom plate (333) in the driving clamping piece (33) and the driven clamping piece (32) which are parallel to each other;

The active clamp (33) further comprises a locking member (337).

6. The high precision welding robot of claim 5, wherein: the lock (337) comprises:

A fixed plate (3371) and a second threaded rod (3372);

Wherein,

The fixed plate (3371) is fixed on the top of the turntable (31), a second threaded rod (3372) penetrates through the fixed plate (3371) and is in threaded connection with the fixed plate (3371), and one end of the second threaded rod (3372) is in rotary connection with the sliding plate (332).

7. The high precision welding robot of claim 6, wherein: the linkage (34) includes:

a bracket plate (341), a second rotating shaft (342), a bevel gear (343), a fourth right-angle gear (344), and a rack (345);

Wherein,

The support plates (341) are fixed at the top of the turntable (31), two second rotating shafts (342) are arranged on each support plate (341) in a mutually perpendicular mode, the tail ends of the two second rotating shafts (342) are connected with mutually meshed bevel gears (343), fourth right-angle gears (344) are sleeved on the two second rotating shafts (342), and racks (345) are fixed on the side edges of the bottom plates (333) and meshed with the fourth right-angle gears (344).