CN119187873A - A welding robot arm for intelligent construction - Google Patents
A welding robot arm for intelligent construction Download PDFInfo
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- CN119187873A CN119187873A CN202411696389.8A CN202411696389A CN119187873A CN 119187873 A CN119187873 A CN 119187873A CN 202411696389 A CN202411696389 A CN 202411696389A CN 119187873 A CN119187873 A CN 119187873A
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- sliding
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- fixedly connected
- shell
- sliding shell
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Laser Beam Processing (AREA)
Abstract
本发明涉及焊接技术领域，尤其涉及一种智能建造用的焊接机械臂。包括：安装座，所述安装座上安装有移动机械臂，所述移动机械臂设置有激光焊接头，所述激光焊接头固接有连接架，所述连接架滑动连接有滑动壳；固定轴，固接于所述滑动壳内，所述固定轴设置有支撑板；分隔板，滑动连接于所述滑动壳，所述分隔板与所述固定轴滑动连接，所述滑动壳滑动连接有两个滑动架，所述滑动架滑动连接有滑动杆，所述滑动杆转动连接有转动轮。本发明通过转动轮与支撑板对两个薄板进行固定，结合分隔板的移动，轻微调整薄板接缝在滑动壳内的位置，使激光焊接的轨迹与薄板接缝保持重合，保证焊接出薄板焊缝的连续性和焊缝质量的稳定性。
The present invention relates to the field of welding technology, and in particular to a welding robot arm for intelligent construction. It comprises: a mounting seat, a mobile robot arm is mounted on the mounting seat, the mobile robot arm is provided with a laser welding head, the laser welding head is fixedly connected to a connecting frame, the connecting frame is slidably connected to a sliding shell; a fixed shaft, fixedly connected to the sliding shell, the fixed shaft is provided with a support plate; a partition plate, slidably connected to the sliding shell, the partition plate is slidably connected to the fixed shaft, the sliding shell is slidably connected to two sliding frames, the sliding frames are slidably connected to a sliding rod, and the sliding rod is rotatably connected to a rotating wheel. The present invention fixes two thin plates by a rotating wheel and a supporting plate, and in combination with the movement of the partition plate, slightly adjusts the position of the thin plate joint in the sliding shell, so that the trajectory of laser welding and the thin plate joint remain overlapped, thereby ensuring the continuity of the welded thin plate weld and the stability of the weld quality.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a welding mechanical arm for intelligent construction.
Background
The welding mechanical arm is an automatic device and is used for carrying out efficient and accurate welding operation in industrial manufacturing, and generally comprises the steps of firstly scanning a joint to be welded, so that the joint of the two thin plates is positioned and analyzed, then controlling a welding device to complete the welding operation along a set track, when the intelligent building mechanical arm is used for welding two obliquely arranged thin plates, the two thin plates are required to be fixed in a magnetic attraction mode, then the intelligent building welding mechanical arm can scan the joint of the two thin plates, then controlling a laser generator to carry out laser welding on the joint of the two thin plates along the set track, if the two thin plates are obliquely arranged, forming an included angle between the two thin plates, and when the welding mechanical arm scans and positions the joint of the two thin plates, besides a joint line, the joint of the two thin plates is also provided with edge lines close to the side face of the joint, the distance between the two thin plates is smaller, the welding mechanical arm is easy to have the condition of positioning deviation in the process of scanning and positioning the welding mechanical arm, the track control movement is enabled to carry out laser welding along the set track, the joint quality of the thin plates can not be influenced, and the welding quality of the welding mechanical arm can not be increased, and the problem of welding quality of the joint can be caused is not continuously caused, and the welding quality of the joint can be increased.
Disclosure of Invention
Aiming at the problem that the crack positions of two obliquely placed thin plates are easy to deviate in scanning and positioning of a welding mechanical arm, the invention provides the welding mechanical arm for intelligent construction.
The technical scheme includes that the welding mechanical arm for intelligent construction comprises a mounting seat, a movable mechanical arm is mounted on the mounting seat, a laser welding head is arranged on the movable mechanical arm, a connecting frame is fixedly connected with the laser welding head, a sliding shell is connected with the connecting frame in a sliding mode, a fixed shaft is fixedly connected in the sliding shell, the fixed shaft is provided with two support plates for supporting the two thin plates close to a joint, a division plate is connected with the sliding shell in a sliding mode, the division plate is connected with the fixed shaft in a sliding mode, the sliding shell is connected with two sliding frames in a sliding mode, a plurality of sliding rods are connected with the sliding frames in a sliding mode, springs are fixedly connected between the sliding rods and the sliding frames, a tension spring is fixedly connected between the sliding frames and the sliding shells, the sliding rods are connected with rotating wheels in a sliding mode, the division plate and the rotating wheels are used for fine adjusting the positions of the joints of the thin plates in the sliding shells, a positioning mechanism is arranged in the sliding shell and used for controlling the sequence of the contact between the support plates and the rotating wheels, and the flattening mechanism is arranged at the joint of the connecting frames and used for eliminating the joints of the thin plates.
Preferably, the uppermost end of the partition plate is provided with two inclined planes in mirror image distribution, and the distance between the two inclined planes is gradually increased from top to bottom, so that the two thin plates are separated from each other at the joint of the thin plates.
The positioning mechanism comprises a sliding plate, two limiting blocks, an unlocking component and a plurality of moving components, wherein the sliding plate is connected in the sliding shell in a sliding mode, the sliding plate is in contact fit with the fixed shaft and used for positioning the edge of a thin plate in the sliding shell, the two limiting blocks are fixedly connected to the sliding plate and are in limiting fit with the sliding frame, the limiting blocks are provided with inclined planes in extrusion fit with the sliding frame, the unlocking component is arranged on the sliding shell and used for changing the relative locking state of the connecting frame and the sliding shell, the number of the moving components is the same as that of the rotating wheels, and the moving components are respectively arranged corresponding to the rotating wheels and used for controlling the rotating wheels to rotate so as to slightly move the thin plate.
The unlocking assembly comprises an electric push rod fixedly connected with the sliding shell, a sliding baffle plate and a sliding baffle plate, wherein the sliding baffle plate is connected in the sliding shell in a sliding mode, the sliding baffle plate is in limit fit with the connecting frame, the sliding baffle plate is in extrusion fit with the partition plate, a spring is fixedly connected between the partition plate and the sliding shell, and the telescopic end of the electric push rod is fixedly connected with the sliding baffle plate.
The moving assembly comprises a gear, a rack and a sliding frame, wherein the gear is rotatably connected with the rotating wheel, a spring is fixedly connected between the gear and the rotating wheel and used for providing power for rotation of the rotating wheel, and the rack is fixedly connected with the sliding frame and meshed with the gear.
Preferably, the diameter of the addendum circle of the gear is smaller than the diameter of the rotating wheel, so as to prevent the gear from pressing the thin plate to deform the thin plate.
The flattening mechanism comprises two connecting sliding blocks, two rotating rollers and two rotating rollers, wherein the two connecting sliding blocks are connected in the connecting frame in a sliding mode, springs are fixedly connected between the two connecting sliding blocks, a sliding supporting rod is connected between the connecting sliding blocks in a limiting sliding mode, springs are fixedly connected between the sliding supporting rod and the connecting sliding blocks, the sliding supporting rod is in contact fit with the sliding shell, the two rotating rollers are connected to the lower end of the sliding supporting rod in a ball mode, and the two rotating rollers are hinged with each other.
As the preferable mode of the invention, the flattening mechanism further comprises two guide plates fixedly connected in the sliding shell, and the guide plates are in sliding fit with the sliding support rods.
The angle adjusting mechanism is arranged on the sliding shell and used for changing the included angle of the two supporting plates, the angle adjusting mechanism comprises a motor, an output shaft of the motor is fixedly connected with the sliding shell, a threaded rod which is in rotary connection with the sliding shell is fixedly connected with the output shaft of the motor, a connecting plate is in threaded connection with the threaded rod, the connecting plate is in sliding connection with the sliding shell, the fixed shaft is in rotary connection with the supporting plates, and two rotating rods are both in rotary connection with the connecting plate and are in rotary connection with the supporting plates.
Preferably, the rotating rod, the rotating axis of the connecting plate and the axis of the fixed shaft are positioned on the same vertical plane, and the rotating rod is used for controlling the two supporting plates to synchronously swing by the same angle through the movement of the connecting plate.
Compared with the prior art, the invention has the advantages that 1, the two thin plates are fixed through the rotating wheel and the supporting plate, and the positions of the thin plate joints in the sliding shell are slightly adjusted by combining the movement of the separating plate, so that the laser welding track is kept coincident with the thin plate joints, and the continuity of the welded thin plate joints and the stability of the quality of the welded joints are ensured.
2. According to the invention, through the rotation of the gears in the moving assembly, the rotating wheels provide thrust for the two thin plates, so that the joint of the two thin plates is kept stably attached, and the possibility of occurrence of gaps in welding the joint of the two thin plates is reduced.
3. According to the invention, the seam parts of two thin plates with different included angles are flattened through the relative rotation of the two rotating rollers in the flattening mechanism, so that the seam parts of the two thin plates are kept in full fit during welding, and the uniformity of the structural strength of the welding seam of the two thin plates is ensured.
4. According to the invention, through rotation of the threaded rod in the angle adjusting mechanism, the position of the connecting plate is changed, and the included angle of the two supporting plates is adjusted, so that the application range of the device is expanded.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the laser welding head and the parts at the connecting frame of the present invention;
FIG. 3 is a schematic perspective view of the inner structure of the sliding housing of the present invention;
FIG. 4 is a schematic perspective view of the parts at the sliding plate and the limiting block of the present invention;
FIG. 5 is a cross-sectional view of the parts at the stationary shaft and support plate of the present invention;
FIG. 6 is a schematic perspective view of the parts of the carriage and the rotating wheel of the present invention;
FIG. 7 is a schematic perspective view of the parts at the rotating wheel and rack of the present invention;
FIG. 8 is a schematic perspective view of the relative positions of the carriage and the stopper according to the present invention;
FIG. 9 is a schematic perspective view of the initial position of the sliding strut of the present invention;
FIG. 10 is a schematic perspective view of the components of the present invention at the sliding strut and the rotating roller;
fig. 11 is a schematic perspective view of the parts at the connecting plate and the rotating rod of the present invention.
The mark of each part in the drawing is as follows, 1-mount pad, 2-mobile mechanical arm, 3-laser welding head, 4-link, 5-sliding shell, 6-fixed axle, 7-backup pad, 8-division board, 9-slide rack, 10-slide bar, 11-rotation wheel, 201-slide board, 202-stopper, 301-electric putter, 302-slide baffle, 401-gear, 402-rack, 501-link slider, 502-slide strut, 503-rotation roller, 601-guide plate, 701-motor, 702-threaded rod, 703-connection board, 704-rotation bar.
Detailed Description
The following description of the embodiments of the present invention will be made more fully with reference to the accompanying drawings, in which it is shown, however, in which some, but not all embodiments of the invention are shown. 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.
In the embodiment 1, when the welding mechanical arm for the existing intelligent construction is used for welding the joint of two thin plates forming an included angle, the welding mechanical arm scans and positions the joint of the two thin plates, because the joint of the two thin plates is provided with edge lines of the side surfaces of the thin plates close to the joint besides joint lines, the distances of the lines are relatively close, the scanning and positioning results of the welding mechanical arm are easy to generate positioning deviation, and the condition that the joint of the thin plates welded by the mechanical arm is discontinuous or insufficient in strength is caused, so that the welding quality of the welding mechanical arm is influenced.
The welding mechanical arm for intelligent construction is shown as shown in fig. 1-6, and comprises a mounting seat 1, a movable mechanical arm 2, a laser welding head 3, a connecting frame 4, a sliding shell 5, a fixed shaft 6, a partition plate 8, a spring, a tension spring, a rotating wheel 11, a positioning mechanism, a flattening mechanism, a pressing mechanism, a bevel and a bevel, wherein the movable mechanical arm 2 is mounted on the mounting seat 1, the movable mechanical arm 2 is arranged on the mounting seat 1, the position of the sliding shell 5 is in sliding connection with the partition plate 8, the positioning mechanism is fixedly connected in the sliding shell 5, the fixed shaft 6 is provided with two support plates 7 for supporting two thin plates close to a joint, the partition plate 8 is in sliding connection with the fixed shaft 6, the sliding shell 5 is in sliding connection with two sliding frames 9, the sliding frames 9 are in sliding connection with a plurality of sliding rods 10, springs are fixedly connected between the sliding rods 10 and the sliding frames 9, tension springs are fixedly connected between the sliding frames 9 and the sliding frames 5, the sliding rods 10 are in rotating connection with the rotating wheel 11, the partition plate 8 and the rotating wheel 11 are used for finely adjusting the positions of the joints of the thin plates, the positioning mechanism is arranged in the sliding shell 5 and is used for controlling the contact sequence of the support plates 7 and the rotating wheel 11, the flattening mechanism is arranged at the position of the connecting joint of the thin plates, the partition plate 4, the joint is arranged at the position of the connecting frame 4, and is used for eliminating the joint, and the joint between the two bevel surfaces of the top-layer edges of the thin plates are arranged from the top to the position of the upper mirror images and the position of the thin plates.
In the above scheme, the problem that when welding the seam of two thin plates forming an included angle by a welding mechanical arm, the seam is easily deviated due to the interference of the edge lines of the two thin plates, which are close to the side surfaces of the seam, is solved, a control panel is arranged on the moving mechanical arm 2, the laser welding head 3 and the unlocking component are all electrically connected with the control panel, the connecting frame 4 is initially positioned at the right end of the sliding shell 5, the upper side of the sliding shell 5 is provided with a through groove, the connecting frame 4 slides in the through groove of the sliding shell 5, the connecting frame 4 and the sliding shell 5 are relatively fixed, when the moving mechanical arm 2 drives the laser welding head 3 to move, the connecting frame 4 and the sliding shell 5 synchronously move along with the laser welding head 3, the connecting frame 4 is n-shaped, the laser welding head 3 penetrates through the connecting frame 4, so that laser emitted by the laser welding head 3 is not contacted with the connecting frame 4, the joint of the two thin plates is positioned below the through groove of the sliding shell 5, so that the laser welding head 3 drives the connecting frame 4 to move along the sliding shell 5 to finish welding the joint of the thin plates, the included angle of the two supporting plates 7 is the same as that of the two thin plates, the lower side surface of the thin plates is fully attached to the upper side surface of the supporting plates 7, when the lower side surface of the thin plates is fully attached to the upper side surface of the supporting plates 7, the thin plates do not contact with the fixed shaft 6, the division plate 8 penetrates through the fixed shaft 6, the division plate 8 does not block the rotation of the supporting plates 7, the division plate 8 is positioned on the angle plane of the included angle of the two thin plates, the elastic coefficient of the tension spring between the sliding frame 9 and the sliding shell 5 is in a stretching state initially, the elastic coefficient of the tension spring between the sliding frame 9 and the sliding shell 5 is larger than that of the spring connected with the sliding rod 10, the thin plates are clamped through the rotating wheels 11 and the supporting plates 7, the two thin plates are separated by combining the partition plate 8, so that the positions of the thin plate joints in the sliding shell 5 are fixed, the purpose of controlling the movement track of the laser welding head 3 to coincide with the positions of the thin plate joints is achieved, the accuracy of the device in positioning the positions of the thin plate joints is ensured, and the welding quality of the device is improved.
The operation flow is that firstly, an operator inclines and fixes two thin plates on a mounting seat 1 in a magnetic attraction mode, edges of the two thin plates are contacted and form a certain included angle, then the operator controls a moving mechanical arm 2 to scan and position the joint positions of the two thin plates through a control panel, then the control panel controls a laser welding head 3 to move through the moving mechanical arm 2, the laser welding head 3 drives a sliding shell 5 to synchronously move through a connecting frame 4, the joint positions of the two thin plates enter the sliding shell 5, the laser welding head 3 always keeps a vertical state, the sliding shell 5 keeps a horizontal state, then the control panel controls the sliding shell 5 to move upwards through the moving mechanical arm 2, a separation plate 8 is inserted into the joint positions of the two thin plates, the joint positions of the two thin plates are separated, after a supporting plate 7 is fully attached to the two thin plates, the sliding shell 5 stops moving upwards, the control panel controls the sliding shell 5 to slide leftwards through the moving mechanical arm 2, the thin plates slide rightwards relative to the supporting plate 7, after the limit of the sliding frames 9 are released through a locating mechanism, the two sliding frames 9 move synchronously under the action of a pulling force connected with the sliding shell 5, when a rotating tension spring wheel 11 is in contact with the thin plates and stops, the rotating wheel 11 is pressed, and the rotating mechanism is compressed, and the rotating wheel 11 is combined with the rotating mechanism to fix the rotating wheel 11.
After the thin plates are fixed by the rotating wheels 11, the separating plate 8 is downwards moved by the control panel through the positioning mechanism, the separating plate 8 loses contact with the thin plates, the rotating wheels 11 are controlled by the positioning mechanism to rotate, the two thin plates are simultaneously close to each other until the two thin plates are mutually contacted, then the two thin plates are stopped, the joints of the two thin plates are accurately positioned on the symmetry plane in the front-back direction of the sliding shell 5, fine adjustment is completed at the positions of the joints of the thin plates, the joint lines of the two thin plates are overlapped with the moving track of the laser welding head 3, then the control panel controls the laser welding head 3 and the connecting frame 4 to move, the connecting frame 4 slides leftwards in the through groove of the sliding shell 5, the sliding shell 5 and the thin plates are not moved under the magnetic attraction effect, meanwhile, the laser welding head 3 is started by the control panel, the joint positions of the two thin plates are welded, the flattening mechanism moves along with the connecting frame 4, the joint positions of the thin plates are jointed, and the joint gaps are prevented from occurring until all welding operations are completed.
After the seam welding of two sheets is finished, the control panel closes the laser welding head 3, the control panel controls the laser welding head 3 and the connecting frame 4 to move and reset simultaneously, then, the control panel controls the positioning mechanism to lock the relative positions of the connecting frame 4 and the sliding shell 5 again, an operator manually pulls up the two sliding frames 9, the sliding frames 9 stretch the connected tension springs, the control panel controls the sliding shell 5 to move rightwards simultaneously, the welded sheet is moved out of the sliding shell 5, the positioning mechanism resets and limits the sliding frames 9 again, and the sliding rod 10 moves and resets under the action of the elasticity of the connected springs, so that all parts restore to the initial positions.
Referring to fig. 1-4 and 6-8, the positioning mechanism includes a sliding plate 201 slidably connected in the sliding housing 5, the sliding plate 201 being in contact with the fixed shaft 6 for positioning the edge of the thin plate in the sliding housing 5; the two limiting blocks 202 are fixedly connected to the sliding plate 201, the limiting blocks 202 are in limiting fit with the sliding frame 9, the limiting blocks 202 are provided with inclined planes in extrusion fit with the sliding frame 9, the unlocking component is arranged on the sliding shell 5 and used for changing the relative locking state of the connecting frame 4 and the sliding shell 5, the moving components are the same in number as the rotating wheels 11 and are respectively arranged on the corresponding rotating wheels 11 and used for controlling the rotating wheels 11 to rotate so as to slightly move the thin plate, the unlocking component comprises an electric push rod 301 fixedly connected to the sliding shell 5, a sliding baffle 302 is slidably connected in the sliding shell 5, the sliding baffle 302 is in limiting fit with the connecting frame 4, the sliding baffle 302 is in extrusion fit with the partition plate 8, a spring is fixedly connected between the partition plate 8 and the sliding shell 5, the telescopic end of the electric push rod 301 is fixedly connected with the sliding baffle 302, the moving component comprises a gear 401 which is rotatably connected with the rotating wheels 11, the spring is fixedly connected between the gear 401 and the rotating wheels 11 and used for providing power for the rotation of the rotating wheels 11, the gear 402 is fixedly connected with the sliding frame 9, the gear 402 is meshed with the gear 401, and the diameter of the tip circle of the gear 401 is smaller than the diameter of the rotating wheels 11, and the thin plate is used for preventing the thin plate 401 from being extruded and deformed.
In the above scheme, the purpose of slightly moving two thin plates is to control the joints of the two thin plates to be located at the set position in the sliding shell 5, so as to achieve the purpose that the welding track of the laser welding head 3 is completely overlapped with the joints of the thin plates, the sliding plate 201 is located at the right part in the sliding shell 5, the sliding plate 201 is only pressed by the left side surface in contact with the right edge of the thin plates, the limiting block 202 is provided with an inclined surface inclined from top to bottom and matched with the sliding frame 9 in an extrusion manner, the limiting block 202 is used for restoring the limiting of the sliding frame 9, fig. 8 is a state that the device completes the fixing of the thin plates, the limiting block 202 releases the limiting of the sliding frame 9, the sliding plate 302 is initially limited by the connecting frame 4, the connecting frame 4 is relatively fixed with the sliding shell 5, the upper side of the sliding plate 302 is provided with an inclined surface inclined from top to bottom, the inclined surface is matched with the connecting frame 4 in an extrusion manner, the sliding plate 302 drives the division plate 8 to move, only the uppermost end of the division plate 8 moves downwards into the fixed shaft 6, the two thin plates are mutually contacted to generate joints, the elasticity of the connecting springs of the rotating wheel 11 only push the two thin plates to move synchronously, the two thin plates are mutually close to each other and are bonded, the purposes of tightly bonding the two thin plates can be welded by the elasticity of the spring 11, and the joint of the thin plates can be tightly bonded in the process, and the joint in the process of the thin plates can be reduced.
When the sliding shell 5 translates leftwards, the edges of the thin plates contact and press the sliding plate 201, the sliding plate 201 moves rightwards and compresses the connected springs, the sliding plate 201 drives the limiting block 202 to move synchronously, the limiting block 202 releases limiting on the sliding frame 9, the sliding frame 9 moves inwards of the sliding shell 5 under the action of the pulling force of the connected tension springs, after the rotating wheel 11 contacts and presses the thin plates, the sliding frame 9 continues to move, the sliding rod 10 moves inwards relative to the sliding frame 9, the sliding frame 9 drives the rack 402 to move relative to the gear 401, the gear 401 rotates and compresses the connected springs, the rotating wheel 11 provides the mutually approaching force for the two thin plates under the action of the elastic force of the connected springs, then the control panel starts the electric push rod 301, the telescopic end of the electric push rod 301 contracts and drives the sliding baffle 302 to move downwards, the limiting block 4 releases the limiting block 8 moves downwards and compresses the connected springs, the separating plate 8 loses contact with the thin plates, the rotating wheel 11 rotates and pushes the two thin plates to approach each other, the joint is formed by the two thin plates, the joint is well located right above the fixed shaft 6, and then the welding of the thin plates and the resetting operation of the connecting frame 4 is repeated.
After the connecting frame 4 resets, the control panel controls the sliding baffle 302 to reset through the electric push rod 301, the sliding baffle 302 limits the connecting frame 4 again, the connecting frame 4 and the sliding shell 5 recover to an initial relatively fixed state, then an operator manually pulls up the two sliding frames 9, simultaneously, the control panel controls the sliding shell 5 to move rightwards through the mobile mechanical arm 2, the thin plate loses contact with the sliding plate 201, the sliding plate 201 resets under the action of the elastic force of the connecting spring, the sliding frames 9 squeeze the inclined plane of the limiting block 202, the sliding frames 9 recover to a state limited by the limiting block 202, and the partition plate 8 moves and resets under the action of the elastic force of the connecting spring, so that all parts recover to the initial position.
Referring to fig. 3, 4, 9 and 10, the flattening mechanism comprises two connecting sliding blocks 501, two guide plates 601, two springs, a sliding support rod 502, a spring, two rotating rollers 503, two guide plates 601, and a sliding support rod 502, wherein the two connecting sliding blocks 501 are connected in the connecting frame 4 in a sliding mode, the spring is fixedly connected between the two connecting sliding blocks 501, the connecting sliding blocks 501 are in limiting sliding connection with the sliding support rod 502, the spring is fixedly connected between the sliding support rod 502 and the connecting sliding blocks 501, the sliding support rod 502 is in contact fit with the sliding shell 5, the two rotating rollers 503 are connected to the lower ends of the sliding support rod 502 in a ball joint mode, the two rotating rollers 503 are mutually hinged, the two guide plates 601 are fixedly connected in the sliding shell 5, and the guide plates 601 are in sliding fit with the sliding support rod 502.
In the above scheme, it is aimed at solving the problem that the seam formed by the bonding of two edges of thin plates is discontinuous under the uneven condition of the edges of the thin plates, the elastic coefficient of the spring between the sliding support rod 502 and the connecting sliding block 501 is greater than that of the spring between the two connecting sliding blocks 501, so that the two rotating rollers 503 can adapt to the included angles of different angles of the thin plates, the rotating rollers 503 are fully bonded with the thin plates, if the rotating rollers 503 are bonded with the thin plates, the bottommost ends of the sliding support rods 502 are not contacted with the thin plates, the spacing between the two sliding support rods 502 is smaller than the spacing between the two adjacent rotating wheels 11 in the front-back direction, the sliding support rods 502 are not contacted with the rotating wheels 11 when the sliding support rods 502 move with the rotating rollers 503, the bottommost ends of the sliding support rods 502 are provided with inclined plates inclined from top to bottom for extrusion fit with the guide plates 601, the sliding support rods 502 are controlled to reset, the rotating rollers 503 are always positioned at the left side of the laser welding head 3, the guide plates 601 are used for guiding the sliding support rods 502 to directly contact the edges on the right side of the thin plates, the sliding support rods 502 are initially in a compressed state, the sliding support rods 502 drive the rotating rollers 503 to press the edges of the two thin plates, the edges of the thin plates are flattened by the sliding support rods 502, the edges are enabled to be fully bonded by the sliding support rods, the welding seam strength of the thin plates can be fully reduced, and the seam can be welded when the seam is fully.
When the laser welding head 3 drives the connecting frame 4 to slide left in the through groove of the sliding shell 5, the lowest end of the sliding support rod 502 is contacted with the sliding shell 5 to be contacted with the guide plates 601, then the lowest end of the sliding support rod 502 slides leftwards along the two guide plates 601, after the sliding support rod 502 is aligned with the right side edge of the thin plate, the sliding support rod 502 loses contact with the guide plates 601, the two sliding support rods 502 move downwards under the action of the elasticity of the connected springs, the rotating rollers 503 are contacted with and press the surface of the thin plate, the sliding support rod 502 pushes the rotating rollers 503 to be fully attached to the thin plate, the included angle of the two rotating rollers 503 is the same as the included angle of the two thin plates, meanwhile, the sliding support rod 502 drives the two connecting sliding blocks 501 to be close to each other, the springs between the two connecting sliding blocks 501 are compressed, so that the two rotating rollers 503 can adaptively adjust the included angles of the thin plates with different sizes, and the connecting frame 4 moves leftwards, the rotating rollers 503 roll along the joint edges of the thin plate, the edge of the thin plate is flattened, and the possibility of gaps existing at the joint position of the thin plate is reduced.
When the movable mechanical arm 2 drives the connecting frame 4 to move through the laser welding head 3, the control panel starts the laser welding head 3, the laser welding head 3 emits laser to weld the flattened sheet joint, after all welding of the sheet joint is completed, the control panel closes the laser welding head 3 and controls the movable mechanical arm 2 to drive the connecting frame 4 to translate leftwards to restore the initial position, the bottommost inclined plate of the sliding support rod 502 extrudes the guide plate 601, the sliding support rod 502 moves upwards and compresses the connecting spring, the two connecting sliding blocks 501 move and restore under the action of the connecting spring, finally, the control panel starts the electric push rod 301, the telescopic end of the electric push rod 301 stretches out and drives the sliding baffle 302 to move upwards and restore, the upper side inclined surface of the sliding baffle 302 extrudes and pushes the connecting frame 4, the connecting frame 4 restores to the initial position with the sliding shell 5, the connecting frame 4 is limited again, the connecting frame 4 and the sliding shell 5 restore to the initial relative fixed state, meanwhile, the partition plate 8 moves upwards and restores under the action of the spring force to restore, and the reset operation of the relevant parts of the sliding frame 9 is repeated, so that all parts restore the initial positions.
In the above embodiment, the connection relationship of the fixed shaft 6 and the support plate 7 can be regarded as a fixed connection, but in the following embodiments, the connection relationship of the fixed shaft 6 and the support plate 7 is a rotational connection.
Embodiment 2 based on embodiment 1, please refer to fig. 4 and 11, the device further comprises an angle adjusting mechanism arranged on the sliding shell 5 and used for changing the included angle of the two support plates 7, wherein the angle adjusting mechanism comprises a motor 701 fixedly connected with the sliding shell 5, a threaded rod 702 rotationally connected with the sliding shell 5 is fixedly connected to an output shaft of the motor 701, a connecting plate 703 is connected with the threaded rod 702 in a threaded manner, the connecting plate 703 is slidingly connected with the sliding shell 5, a fixed shaft 6 is rotationally connected with the support plates 7, two rotating rods 704 are rotationally connected with the connecting plate 703, the rotating rods 704 are rotationally connected with the support plates 7, and the rotating rods 704, the rotating axes of the connecting plates 703 and the axes of the fixed shaft 6 are positioned on the same vertical plane and used for moving through the connecting plate 703 so as to control the two support plates 7 to synchronously swing by the same angle.
In the above scheme, aim at further improving the application scope of this device to carrying out welding work to two sheets, make this device can both reach same welding quality to two sheets that the contained angle is different, the length of two dwang 704 is the identical, two backup pads 7 are front and back mirror image distribution, the movable range of connecting plate 703 on threaded rod 702 is fixed, make the contained angle of two backup pads 7 be located the contained angle scope that two rotor rollers 503 formed all the time, the connecting plate 703 moves back position locking, two backup pads 7 are relatively fixed when guaranteeing rotor wheel 11 extrusion sheet, through the position of changing connecting plate 703 on threaded rod 702, adjust the contained angle of two backup pads 7, make this device can weld the seam of two sheets of multiple contained angle.
Before the joint of two sheets enters the sliding shell 5, the control panel starts the motor 701 firstly, the output shaft of the motor 701 drives the threaded rod 702 to rotate, the threaded rod 702 drives the connecting plate 703 to move, the connecting plate 703 controls the two support plates 7 to swing synchronously and in the same direction through the two rotating rods 704, the included angle of the two support plates 7 is adjusted, when the included angle of the two support plates 7 is the same as the included angle of the two sheets to be welded, the control panel closes the motor 701, the connecting plate 703 is fixed on the threaded rod 702, the two support plates 7 are relatively fixed, the included angle of the two sheets is ensured to be kept unchanged all the time in the subsequent fine adjustment process of the joint of the sheets, and then the adjustment of the joint position of the sheets is repeated, the welding and the resetting operation are carried out, so that the laser welding of the two sheets is completed.
The foregoing description of the preferred embodiments of the present invention is not intended to be limiting, but rather, it will be apparent to those skilled in the art that the foregoing description of the preferred embodiments of the present invention can be modified or equivalents can be substituted for some of the features thereof, and any modification, equivalent substitution, improvement or the like that is within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
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| CN119187873B (en) | 2025-02-21 |
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