CN214978770U

CN214978770U - Welding gun adjusting module and welding robot

Info

Publication number: CN214978770U
Application number: CN202121326150.3U
Authority: CN
Inventors: 冯消冰; 李军旗; 梁炎; 段瑞民
Original assignee: Beijing Bo Tsing Technology Co Ltd
Current assignee: Beijing Bo Tsing Technology Co Ltd
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2021-12-03
Anticipated expiration: 2031-06-15

Abstract

The utility model relates to the technical field of welding devices, and discloses a welding gun adjusting module and a welding robot, wherein the welding gun adjusting module is arranged on a vehicle body and comprises a moving module and a welding gun clamping mechanism, the moving module comprises a first moving component and a second moving component, the first moving component is arranged on the vehicle body, the output end of the first moving component can move along a first direction, the second moving component is arranged at the output end of the first moving component, and the output end of the second moving component can move along the first direction; the welding gun clamping mechanism is arranged at the output end of the second moving assembly and located on one side of the vehicle body, and can clamp the welding gun, adjust the height of the welding gun and adjust the rotation angle of the welding gun around two vertical axes. The welding gun adjusting module improves the stability of the vehicle body through the moving module; can carry out the centre gripping to the welder through welder fixture, can adjust welder's position and angle to satisfy the user demand.

Description

Welding gun adjusting module and welding robot

Technical Field

The utility model relates to a welding set technical field especially relates to a welder adjusting module and welding robot.

Background

With the development of welding automation, more and more large welding structures need to realize automatic welding. The guiderail-free all-position welding robot has unique competitive advantages, and the appearance makes the automatic welding of large structural members possible. In the welding process of the welding robot, the welding gun realizes the position adjustment through the moving module so as to meet the welding requirements of welding seams at different positions.

Present welding robot's welder passes through the movable module and sets up in one side of automobile body, realize the regulation of welder position through the movable module, welder's moving range receives the restriction of movable module's transverse distance, if want increase welder's moving range, then need prolong movable module's size, movable module can drive welder and move in bigger within range like this, however, because movable module's size increases, welding robot when welding under special operating mode, for example when welding in the pipeline, when welding robot is located the inner wall of pipeline, especially when being located the top of pipeline, because welder's gravity is heavier, it is especially serious to make movable module be provided with the one end downward sloping of welder, and then the welding position that leads to welder takes place the skew, reduce welding quality. In addition, the welding gun of the existing welding robot is usually fixedly installed on the movable module, so that different use requirements cannot be met in the welding process of the welding gun. Therefore, it is desirable to design a welding gun adjusting module to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a welder adjusting module and welding robot through welder fixture degree of freedom antedisplacement, has solved the technical problem that current mobile module increases the removal subassembly that leads to and takes place the skew.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a welder adjusting module sets up on the automobile body, welder adjusting module includes:

the moving module comprises a first moving assembly and a second moving assembly, the first moving assembly is arranged on the vehicle body, the output end of the first moving assembly can move along a first direction, the first direction is perpendicular to the advancing direction of the vehicle body, the second moving assembly is arranged at the output end of the first moving assembly, and the output end of the second moving assembly can move along the first direction; and

and the welding gun clamping mechanism is arranged at the output end of the second moving assembly and is positioned at one side of the vehicle body, and the welding gun clamping mechanism is configured to be capable of clamping a welding gun, adjusting the height of the welding gun and adjusting the rotation angle of the welding gun around two vertical axes.

The welding gun adjusting module comprises a moving module, the moving module comprises a first moving assembly and a second moving assembly, the output end of the first moving assembly moves along a first direction, the first direction is perpendicular to the advancing direction of a vehicle body, the second moving assembly is arranged at the output end of the first moving assembly, the output end of the second moving assembly can move along the first direction, and the moving module arranged in a double-layer mode is used for realizing the moving of a welding gun and improving the stability of the vehicle body; can carry out the centre gripping to the welder through welder fixture, the cooperation removes the regulation of the position that the module realized welder and the regulation of welder around two vertically axis pivoted angles to make welder satisfy the operation requirement more.

As a preferable aspect of the above welding gun adjusting module, the welding gun holding mechanism includes:

a clamping assembly configured to enable clamping of the welding gun;

the angle adjusting mechanism is connected with the clamping assembly and is configured to be capable of adjusting the rotation angle of the welding gun clamped by the clamping assembly around two vertical axes; and

the lifting mechanism is arranged at the output end of the second moving assembly, the output end of the lifting mechanism is connected with the angle adjusting mechanism, and the lifting mechanism is configured to be capable of adjusting the heights of the angle adjusting mechanism and the clamping assembly.

Welder fixture passes through the centre gripping subassembly and can realize welder's centre gripping, adjusts welder around two perpendicular axis pivoted angles through angle adjustment assembly, realizes the regulation to angle adjustment mechanism and centre gripping subassembly's height through elevating system to realize welder's position and the regulation of angle, and then make welder satisfy the user demand.

As a preferable scheme of the welding gun adjusting module, the angle adjusting mechanism includes a first angle adjusting component and a second angle adjusting component, the first angle adjusting component is connected to an output end of the lifting mechanism, the second angle adjusting component is respectively connected to the first angle adjusting component and the clamping component, and the first angle adjusting component is configured to be capable of adjusting an angle of the welding gun clamped by the clamping component, which rotates around a first axis; the second angle adjustment assembly is configured to be capable of adjusting an angle of rotation of the welding gun clamped by the clamping assembly about a second axis, the first axis being perpendicular to the second axis.

Can adjust welder around first axis pivoted angle through first angle adjusting part, can adjust welder around second axis pivoted angle through second angle adjusting part to can realize around the regulation of two vertically axis pivoted angles, so that welder's angle satisfies the welding demand.

As a preferable aspect of the above welding gun adjusting module, the first angle adjusting assembly includes:

the mounting plate is arranged at the output end of the lifting mechanism;

the swinging arm is rotatably arranged on the mounting plate around the first axis, an arc-shaped hole extending along the swinging path of the swinging arm is formed in the swinging arm, and the swinging arm is connected with the second angle adjusting assembly; and

the locking piece penetrates through the arc-shaped hole and can move relative to the arc-shaped hole, and the locking piece is configured to lock the swing arm on the mounting plate or unlock the swing arm.

The swing arm of first angle adjusting component rotates and sets up on the mounting panel, is provided with the arc hole that extends along its swing route on the swing arm, and the retaining member is worn to locate in the arc hole, and the retaining member unblock, swing arm rotate around the primary axis to adjust the angle of centre gripping subassembly, first angle adjusting component's simple structure, after the regulation finishes, locks the swing arm on the mounting panel through the retaining member, avoids in welding process, welder removes.

As a preferable aspect of the above welding gun adjusting module, the locking member includes:

the nut is arranged on the mounting plate, and a threaded hole of the nut is arranged corresponding to the arc-shaped hole; and

the screw rod of the bolt penetrates through the arc hole and can be connected with the threaded hole of the nut, and the head of the bolt can be abutted to the swing arm.

The structure is simple, the cost is low, the screw rod of the bolt is in threaded connection with the nut, and the screw head of the bolt is abutted against the swing arm so as to lock the swing arm; only need during the unblock unscrew the bolt can, convenient operation.

As a preferable aspect of the above welding gun adjusting module, the second angle adjusting assembly includes:

a mounting portion connected to the swing arm; and

the rotation piece winds the second axis rotates and is arranged in the installation part and can stop at any angle, and the rotation piece is connected with the clamping assembly.

The rotation piece of second adjusting part rotates around the second axis and sets up on the installation department to can end and stop in the optional position, rotate the piece and link to each other with the centre gripping subassembly, thereby drive the rotation of centre gripping subassembly through the rotation of rotating the piece, so that realize the welder of centre gripping subassembly centre gripping around the regulation of second axis pivoted angle, simple structure, convenient operation.

As a preferable aspect of the above welding gun adjusting module, the clamping assembly includes:

the first clamping part is arranged on the second angle adjusting assembly, and a first accommodating groove is formed in the first clamping part;

the second clamping part is provided with a second containing groove which is arranged corresponding to the first containing groove, one end of the second clamping part is rotatably connected with the first clamping part around a third axis, and the third axis is perpendicular to the first axis and the second axis; and

a locking assembly configured to be capable of locking or unlocking the first and second clamp portions.

The clamping assembly can lock or unlock the first clamping part and the second clamping part through the locking assembly so as to facilitate the assembly and disassembly of the welding gun.

As a preferable scheme of the welding gun adjusting module, a clamping groove is arranged on the second clamping part, and the direction of a notch of the clamping groove is opposite to the direction of a welding head of the welding gun;

the locking assembly comprises a rotating shaft and a locking cap, one end of the rotating shaft rotates around the fourth axis and is arranged on the first clamping portion to stretch into or be separated from the clamping groove, the locking cap covers the other end of the rotating shaft and can enable the second clamping portion to abut against the first clamping portion, and the fourth axis is parallel to the second axis.

The second clamping part is provided with a clamping groove, the locking assembly comprises a rotating shaft and a locking cap, the rotating shaft is rotatably arranged on the first clamping part to extend into or be separated from the clamping groove, and the direction of the notch of the clamping groove is opposite to that of a welding head of the welding gun, so that no matter what state the welding gun is in, the bottom of the clamping groove can prevent welding slag from entering the notch, and the welding slag generated by the welding gun in the welding process is prevented from being splashed onto the rotating shaft; the arrangement of the locking cap can not only lock the first clamping part and the second clamping part, but also protect the part of the rotating shaft extending out of the clamping groove, so that welding slag is prevented from being splashed onto the rotating shaft, and the locking and unlocking operation of the locking assembly is further prevented from being influenced.

As a preferable scheme of the welding gun adjusting module, the locking cap is in threaded connection with the other end of the rotating shaft.

The locking cap is in threaded connection with the other end of the rotating shaft, the structure is simple, the locking cap is screwed to achieve movable connection with the rotating shaft, and therefore the first clamping portion and the second clamping portion can be locked or unlocked.

As a preferable solution of the welding gun adjusting module, the first moving assembly and the second moving assembly each include a lead screw nut assembly.

The first moving assembly and the second moving assembly realize transmission through the screw nut assembly, and are simple in structure and easy to prepare.

The utility model also provides a welding robot, including the automobile body and set up in as foretell welder adjusting module on the automobile body.

The welding robot has better motion stability through the welding gun adjusting module; moreover, the position and the angle of the welding gun can be adjusted, the use requirement is better met, and the welding quality is improved.

The utility model has the advantages that:

the utility model provides a welding gun adjusting module, including the moving module, the moving module includes first removal subassembly and second removal subassembly, and the output of first removal subassembly moves along the first direction, and the first direction is mutually perpendicular with the advancing direction of automobile body, and the second removal subassembly sets up in the output of first removal subassembly, and the output of second removal subassembly can move along the first direction, through the moving module of double-deck setting, realizes the removal of welder, improves the stationarity of automobile body; can carry out the centre gripping to the welder through welder fixture, the cooperation removes the regulation of the position that the module realized welder and the regulation of welder around two vertically axis pivoted angles to make welder satisfy the operation requirement more.

The utility model has the advantages that:

the welding gun adjusting module provided by the utility model enables the welding robot to have better motion stability through the welding gun adjusting module; moreover, the position and the angle of the welding gun can be adjusted, the use requirement is better met, and the welding quality is improved.

Drawings

Fig. 1 is a schematic structural diagram of a welding gun adjusting module provided by the present invention;

fig. 2 is a schematic structural diagram of a mobile module provided by the present invention;

fig. 3 is a schematic structural diagram of a first moving assembly provided by the present invention;

fig. 4 is a schematic structural diagram of a second moving assembly provided by the present invention;

fig. 5 is a first schematic structural diagram of the clamping assembly and the angle adjusting mechanism provided by the present invention;

fig. 6 is a schematic structural diagram ii of the clamping assembly and the angle adjusting mechanism provided by the present invention;

fig. 7 is a schematic structural diagram of the clamping assembly provided by the present invention.

In the figure:

100. a welding gun adjusting module;

1. a moving module; 11. a first moving assembly; 110. a mounting seat; 111. a first lead screw; 112. a first slider; 113. a first driving member; 114. a first guide bar;

12. a second moving assembly; 120. a mounting frame; 121. a second lead screw; 122. a second slider; 123. a second driving member; 124. a second guide bar;

2. a welding gun clamping mechanism; 21. a clamping assembly; 22. an angle adjusting mechanism; 23. a lifting mechanism;

211. a first clamping portion; 212. a second clamping portion; 2121. a card slot; 213. a locking assembly; 2131. a rotating shaft; 2132. a locking cap;

221. mounting a plate; 222. a swing arm; 2221. an arc-shaped hole; 2222. scale marks; 223. a locking member; 224. an installation part; 225. and a rotating member.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The embodiment provides a welding robot, including the automobile body, set up welder and the laser sensing device on the automobile body, wherein welder passes through welder adjusting module and sets up on the automobile body, can adjust welder's position and angle through welder adjusting module, and the better user demand that satisfies improves welding quality. The laser sensing device is also arranged on the welding gun adjusting module so as to adjust the position of the laser sensing device and trace a welding seam.

Specifically, as shown in fig. 1 and 2, the welding gun adjusting module 100 includes a moving module 1 and a welding gun holding mechanism 2, the moving module 1 includes a first moving component 11 and a second moving component 12, the first moving component 11 is disposed on the vehicle body, an output end of the first moving component 11 can move in a first direction, the first direction is perpendicular to a traveling direction of the vehicle body, the second moving component 12 is disposed at an output end of the first moving component 11, an output end of the second moving component 12 can move in the first direction, the welding gun holding mechanism 2 is disposed at an output end of the second moving component 12 and is located at one side of the vehicle body, and by the moving module 1 disposed in a double layer, the extension lengths of the first moving component 11 and the second moving component 12 of the moving module 1 are adjusted according to requirements, the moving module 1 does not need to be in an extending state in any state, and the stability of the vehicle body is improved. The welding gun clamping mechanism 2 can clamp a welding gun and can adjust the height of the welding gun and adjust the angle of the welding gun rotating around two vertical axes, the welding gun can be clamped through the welding gun clamping mechanism 2, and the position of the welding gun and the angle of the welding gun rotating around the two vertical axes are adjusted by matching the moving module 1, so that the welding gun can meet the use requirements. The laser sensing device is arranged at the output end of the first moving component 11, so that the laser sensing device and the welding gun can move independently to a certain degree, and the control is more flexible.

As shown in fig. 3, the first moving assembly 11 includes a screw nut assembly, specifically, the screw nut assembly includes an installation base 110, a first screw 111, and a first slider 112, the first screw 111 is rotatably disposed on the installation base 110, the first screw 111 extends along a first direction, the first slider 112 is sleeved on the first screw 111 and is in threaded connection with the first screw 111, the laser sensing device and the second moving assembly 12 are both disposed at one end of the first slider 112, and the first slider 112 moves along an axial direction of the first screw 111 by rotating the first screw 111, so as to drive the laser sensing device and the second moving assembly 12 to move along the first direction.

Optionally, the first moving assembly 11 further includes a driving member, which is a first driving member 113, and the first driving member 113 is in transmission connection with the first lead screw 111 and drives the first lead screw 111 to rotate. The first moving assembly 11 of this structure drives the first lead screw 111 to rotate through the first driving member 113, so that the first slider 112 moves along the axial direction of the first lead screw 111, and further, the movement of the laser sensing device and the second moving assembly 12 along the first direction is realized.

Optionally, the first driving member 113 may be a driving handle, and the first lead screw 111 may be driven to rotate by a manual operation manner, so as to realize the adjustment of the laser sensing device and the second moving assembly 12 along the first direction position, which is convenient to operate; the first driving member 113 may also be a motor, and the motor drives the first lead screw 111 to rotate, so as to realize the automatic adjustment of the laser sensing device and the position of the second moving assembly 12 along the first direction. In this embodiment, the first driving member 113 selects a driving handle, one end of the first lead screw 111, which is far away from the welding gun, extends out of the mounting base 110, the driving handle is connected to one end of the first lead screw 111, which extends out of the mounting base 110, and the positions of the laser sensing device and the second moving assembly 12 along the first direction can be manually adjusted through the driving handle, which is convenient to operate.

Optionally, the first moving assembly 11 further includes a first guide rod 114, the first guide rod 114 is disposed on the mounting base 110, the first guide rod 114 extends along a length direction parallel to the first lead screw 111, the first slider 112 is slidably disposed on the first guide rod 114, two first guide rods 114 are disposed and located on two sides of the first lead screw 111, respectively, and the first guide rod 114 is disposed to prevent the first slider 112 from rotating along with the first lead screw 111.

As shown in fig. 4, the second moving assembly 12 includes a screw nut assembly, the screw nut assembly includes an installation frame 120, a second screw 121, and a second slider 122, the second screw 121 is rotatably disposed on the installation frame 120, the second screw 121 extends along a first direction, the second slider 122 is sleeved on the second screw 121 and is in threaded connection with the second screw 121, the second slider 122 is connected with the welding gun clamping mechanism 2, and the second screw 121 rotates to enable the second slider 122 to move along an axial direction of the second screw 121, so as to drive the welding gun clamping mechanism 2 to move along the first direction. The second moving assembly 12 further includes a driving member, which is a second driving member 123, the second driving member 123 is disposed at an end of the mounting frame 120, and the second driving member 123 is in transmission connection with the second lead screw 121 and drives the second lead screw 121 to rotate. The second moving assembly 12 of this structure drives the second lead screw 121 to rotate through the second driving element 123, so that the second slider 122 moves along the axial direction of the second lead screw 121, and further the movement of the welding gun along the first direction is realized.

Optionally, the second moving assembly 12 further includes a second guide rod 124, the second guide rod 124 is disposed on the mounting frame 120, the second guide rod 124 extends along a direction parallel to the length direction of the second lead screw 121, the second slider 122 is slidably disposed on the second guide rod 124, two second guide rods 124 are disposed and located on two sides of the second lead screw 121, and the second guide rod 124 is disposed to prevent the second slider 122 from rotating along with the second lead screw 121.

Optionally, the second driving element 123 may be a driving handle, and the second lead screw 121 may be driven to rotate in a manual operation manner, so as to adjust the position of the welding gun along the first direction, which is convenient to operate; the second driving member 123 may also be a motor, and the motor drives the second lead screw 121 to rotate, so that the degree of automation is high. In this embodiment, the second driving element 123 is a motor, and the motor drives the second lead screw 121 to rotate, so as to automatically move the welding gun along the first direction.

As shown in fig. 1, the welding gun clamping mechanism 2 includes a clamping assembly 21, an angle adjusting mechanism 22 and a lifting mechanism 23, the clamping assembly 21 can clamp the welding gun, the angle adjusting mechanism 22 is connected with the clamping assembly 21, the angle adjusting mechanism 22 can adjust the rotation angle of the welding gun clamped by the clamping assembly 21 around two perpendicular axes, the lifting mechanism 23 is arranged at the output end of the second moving assembly 12, the output end of the lifting mechanism 23 is connected with the angle adjusting mechanism 22, and the lifting mechanism 23 can adjust the heights of the angle adjusting mechanism 22 and the clamping assembly 21. Welder fixture 2 passes through centre gripping subassembly 21 and can realize welder's centre gripping, adjusts welder around two perpendicular axis pivoted angles through angle adjustment mechanism 22, realizes the regulation to angle adjustment mechanism 22 and centre gripping subassembly 21's height through elevating system 23 to realize welder's position and angle's regulation, and then make welder satisfy the user demand.

Further, as shown in fig. 1, 5 and 6, the angle adjusting mechanism 22 includes a first angle adjusting assembly and a second angle adjusting assembly, the first angle adjusting assembly is connected to the output end of the lifting mechanism 23, the second angle adjusting assembly is respectively connected to the first angle adjusting assembly and the clamping assembly 21, and the first angle adjusting assembly can adjust the rotation angle of the welding gun clamped by the clamping assembly 21 around the first axis L3 (see fig. 5); the second angle adjusting assembly can adjust the rotation angle of the welding gun clamped by the clamping assembly 21 around a second axis, and the first axis L3 is perpendicular to the second axis. The angle of the welding gun rotating around the first axis L3 can be adjusted through the first angle adjusting assembly, and the angle of the welding gun rotating around the second axis can be adjusted through the second angle adjusting assembly, so that the adjustment of the angle of the welding gun rotating around two perpendicular axes can be realized, and the welding requirement can be met by the angle of the welding gun.

As shown in fig. 5 and 6, the first angle adjusting assembly includes a mounting plate 221, a swing arm 222 and a locking member 223, the mounting plate 221 is disposed at an output end of the lifting mechanism 23, the swing arm 222 is rotatably disposed on the mounting plate 221 about a first axis L3, an arc hole 2221 extending along a swing path of the swing arm 222 is disposed on the swing arm 222, the swing arm 222 is connected to the second angle adjusting assembly, the locking member 223 is disposed in the arc hole 2221 and can move relative to the arc hole 2221, the locking member 223 can lock the swing arm 222 on the mounting plate 221 or unlock the swing arm 222, the first angle adjusting assembly has a simple structure, and after adjustment is completed, the swing arm 222 is locked on the mounting plate 221 by the locking member 223, so as to prevent the welding gun from moving during welding.

Optionally, the swing arm 222 is provided with a scale mark 2222 on the side wall of the arc hole 2221, which can play a role in prompting so as to visually know the rotation angle of the swing arm 222.

Retaining member 223 includes nut and bolt, and the nut sets up on mounting panel 221, and the screw hole of nut corresponds the setting with arc hole 2221, and the screw rod of bolt is worn to locate in arc hole 2221 to can be connected with the screw hole of nut, the spiral shell head of bolt can with swing arm 222 looks butt. The structure is simple, the cost is low, the screw rod of the bolt is connected with the screw thread of the nut, and the screw head of the bolt is abutted against the swing arm 222 so as to lock the swing arm 222; only need during the unblock unscrew the bolt can, convenient operation.

As shown in fig. 5 and 6, the second angle adjusting assembly includes a mounting portion 224 and a rotating portion 225, the mounting portion 224 is connected to the swing arm 222, the rotating portion 225 rotates around the second axis and is disposed on the mounting portion 224, and can stop at any angle, the rotating portion 225 is connected to the clamping assembly 21, so that the rotating portion 225 rotates to drive the clamping assembly 21 to rotate, and the angle of the clamping assembly 21 rotating around the second axis can be adjusted.

In one embodiment, the mounting portion 224 is provided with a mounting hole, the rotating member 225 is disposed in the mounting hole and is in interference fit with the mounting hole, the rotating member 225 rotates to drive the holding assembly 21 to rotate, and when the rotating member 225 stops rotating, the holding assembly 21 stops at the position.

In other embodiments, the mounting portion 224 is provided with a mounting hole, the rotating member 225 is inserted into the mounting hole, a threaded hole is provided on a side wall of the mounting hole, a bolt passes through the threaded hole and abuts against the rotating member 225, and when the rotating member 225 needs to rotate, the bolt is loosened to rotationally adjust the rotating member 225; when the adjustment is completed, the rotating member 225 is held by the bolt, so that the rotating member 225 is stopped at the position.

As shown in fig. 5 to 7, the clamping assembly 21 includes a first clamping portion 211, a second clamping portion 212 and a locking assembly 213, the first clamping portion 211 is disposed on the second angle adjustment assembly, a first receiving groove is disposed on the first clamping portion 211, a second receiving groove is disposed on the second clamping portion 212 corresponding to the first receiving groove, one end of the second clamping portion 212 is rotatably connected to the first clamping portion 211 around a third axis L1 (see fig. 5), the third axis L1 is perpendicular to the first axis L3 and the second axis, and the locking assembly 213 is capable of locking or unlocking the first clamping portion 211 and the second clamping portion 212. The clamping assembly 21 can lock or unlock the first clamping portion 211 and the second clamping portion 212 by the locking assembly 213, so as to facilitate the mounting and dismounting of the welding gun.

Further, the other end of the second clamping portion 212 is provided with a clamping groove 2121, and a notch of the clamping groove 2121 faces to the opposite direction of the welding head of the welding gun; the locking assembly 213 includes a rotating shaft 2131 and a locking cap 2132, one end of the rotating shaft 2131 is rotatably disposed on the first clamping portion 211 around a fourth axis L2 (see fig. 5) to extend into or be out of the slot 2121, the locking cap 2132 covers the other end of the rotating shaft 2131 and can abut the second clamping portion 212 against the first clamping portion 211, wherein the fourth axis L2 is parallel to the second axis. The direction of the notch of the clamping groove 2121 is opposite to the direction of a welding head of a welding gun, so that no matter what state the welding gun is, the groove bottom of the clamping groove 2121 can prevent welding slag from entering the notch, and the welding slag generated by the welding gun in the welding process is prevented from being sputtered onto the rotating shaft 2131; the locking cap 2132 is arranged to lock the first clamping portion 211 and the second clamping portion 212, and to protect the portion of the rotating shaft 2131 that extends out of the slot 2121, so as to prevent welding slag from being splashed onto the rotating shaft 2131, and further prevent the locking and unlocking operations of the locking assembly 213 from being affected.

Optionally, a guide surface is disposed on a side wall of the slot 2121 and located at the notch, the guide surface gradually extends from the side wall where the guide surface is located toward a direction away from the other side wall along the direction away from the slot 2121, and the guide surface can guide the rotating shaft 2131 to extend into the slot 2121. In this embodiment, a guide surface is provided on one side of the notch of the slot 2121, and in other embodiments, guide surfaces may be provided on both sides of the notch.

Alternatively, the locking cap 2132 is screwed to the other end of the rotating shaft 2131, and the structure is simple, so that the locking cap 2132 can be screwed to realize the movable connection with the rotating shaft 2131, and the first clamping portion 211 and the second clamping portion 212 can be locked or unlocked.

Further, the first clamping portion 211 is provided with a mounting groove, two opposite side walls of the mounting groove are provided with mounting holes, one end of the rotating shaft 2131 can be connected with a mounting shaft perpendicular to the rotating shaft 2131, and two ends of the mounting shaft correspondingly extend into the mounting holes and can rotate relative to the mounting holes. Optionally, the two ends of the mounting shaft may be provided with bearings, and the bearings are mounted in the mounting holes, so as to facilitate relative rotation between the mounting shaft and the mounting holes.

In other embodiments, a shaft is disposed in the mounting groove, one end of the rotating shaft 2131 is connected to a shaft sleeve, and the shaft sleeve is sleeved on the shaft to rotate relative to the shaft. A bearing may be mounted between the sleeve and the shaft member.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements and substitutions will now occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A welding gun adjustment module, arranged on a vehicle body, the welding gun adjustment module (100) comprising:

the moving module (1) comprises a first moving assembly (11) and a second moving assembly (12), the first moving assembly (11) is arranged on the vehicle body, an output end of the first moving assembly (11) can move along a first direction, the first direction is perpendicular to the traveling direction of the vehicle body, the second moving assembly (12) is arranged at an output end of the first moving assembly (11), and an output end of the second moving assembly (12) can move along the first direction; and

the welding gun clamping mechanism (2) is arranged at the output end of the second moving assembly (12) and located on one side of the vehicle body, and the welding gun clamping mechanism (2) is configured to be capable of clamping a welding gun, adjusting the height of the welding gun and adjusting the rotation angle of the welding gun around two vertical axes.

2. The torch adjustment module according to claim 1, wherein the torch clamping mechanism (2) comprises:

a clamping assembly (21) configured to enable clamping of the welding gun;

an angle adjusting mechanism (22) connected with the clamping assembly (21), wherein the angle adjusting mechanism (22) is configured to adjust the rotation angle of the welding gun clamped by the clamping assembly (21) around two vertical axes; and

the lifting mechanism (23) is arranged at the output end of the second moving assembly (12), the output end of the lifting mechanism (23) is connected with the angle adjusting mechanism (22), and the lifting mechanism (23) is configured to be capable of adjusting the heights of the angle adjusting mechanism (22) and the clamping assembly (21).

3. The welding gun adjustment module according to claim 2, characterized in that the angle adjustment mechanism (22) comprises a first angle adjustment assembly and a second angle adjustment assembly, the first angle adjustment assembly being connected to the output end of the lifting mechanism (23), the second angle adjustment assembly being connected to the first angle adjustment assembly and the clamping assembly (21), respectively, the first angle adjustment assembly being configured to be able to adjust the angle of rotation of the welding gun clamped by the clamping assembly (21) about a first axis; the second angle adjusting assembly is configured to be capable of adjusting an angle of rotation of the welding gun clamped by the clamping assembly (21) about a second axis, and the first axis is perpendicular to the second axis.

4. The weld gun adjustment module according to claim 3, wherein the first angle adjustment assembly includes:

the mounting plate (221) is arranged at the output end of the lifting mechanism (23);

a swing arm (222) rotatably disposed on the mounting plate (221) about the first axis, the swing arm (222) being provided with an arc-shaped hole (2221) extending along a swing path thereof, the swing arm (222) being connected to the second angle adjustment assembly; and

a locking member (223) disposed through the arc hole (2221) and capable of moving relative to the arc hole (2221), wherein the locking member (223) is configured to lock the swing arm (222) to the mounting plate (221) or unlock the swing arm (222).

5. The torch adjustment module of claim 4, wherein the lock (223) comprises:

the nut is arranged on the mounting plate (221), and a threaded hole of the nut is arranged corresponding to the arc-shaped hole (2221); and

and a screw rod of the bolt penetrates through the arc-shaped hole (2221) and can be connected with a threaded hole of the nut, and a screw head of the bolt can be abutted against the swing arm (222).

6. The weld gun adjustment module according to claim 4, wherein the second angular adjustment assembly includes:

a mounting portion (224) connected to the swing arm (222); and

and the rotating part (225) is arranged on the mounting part (224) in a rotating mode around the second axis and can stop at any angle, and the rotating part (225) is connected with the clamping component (21).

7. The welding gun adjustment module according to any one of claims 3-6, characterized in that the clamping assembly (21) comprises:

the first clamping part (211) is arranged on the second angle adjusting assembly, and a first accommodating groove is formed in the first clamping part (211);

the second clamping part (212) is provided with a second containing groove which is arranged corresponding to the first containing groove, one end of the second clamping part (212) is rotatably connected with the first clamping part (211) around a third axis, and the third axis is perpendicular to the first axis and the second axis; and

a locking assembly (213), the locking assembly (213) configured to be capable of locking or unlocking the first clamping portion (211) and the second clamping portion (212).

8. The torch adjustment module according to claim 7, wherein the second clamping portion (212) is provided with a notch (2121), the notch of the notch (2121) facing opposite to the welding head of the welding torch;

the locking assembly (213) comprises a rotating shaft (2131) and a locking cap (2132), one end of the rotating shaft (2131) is rotatably arranged on the first clamping portion (211) around a fourth axis to extend into or be separated from the clamping groove (2121), the locking cap (2132) covers the other end of the rotating shaft (2131) and can enable the second clamping portion (212) to abut against the first clamping portion (211), and the fourth axis is parallel to the second axis.

9. The welding gun adjustment module according to claim 8, characterized in that the locking cap (2132) is threadedly connected to the other end of the rotational shaft (2131).

10. The welding gun adjustment module according to any one of claims 1-6, characterized in that the first movement assembly (11) and the second movement assembly (12) each comprise a lead screw nut assembly.

11. A welding robot comprising a vehicle body and the torch adjustment module of any one of claims 1 to 10 provided on the vehicle body.