CN216098959U

CN216098959U - Welding robot

Info

Publication number: CN216098959U
Application number: CN202122459066.5U
Authority: CN
Inventors: 郭爱生; 曹星
Original assignee: Anhui Lichen Technology Co ltd
Current assignee: Anhui Lichen Technology Co ltd
Priority date: 2021-10-12
Filing date: 2021-10-12
Publication date: 2022-03-22
Anticipated expiration: 2031-10-12

Abstract

The utility model discloses a welding robot, which comprises a welding gun driving mechanism; the welding gun driving mechanism comprises a first driving mechanism, a crank connecting rod, a sliding block and a sliding rail; the end A of the crank connecting rod is fixed with the output end of the first driving mechanism, the end B of the crank connecting rod is fixed with the sliding block, the sliding block is in sliding fit with the sliding rail, and the sliding rail is fixed in a rotating mode; the crank connecting rod and the slide rail rotate in the horizontal direction; and the welding gun is fixed with the B end of the crank connecting rod. According to the utility model, through the matching of the crank connecting rod and the slide rail slide block, two rotations (crank connecting rod rotation and slide rail rotation) in one plane are realized to drive the welding gun to move linearly, so that the welding requirement of a straight seam welding dead angle is met, only one driving (crank connecting rod) is needed, and the other one is driven rotation (slide rail), so that the energy is saved, the complexity of the structure is reduced, the welding robot is miniaturized, the welding robot is suitable for straight seam welding in a small space, the personnel consumption is reduced, and the working efficiency and the welding seam quality are improved.

Description

Welding robot

Technical Field

The utility model relates to the technical field of welding, in particular to a welding robot.

Background

Since the introduction of the world's first Ultimate type robot in the united states in 1959, the number of industrial robots has been increasing worldwide, and they are commonly used in welding, painting, ironing, assembly, pick-up handling, inspection and measurement, half of which are welding robots. In many areas of heavy industry, large workpieces require labor intensive manual welding, which requires strict skill and concentration on the part of the operator. Due to the high demands and high requirements of people on welding flexibility and welding yield, the automatic welding robot provides great possibility for improving the welding speed, particularly the welding quality in many industrial fields.

An important trend in the field of automation is to increase the usage of robots, thereby increasing production efficiency and reducing production costs. The application of the full-automatic welding robot in China is mainly focused on several main industries such as automobiles, motorcycles, engineering machinery, railway locomotives and the like.

Typical welds include primarily circular welds, straight welds, and the like. Each type of weld has different performance requirements for the welding robot. At present, the multi-degree-of-freedom welding robot can meet the welding requirements of various types of welding seams. But the multi-degree-of-freedom robot has a complex structure, and due to the adoption of a plurality of motors, the robot has a large volume, is not suitable for small-space environments, has high cost and is not friendly to small and medium enterprises.

Straight seam welding in small space is mostly finished by adopting a straight seam welding trolley at present, the general structure of the straight seam welding trolley is that a travelling mechanism carries a welding gun to travel along a straight line, and the welding gun keeps a certain posture to weld the straight seam. In order to ensure the distance between the welding gun and the welding seam, a mode that a limiting bracket is abutted to a workpiece to be welded is generally adopted. The number of the limiting supports is 2, and the limiting supports are respectively positioned at the left side and the right side of the welding gun. When the straight seam end part has the blockage, the welding gun cannot reach the end part of the welding seam due to the limitation of the support, the welding dead angle exists, the dead angles at the two ends of the straight seam are manually welded, the workload is increased, the welding quality of the welding gun cannot be kept consistent with that of a welding robot, and certain influence is caused on the product quality.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a welding robot without welding dead angles.

The utility model solves the technical problems through the following technical means:

a welding robot includes a torch driving mechanism (4); the welding gun driving mechanism (4) comprises a first driving mechanism (41), a crank connecting rod (42), a sliding block (43) and a sliding rail (44); the A end of the crank connecting rod (42) is fixed with the output end of the first driving mechanism (41), the B end of the crank connecting rod (42) is fixed with the sliding block (43), the sliding block (43) is in sliding fit with the sliding rail (44), and the sliding rail (44) is rotationally fixed; the crank connecting rod (42) and the slide rail (44) rotate in the horizontal direction; the welding gun (5) is fixed at the B end of the crank connecting rod (42).

According to the utility model, through the matching of the crank connecting rod and the slide rail slide block, two rotations (crank connecting rod rotation and slide rail rotation) in one plane are realized to drive the welding gun to move linearly, so that the welding requirement of a straight seam welding dead angle is met, only one driving (crank connecting rod) is needed, and the other one is driven rotation (slide rail), so that the energy is saved, the complexity of the structure is reduced, the welding robot is miniaturized, the welding robot is suitable for straight seam welding in a small space, the personnel consumption is reduced, and the working efficiency and the welding seam quality are improved.

Further, when the crank connecting rod (42) is folded, the crank (432) and the connecting rod (422) are overlapped up and down.

Furthermore, the rotating shaft of the sliding rail (44) is positioned in the middle of the sliding rail (44).

Further, the device also comprises a walking mechanism (1); the first driving mechanism (41) is fixed on the traveling mechanism (1), and an output shaft is upward; the track is rotationally fixed on the traveling mechanism (1).

Further, the walking mechanism further comprises a limiting support (2), and the limiting support (2) is fixed on the walking mechanism (1); and the front end of the limiting bracket (2) is provided with a limiting wheel (21).

Furthermore, an included angle is formed between the walking direction of the walking mechanism and the welding line.

Furthermore, the diameter of the limiting wheel (21) facing the traveling direction of the welding robot is smaller than that of the other limiting wheel (21).

Furthermore, the included angle between the horizontal connecting line of the rotating shaft of the first driving mechanism (41) and the horizontal perpendicular line of the rotating shaft of the sliding rail (44) and the welding line is equal to the included angle between the central connecting line of the two limiting wheels and the welding line.

Further, the device also comprises a wiggler (3); an output shaft of the oscillator (3) is fixed with the welding gun (5) to drive the welding gun (5) to swing up and down; the oscillator (3) is fixed at the end B of the crank connecting rod (42).

Further, the device also comprises a controller; the controller is fixed on the traveling mechanism (1), and the first driving mechanism (41) and the oscillator (3) are in communication connection with the controller.

Further, the system also comprises a track planning module; the trajectory planning module plans the movement trajectory of the welding gun (5) according to the acquired current operation data and sends a planning result to the controller, and the controller controls the first driving mechanism (41), the traveling mechanism (1) and the oscillator (3) to operate according to planning information.

The utility model has the advantages that:

The design of spacing support can satisfy welding robot stability when walking, guarantees the interval of welder and welding seam, improves welding quality. Through the design of the large and small diameter limiting wheels and the design of angle compensation, the welding robot can be guaranteed to be in good contact with a welding gun and a welding seam due to the fact that the welding robot jolts and deviates from a route in the advancing process.

The design of the traveling mechanism can meet the requirement of long-distance welding, and the design of the oscillator can drive the welding gun to swing up and down, so that the welding requirement of a wide welding seam is met.

Drawings

FIG. 1 is a schematic view of the overall structure of a welding robot according to an embodiment of the present invention;

FIG. 2 is a schematic side view of a welding robot according to an embodiment of the present invention (the cover covering the driving mechanism of the welding gun is hidden);

FIG. 3 is an enlarged view of part A of FIG. 2;

FIG. 4 is a schematic view of the welding robot in embodiment 2 of the present invention in terms of structure and walking state;

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

As shown in fig. 1, the present embodiment provides a welding robot suitable for straight seam welding, arc seam welding, random seam welding, and the like. The welding gun positioning device comprises a travelling mechanism 1, a limiting support 2, a swinging device 3, a control system, a track planning module and a welding gun driving mechanism 4.

In this embodiment, the traveling mechanism 1 has a traveling function in addition to providing an installation foundation for the other parts, and meets the welding requirement of long-distance welding lines. The whole body comprises a cubic platform 11 (certainly, other walking platforms can be adopted), rollers 12 are installed at the bottom of the cubic platform 11, a third driving motor (not shown in the figure) is installed inside the cubic platform 11, and the third driving motor drives the rollers 12 to rotate through a transmission mechanism, so that a walking function is realized. In this embodiment, the third driving mechanism and the transmission mechanism are conventional technologies, and will not be described in detail here.

Spacing support 2 includes two left and right sides supports, and the difference level is fixed in the left and right sides of cube platform 11, and spacing wheel 21 is installed to the front end for with vertical placing treat the weldment butt. When the travelling mechanism 1 travels, the limiting wheel 21 is abutted to the welding part, so that the travelling track can keep a straight line, and the welding gun is ensured to be in good contact with a welding line. In this embodiment, the limiting bracket 2 and the cubic platform 11 are detachably fixed by screws. The spacing bracket 2 can be removed when the spacing bracket 2 is not needed for a curved weld or other special weld. In this embodiment, the limiting bracket 2 may be made of metal or plastic.

As shown in fig. 2 and 3, in the present embodiment, the welding gun driving mechanism 4 is located above the cubic platform 11 and between the left and right limit brackets for improvement. Comprises a first driving mechanism 41, a crank connecting rod 42, a slide block 43 and a slide rail 44; the end A of the crank connecting rod 42 is fixed with the output end of the first driving mechanism 41, the end B of the crank connecting rod 42 is fixed with the sliding block 43, the sliding block 43 is in sliding fit with the sliding rail 44, and the sliding rail 44 is fixed in a rotating mode; the crank connecting rod 42 and the slide rail 44 rotate horizontally; the welding gun 5 is fixed to the B end of the crank link 42. In this embodiment, when the crank link 42 is retracted, the crank 421 and the link 422 are vertically overlapped, the crank 421 is located at the lower side, and the link 422 is located at the upper side. The first driving mechanism 41 is a driving motor, and is fixed on the upper surface of the cubic platform 11, and the output shaft is upward and fixed with the a end of the crank connecting rod 42 (i.e. the end of the crank 421 away from the end rotationally fixed with the connecting rod 422). When the first driving mechanism 41 is activated, the crank 421 is driven to rotate around the rotation axis of the first driving mechanism 41. Because the end B of the connecting rod 422 is fixed with the sliding block 43, and the middle part of the sliding rail 44 is fixed on the cubic platform 11 through the rotating shaft, under the pushing of the crank 421, the connecting rod 422 and the sliding block 43 slide on the sliding rail 44, and the sliding rail 44 rotates adaptively along with the change of the angle of the connecting rod 422, thereby realizing the change of the length and the angle of the crank connecting rod 42. In this embodiment, the welding gun driving mechanism 4 is only provided with one active drive (a first driving motor), so that two-point horizontal rotation is realized, that is, the rotation of the crank connecting rod 42 and the rotation of the slide rail 44 drive the welding gun 5 to swing left and right through the length change of the crank connecting rod 42 and the angle change of the slide rail 44, and the welding track of the welding gun 5 during the left and right swing can always keep a straight line or keep a set track planning route, so as to meet the welding requirements of straight seams and other special welding seams, and realize that the head of the welding gun 5 can also make telescopic motion while rotating at the same time of rotating the angle under the cooperation of the crank connecting rod 42 and the slide rail 44 slide block 43 capable of rotating even under the block of the limiting support 2, so that the head of the welding gun 5 keeps linear motion, and the dead angle of the straight seam welding is welded. In this embodiment, the connecting rod 422 and the sliding block 43 may be welded or bolted. In this embodiment, the oscillator 3 is fixed at the end of the connecting rod 422B, and the oscillator 3 includes a second driving motor 31 and a clamping jaw 32; the base of the second driving motor 31 is fixed with the connecting rod 422 through the bracket 33, the output shaft of the second driving motor 31 is in a horizontal state, the clamping jaw 32 is installed at the output end of the output shaft, and the welding gun 5 is clamped and fixed by the clamping jaw 32. When the second driving motor 31 is started, the welding gun 5 is driven to swing up and down. Thereby meeting the welding requirement of wide welding seams.

In this embodiment, when the crank connecting rod 42 is retracted, the crank 421 is located below the connecting rod 422, the two are overlapped up and down, the track is in the same direction as the crank connecting rod 42 and located below the connecting rod 422, the crank connecting rod 42 and the slide rail 44 are integrally perpendicular to a vertical to-be-welded component, and the welding gun at this time is directly opposite to the welding line, and the included angle between the welding gun and the welding line is 90 °. So design makes 4 overall structure compactions of welder actuating mechanism, realizes welding robot miniaturization, is applicable to little space welding.

In this embodiment, the welding trajectory of the welding gun 5 is completed by the trajectory planning module. The track planning module writes a track planning program, and the controller controls the first driving mechanism 41, the second driving mechanism and the third driving mechanism to operate according to a current track planning result. Of course, the welding gun 5 may be manually driven to swing left and right, and the welding of the welding gun 5 to the welding dead angle may be similarly completed. The trajectory planning procedure in this embodiment is prior art and will not be described in detail here.

A control box 6 is further fixed on the cubic platform 11, and the controller and various control buttons are arranged on the control box 6. The control box 6 is positioned behind or above the cubic platform 11, and does not form an obstacle when the welding gun 5 swings left and right or up and down.

The cubic platform 11 is further provided with a handle 7, the handle 7 is approximately L-shaped, one end of the handle is fixed with the side surface of the cubic platform 11, and the other end of the handle extends to the position above the cubic platform 11.

The welding robot that this embodiment provided can be from taking battery 8, and battery 8 installs the rear or the back top at cube platform 11, or inside cube platform 11, supplies power to 3 driving motor, control system. The mode of direct connection with a power supply can be adopted, or the storage battery and the direct connection power supply are arranged, so that the device is suitable for various environments.

The welding robot of this embodiment can design multiple model, different volumes, adapts to the welding demand of different scenes.

The working principle of the welding robot provided by the embodiment is as follows: aiming at a straight seam, a handle 7 is held by hand to place a welding robot at the initial end of the welding seam, a limiting wheel 21 is abutted against a vertical part to be welded, a power supply is started, all parts are powered on, a track planning module plans the rotation amplitude of a first driving motor according to the length of the current welding dead angle, a controller controls a first driving mechanism 41 to rotate according to the planning result, a welding gun 5 is rotated under the matching of a crank connecting rod 42 and a slide rail 44 of a slide block 43, and the head of the welding gun 5 is sent to the edge of the welding dead angle; the welding gun 5 is started to weld the welding seam, the controller drives the first driving motor to rotate according to the planning result of the trajectory planning module, the welding gun 5 is brought back to complete welding of a welding dead angle, then the controller controls the third driving motor to start, the traveling mechanism 1 starts to operate, and the welding gun 5 always keeps a posture right opposite to the welding seam (the crank connecting rod 42 is in a retracted state) before the welding dead angle at the other end is reached. When the welding dead angle at the other end is reached, the trajectory planning module also gives a planning result and sends the planning result to the controller, and the controller controls the first driving motor to rotate to drive the welding gun 5 to swing to complete the welding of the welding dead angle at the other end.

When aiming at arc welding seams or other welding seams, the limiting bracket 2 can be detached as required. And the track planning module plans the running states of the 3 driving motors according to the welding seam condition.

Example 2

The welding robot described in embodiment 1 has two limiting wheels with the same diameter, and when the welding robot bumps in the traveling process, the welding robot is easy to deviate from a straight track. Therefore, in the embodiment, the traveling direction of the traveling mechanism and the welding line are designed to have a certain angle, which is generally 1.5 °. In the advancing process, because the included angle of 1.5 degrees exists, the limiting wheel of the welding robot is always abutted to the vertical part to be welded. Further, in order to ensure the stability of operation, the diameter of the two limiting wheels is designed to be one larger and one smaller in the embodiment, as shown in fig. 4, the limiting wheel 21 'facing the advancing direction of the robot is a small diameter, the central connecting line of the two limiting wheels and the welding seam form an included angle of 1.5 degrees, and the small-diameter limiting wheel 21' is always abutted to the vertical part to be welded. In order to compensate for the 1.5 degrees, in the embodiment, an included angle between a horizontal connecting line of the rotating shaft 20 of the first driving mechanism and the rotating shaft 10 of the slide rail and a horizontal perpendicular line of a welding seam is designed to be 1.5 degrees, wherein the first driving mechanism deviates to the side of the large-diameter limiting wheel so as to meet a straight seam region except for a welding dead angle, and the welding gun can be opposite to the welding seam when the crank connecting rod is in a retracted state.

In fig. 4, the left-to-right 4 diagrams are respectively: the figure 1 shows the size relationship of two limiting wheels, and the included angle between the horizontal connecting line of the rotating shaft 20 of the first driving mechanism and the rotating shaft 10 of the sliding rail and the horizontal perpendicular line of the welding line; the 2 nd sub-diagram shows the welding state of the welding robot for welding the welding dead angle from the initial end of the welding line, and the welding robot integrally inclines to the right by 1.5 degrees under the action of limiting wheels with different diameters; the 3 rd picture is that the welding robot welds the middle welding seam, and due to the angle compensation design, although the welding robot is wholly inclined, the welding gun is still vertical to the welding seam; and the 4 th sub-figure is used for welding the welding dead angle of the welding seam terminal.

The welding robot with the angle supplementing function provided by the embodiment can quickly adjust the deviation based on the included angle design even if the direction deviation is caused by the obstacle in the advancing process, so that the welding gun is in good contact with the welding seam.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A welding robot is characterized by comprising a wiggler (3) and a welding gun driving mechanism (4); the welding gun driving mechanism (4) comprises a first driving mechanism (41), a crank connecting rod (42), a sliding block (43) and a sliding rail (44); the A end of the crank connecting rod (42) is fixed with the output end of the first driving mechanism (41), the B end of the crank connecting rod (42) is fixed with the sliding block (43), the sliding block (43) is in sliding fit with the sliding rail (44), and the sliding rail (44) is rotationally fixed; the crank connecting rod (42) and the slide rail (44) rotate in the horizontal direction; the oscillator (3) is fixed with the B end of the crank connecting rod (42), and the welding gun is fixed with the oscillator (3).

2. The welding robot as recited in claim 1, characterized in that when the crank link (42) is retracted, the crank (432) and link (422) are stacked one on top of the other.

3. The welding robot according to claim 1 or 2, characterized in that the rotation axis of the slide rail (44) is located in the middle of the slide rail (44).

4. The welding robot according to claim 1 or 2, characterized by further comprising a walking mechanism (1); the first driving mechanism (41) is fixed on the traveling mechanism (1), and an output shaft is upward; the sliding rail (44) is rotationally fixed on the walking mechanism (1).

5. The welding robot according to claim 4, characterized by further comprising a spacing bracket (2), wherein the spacing bracket (2) is fixed on the travelling mechanism (1); and the front end of the limiting bracket (2) is provided with a limiting wheel (21).

6. The welding robot of claim 5, wherein the walking direction of the walking mechanism is at an angle to the weld.

7. The welding robot according to claim 6, characterized in that the diameter of the spacing wheel (21) facing the direction of travel of the welding robot is smaller than the diameter of the other spacing wheel (21).

8. The welding robot according to claim 7, characterized in that the angle between the horizontal line of the rotating shaft of the first driving mechanism (41) and the rotating shaft of the sliding rail (44) and the horizontal perpendicular line of the weld seam is equal to the angle between the central line of the two limiting wheels and the weld seam.

9. The welding robot of claim 6, further comprising a controller; the controller is fixed on the traveling mechanism (1), and the first driving mechanism (41) and the oscillator (3) are in communication connection with the controller.

10. The welding robot of claim 7, further comprising a trajectory planning module; the trajectory planning module plans the movement trajectory of the welding gun (5) according to the acquired current operation data and sends a planning result to the controller, and the controller controls the first driving mechanism (41), the traveling mechanism (1) and the oscillator (3) to operate according to planning information.