CN216541546U

CN216541546U - Welding robot

Info

Publication number: CN216541546U
Application number: CN202123121910.XU
Authority: CN
Inventors: 李伟民
Original assignee: Guangdong O Matic Intelligent Robot Ltd
Current assignee: Guangdong O Matic Intelligent Robot Ltd
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-05-17
Anticipated expiration: 2031-12-13

Abstract

The utility model provides a welding robot, comprising: the supporting frame comprises a frame main body and a bottom plate; the manipulator assembly is arranged on the bottom plate and is controlled by a control box fixed on the bottom plate; the welding machine device comprises an electric welding machine fixed on the base plate, a water cooling machine arranged on the electric welding machine, a wire feeding machine arranged on the water cooling machine, and a welding gun arranged at the free end of the manipulator assembly; and the welding gun is connected with the free end of the manipulator assembly through the welding gun fixed die, wherein the welding robot can weld a welding part and a workpiece into a whole.

Description

Welding robot

Technical Field

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

Background

With the continuous development of modern society, the steel consumption is more and more, and the welding requirement to steel is constantly improved. For example, in the processes of welding the top plate of the i-shaped steel pile, connecting the steel sheet pile and the like, the welding is required to have no defects such as cracks, welding beading, slag inclusion, bubbles, burnthrough and the like. Under traditional operation, the welding work needs manual welding by a welding worker, and the welding quality is greatly dependent on the skill of the worker. The operation mode has low efficiency, higher requirement on the capability of welding workers and unstable welding quality. In addition, most workers are unwilling to enter the welding industry due to the fact that the welding operation environment is rich in harmful substances, strong in radiation and the like, and the labor is wasted.

SUMMERY OF THE UTILITY MODEL

In view of the above technical problems, the present invention is directed to a welding robot, which can significantly improve welding accuracy and work efficiency, greatly save labor cost, and flexibly move to a working position, and can enable workers to be away from a dangerous working environment, avoid sucking harmful substances and being irradiated by strong ultraviolet rays, and ensure life safety of the workers.

To this end, according to the utility model, a welding robot is proposed, comprising: the supporting frame comprises a frame main body and a bottom plate; the manipulator assembly is arranged on the bottom plate and is controlled by a control box fixed on the bottom plate; the welding machine device comprises an electric welding machine fixed on the base plate, a water cooling machine arranged on the electric welding machine, a wire feeding machine arranged on the water cooling machine, and a welding gun arranged at the free end of the manipulator assembly; and the welding gun is connected with the free end of the manipulator assembly through the welding gun fixed die, wherein the welding robot can weld a welding part and a workpiece into a whole.

In one embodiment, the wire feeder is fixed on the upper end face of the water cooling machine through a fixing frame, and a wire disc for providing welding wires is arranged on the fixing frame and is positioned on one side of the wire feeder.

In one embodiment, the welding gun comprises a welding gun body, a gun barrel connected with the welding gun body, and a conductive nozzle connected with the gun barrel through an adapter, wherein an insulating gasket is arranged between the gun barrel and the adapter, and a protective nozzle is sleeved on the conductive nozzle.

In one embodiment, the welding member is a welding steel plate provided with a plurality of welding holes, the welding holes are configured to include a straight hole portion and a taper hole portion, the taper hole portion is formed at the bottom of the straight hole portion, and the taper a of the taper hole portion is in the range of 45 ° -48 °.

In one embodiment, the welding gun fixing module comprises a round aluminum block installed at the tail end of the manipulator assembly, a connector fixed on the round aluminum block, a round bakelite connected with the connector, and an L-shaped connecting block fixedly connected with the round bakelite, wherein a clamp is fixed on the L-shaped connecting block and is used for fixedly installing the welding gun.

In one embodiment, the holder is configured to comprise a first connecting part and a second connecting part which are in butt joint, the first connecting part and the second connecting part are respectively provided with an arc-shaped groove, the first connecting part and the second connecting part are fixedly connected through a fastener, and the arc-shaped grooves are in butt joint to form a clamping space for clamping the welding gun.

In one embodiment, the robot assembly is provided with a plurality of rotational joints, and the robot assembly is capable of moving the welding gun in the work space.

In one embodiment, a middle support beam is provided on the frame body, and a protective seat is provided on the middle support beam, on which a distal end of the robot assembly can rest.

In one embodiment, the electric control box further comprises an electric control box used for providing an electric leakage switch and a power line, the electric control box comprises a waterproof box and the electric leakage switch arranged in the waterproof box, and the electric control box is fixedly installed on the middle-layer supporting beam through a connecting metal plate.

In one embodiment, the top of the support frame is provided with a hanging ring, and the bottom of the support frame is provided with a wheel with a brake.

Compared with the prior art, the utility model has the advantages that:

the welding robot can be flexibly moved to a working position, is not limited to fixing the manipulator and the welding equipment group on a working plane, and meets the requirements of a construction site or a factory. Through manipulator assembly centre gripping welder, make the workman keep away from dangerous operational environment, avoid inhaling harmful substance and receive strong ultraviolet irradiation, guaranteed operating personnel's life safety. The welding operation is carried out by setting a fixed program, and after a workpiece is welded, the welding operation can be restarted only by setting the coordinates of the workpiece for a new workpiece. The welding robot is simple and rapid to operate, welding accuracy and working efficiency are greatly improved, and labor cost is greatly saved.

Drawings

The utility model will now be described with reference to the accompanying drawings.

Fig. 1 schematically shows the structure of a welding robot according to the present invention.

Fig. 2 schematically shows the structure of a welding gun in the welding robot shown in fig. 1.

Fig. 3 is a cross-sectional view of the torch of fig. 2.

Fig. 4 schematically shows the structure after the weld member is welded to the workpiece.

Fig. 5 schematically shows the structure of the welding hole on the weldment.

In the present application, the drawings are all schematic and are used only for illustrating the principles of the utility model and are not drawn to scale.

Detailed Description

The utility model is described below with reference to the accompanying drawings.

In this application, it should be noted that, in fig. 1, the transverse direction is defined as the X-axis direction, the longitudinal direction is defined as the Y-axis direction, and the vertical direction is defined as the Z-axis direction. In addition, directional terms or limitations "up" and "down" used in the present application are referred to the drawings referred to. They are not intended to limit the absolute positions of the parts involved, but may vary from case to case.

Fig. 1 schematically shows the structure of a welding robot 100 according to the present invention. As shown in fig. 1, the welding robot 100 includes a support frame 10, a robot assembly 20, a welder device, and a torch fixing module. The support stand 10 includes a frame body 11 and a base plate 12. The robot assembly 20 is mounted on the base plate 12, and a control box 21 is further mounted on the base plate 12, the control box 21 being in signal connection with the robot assembly 20 for controlling the robot assembly 20. The control box 21 is spaced from the robot assembly 20 to avoid interfering with the robot assembly 20 activity. The welder unit includes a welding bug 30 fixed to the base plate 12, a water cooled machine 40 fixedly mounted to the welding bug 30, a wire feeder 50 mounted to the water cooled machine 40, and a welding gun 60 mounted to a free end of the robot assembly 20. The welding gun 60 is connected to the free end of the robot assembly 20 via a welding gun fixing module. During the welding operation, the welding robot 100 can weld the weldment 200 (see fig. 4) and the workpiece 300 as one body.

In one embodiment, the frame body 11 may be configured, for example, in a rectangular parallelepiped shape. As shown in fig. 1, the frame body 11 includes a connection bar formed in a rectangular parallelepiped side length. Preferably, the connecting rod is made of aluminum profiles. The corner connectors or the galvanized connecting pieces are arranged at the joints of the aluminum profiles, so that the aluminum profiles are fixedly connected, and the corner connectors and the galvanized connecting pieces can play a good reinforcing role in fixing the aluminum profiles.

A base plate 12 is fixed to the lower end of the support frame 10 for serving as a support structure for mounting other components. Wheels 16 are arranged at the lower end of the bottom plate 12, and the wheels 16 are provided with brakes. Preferably, the wheels 16 are disposed at the four corners of the lower end of the support frame 10. Meanwhile, a top plate 17 is provided at the upper end of the support frame 10. Preferably, the top plate 17 is a PC plate. The top plate 17 can protect other components in the support frame 10.

In one embodiment, a hanging ring 15 is provided at the upper end of the support frame 10, preferably, the hanging ring 15 is provided at the four corners of the upper end of the support frame 10, and a circular hole on the hanging ring 15 protrudes from the upper portion of the support frame 10 to extend upward. From this, carry out cutting work in building site or the cooperation of industry factory building, can remove welding robot 100 to the work place in a flexible way through handling or hand push function, this working range that has greatly improved welding robot 100 has improved conveying efficiency greatly.

According to the present invention, the frame body 11 is provided with the middle support beam 13, and the middle support beam 13 is preferably provided at a vertically intermediate position of the frame body 11. As shown in fig. 1, the middle supporting beam 13 includes a longitudinal beam and a transverse beam fixedly connected to the vertical connecting rod of the frame body 11, and preferably, the transverse beam and the longitudinal beam are made of aluminum profiles. Longeron and crossbeam pass through zinc-plated connection piece fixed connection with vertical connecting rod, and the zinc-plated connection piece can effectively guarantee the stability of connecting. A protective seat 14 is provided on the middle support beam 13, and the end of the robot assembly 20 can be stopped on the protective seat 14. Preferably, the protection seat 14 is fixedly connected to the longitudinal beam, in a position close to the front end. When needs handling or hand push welding robot 100, stop the end of manipulator subassembly 20 on protection seat 14 to it is fixed to take the ligature with the magic fixed on protection seat 14, can effectively prevent to cause the damage to spare parts such as the internal gear of manipulator subassembly 20 in the transportation.

As shown in fig. 1, the water cooled generator 40 is fixedly mounted on top of the welding bug 30. In one embodiment, bent sheet metal parts are respectively disposed at two ends of the bottom of the water cooling machine 40 and are fixed by screws, so that the water cooling machine 40 is fixed on the top of the electric welding machine 30. The wire feeder 50 is fixed to an upper end surface of the water cooler 40 by a fixing bracket 51. A wire reel 52 for supplying welding wire is also provided on the holder 51, the wire reel 52 being located at one side of the wire feeder 50. The fixing frame 51 may be made of, for example, a fixed aluminum plate.

The water cooler 40 is used to cool the welding torch 60. In the welding operation process, the cooling liquid in the water cooling machine 40 rapidly flows to the welding gun 60 through the high-pressure water pipe in the gun barrel to absorb heat and flows back to the inside of the water cooling machine 40, so that heat dissipation and temperature reduction are realized.

As shown in fig. 1, the welding robot 100 further includes an electric cabinet for providing an electric leakage switch and a power line for the manipulator assembly 20 and the welder device. The electric cabinet comprises a waterproof box 80 and a leakage switch arranged in the waterproof box 80. Preferably, the waterproof box 80 is fixedly mounted on the side member of the middle support beam 13 through a connecting metal plate 81.

As shown in fig. 1, the robot assembly 20 is provided with a plurality of rotary joints, and the torch fixing module is coupled to the free end of the robot assembly 20 through one rotary joint. During operation, the robot assembly 20 is capable of moving the free end torch 60 in three dimensions. The welding gun 60 is clamped by the manipulator assembly 20 for welding, so that workers can be far away from dangerous working environments, harmful substances are prevented from being sucked, the workers are prevented from being irradiated by strong ultraviolet rays, and the life safety of the workers is effectively guaranteed.

The torch fixing module according to the present invention includes a circular aluminum block 71 fixedly installed at the end of the robot assembly 20, a connector 72 fixed to the circular aluminum block 71, a circular bakelite 73 connected to the connector 72, and an L-shaped connection block 74 fixedly connected to the circular bakelite 73. The L-shaped connecting block 74 is provided with a holder 75, and the holder 75 is used for fixedly mounting the welding gun 60. The welding gun 60 is mounted to the end of the robot assembly 20 by a welding gun fixing module. The connector 72 is fixed to the circular aluminum block 71 by a plurality of screws, thereby making the welding gun 60 detachable. A quick connection of the welding gun 60 can be achieved by means of the connector 72. Since the circular bakelite 73 is fixed to the connector 72, the L-shaped connector block 74 is fixed to the circular bakelite 73, thereby insulating the welding gun 60 and the holder 75 from the robot assembly 20.

In this embodiment, one connecting edge of the L-shaped connecting block 74 is fixedly connected to the end of the round bakelite 73, and the holder 75 is on the other connecting edge of the L-shaped connecting block 74. The holder 75 is configured to include a first connection portion and a second connection portion that are butt-joined, the first connection portion and the second connection portion being respectively provided with circular arc-shaped grooves (not shown), and the first connection portion and the second connection portion being fastened by a fastener so that the circular arc-shaped grooves are butt-joined to form a clamping space for clamping the welding gun 60. A key groove (not shown) is formed at the bottom of the circular arc groove of the first or second coupling part, and a flat key pin (not shown) is installed in the key groove when it is installed, thereby firmly fixing the welding gun 60 to the holder 75. The gripper 75 thus angles the welding gun 60 to the end of the robot assembly 20, which enables the wire end of the welding gun tip to be on the extension of the center of the robot end flange, thus ensuring welding accuracy.

As shown in fig. 2 and 3, the welding gun 60 includes a welding gun body 61, a gun barrel 62 integrally connected to the welding gun body 61, a contact tip 64 connected to the gun barrel 62 through an adapter 63, and a protective tip 66 fitted over the contact tip 64. An insulating spacer 65 is provided between barrel 62 and adapter 63. The barrel 62 includes a first straight section and a second straight section, the first straight section and the second straight section being angled such that the contact tip 64 is angled with respect to the torch body 61. Adapter 63 is rotatably mounted on the end of barrel 62, adapter 63 being used to secure protective mouth 66. When the welding gun body 61 is installed, the welding gun body 61 is correspondingly installed in the clamping groove of the clamp holder 75, so that the welding gun 60 and the L-shaped connecting block 74 are fixedly installed.

In the present embodiment, the contact tip 64 and the protection tip 66 of the welding gun 60 are appropriately lengthened, so that the welding gun 60 can be used for welding in a hole with a small space, which facilitates the welding operation, and is beneficial to improving the welding operation efficiency and enhancing the welding operation effect.

According to the utility model, a gap is provided between the contact tip 64 and the protective tip 66. The protective nozzle 64 is of a reducing necking lengthening type, so that protective gas can be sprayed out from a hole formed in the tail end of the barrel 62, the protective gas can be sprayed out smoothly and stably along the inside of the protective nozzle 66 due to the reducing necking of the protective nozzle 66, the protective gas is enabled to have a good flowing state and certain stiffness, the protective gas prevents a melting welding line in solidification from being oxidized, and meanwhile, impurities and moisture in air are blocked.

According to the present invention, as shown in fig. 4 and 5, the welding member 200 is a welding steel plate, and a plurality of welding holes 201 are provided on the welding steel plate, the welding holes 201 being configured to include a straight hole portion and a tapered hole portion, the tapered hole portion being formed at the bottom of the straight hole portion, and the taper α of the tapered hole portion being set to be in the range of 45 ° -48 °. Such a welding hole structure of the welded steel plate can ensure that the welded steel plate is welded through and fused with the material of the workpiece 300 without overheating and burning through. The workpiece 300 is, for example, an i-steel, and the distribution positions of the welding holes 201 on the welded steel plate correspond to the structural shape of the workpiece 300.

The operation of the welding robot 100 according to the present invention is briefly described as follows. Firstly, the welding robot 100 is lifted to the vicinity of a working area by lifting with the lifting ring 15, or is pushed to a designated working area by hand, and then the wheels of the support frame 10 are stepped on to brake the pedals, so that the welding robot 100 is fixed at the working position. Then, the power supply is connected, the leakage switch is turned on, the control box 21 button is turned on, and the switches of the welder 60 and the water cooler 40 are turned on. The welding parameters are then adjusted on the welder 60 according to the characteristics of the welding material. And then, modifying the user coordinate system of the workpiece, and executing a corresponding built-in program, namely starting welding for welding operation. After welding a workpiece, the welding can be restarted for continuing operation only by setting the workpiece coordinates for a new workpiece. By using the welding robot 100, the welding precision and the working efficiency are greatly improved, the labor cost is greatly saved, and the welding technology dependence on operators is reduced.

The welding robot 100 according to the present invention can be flexibly moved to a working position without being limited to fixing the manipulator and the welding equipment set on a working plane, and can be adapted to the requirements of a construction site or a factory. The welding gun 60 is clamped by the manipulator assembly 20, so that workers are far away from dangerous working environment, harmful substances are prevented from being sucked, and the workers are prevented from being irradiated by strong ultraviolet rays, and the life safety of the workers is ensured. The welding operation is carried out by setting a fixed program, and after a workpiece is welded, the welding operation can be restarted only by setting the coordinates of the workpiece for a new workpiece. The operation is simple and rapid, the welding precision and the working efficiency are greatly improved by using the welding robot 100, and the labor cost is greatly saved.

In the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, detachable connections, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the utility model can be understood according to specific situations by those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and do not limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing examples, or that equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A welding robot, comprising:

a support frame (10) comprising a frame body (11), a bottom plate (12);

a manipulator assembly (20) mounted on the base plate, the manipulator assembly being controlled by a control box (21) secured to the base plate;

the welding machine device comprises an electric welding machine (30) fixed on the base plate, a water cooling machine (40) arranged on the electric welding machine, a wire feeding machine (50) arranged on the water cooling machine, and a welding gun (60) arranged at the free end of the manipulator assembly; and

the welding gun fixing module is connected with the free end of the manipulator assembly through the welding gun fixing module,

wherein the welding robot can weld the welding part (200) and the workpiece (300) into a whole.

2. The welding robot according to claim 1, wherein the wire feeder is fixed to an upper end surface of the water cooler by a fixing frame (51), and a wire reel (52) for supplying the welding wire is provided on the fixing frame, the wire reel being located at one side of the wire feeder.

3. Welding robot according to claim 1 or 2, characterized in that the welding gun comprises a welding gun body (61), a barrel (62) connected with the welding gun body, and a conductive nozzle (64) connected with the barrel through a conversion joint (63), an insulating gasket (65) is arranged between the barrel and the conversion joint, and a protective nozzle (66) is sleeved on the conductive nozzle.

4. The welding robot as claimed in claim 3, wherein the welding member is a welding steel plate provided with a plurality of welding holes (201) configured to include a straight hole portion and a tapered hole portion, the tapered hole portion being formed at a bottom of the straight hole portion, and a taper α of the tapered hole portion being in a range of 45 ° -48 °.

5. The welding robot according to claim 3, wherein the welding gun fixing module comprises a circular aluminum block (71) mounted at the end of the manipulator assembly, a connector (72) fixed on the circular aluminum block, a circular bakelite (73) connected with the connector, and an L-shaped connecting block (74) fixedly connected with the circular bakelite, wherein a clamper (75) is fixed on the L-shaped connecting block and is used for fixedly mounting the welding gun.

6. The welding robot as claimed in claim 5, wherein the holder is configured to include a first connecting part and a second connecting part which are butt-jointed, the first connecting part and the second connecting part are respectively provided with circular arc-shaped grooves, the first connecting part and the second connecting part are tightly connected by a fastener, and the circular arc-shaped grooves are butt-jointed to form a clamping space for clamping the welding gun.

7. The welding robot of claim 1 or 2, wherein the manipulator assembly is provided with a plurality of rotary joints, and the manipulator assembly is capable of moving the welding gun in a work space.

8. The welding robot as claimed in claim 1, characterized in that a middle support beam (13) is provided on the frame body, and a protective seat (14) is provided on the middle support beam, on which a tip of the manipulator assembly can rest.

9. The welding robot as recited in claim 8, further comprising an electric control box (80) for providing an earth leakage switch and a power line, the electric control box comprising a waterproof box and an earth leakage switch disposed in the waterproof box,

the electric cabinet is fixedly arranged on the middle-layer supporting beam through a connecting metal plate (81).

10. Welding robot according to claim 1, characterized in that the top of the support frame is provided with a lifting ring (15), and the bottom of the support frame is provided with a wheel (16) with a brake.