WO2022257223A1

WO2022257223A1 - Robot which can be used for multi-section welding and welding method thereof

Info

Publication number: WO2022257223A1
Application number: PCT/CN2021/106183
Authority: WO
Inventors: 杨青; 孔蕾锦; 陈律希
Original assignee: 南京涵铭置智能科技有限公司
Priority date: 2021-06-10
Filing date: 2021-07-14
Publication date: 2022-12-15
Also published as: CN113459075A

Abstract

Disclosed are a robot which can be used for multi-section welding and a welding method thereof. Multi-section welding can be performed at the same time. A worker only needs to place to-be-welded objects into clamping mechanisms of a welding machine in sequence, then the robot is started, the to-be-welded objects are clamped and locked in sequence by the clamping mechanisms, and then multiple sections of the to-be-welded objects can be welded at the same time by welding mechanisms. According to the multi-section welding robot, the welding efficiency is further improved; meanwhile, the workload of workers conducting repeated placement and clamping on objects needing multi-section welding is reduced, and the amount of manual labor is reduced to a certain degree.

Description

A robot that can be used for multi-stage welding and its welding method

technical field

The invention relates to the field of welding machinery, in particular to a multi-stage welding robot and a welding method thereof.

Background technique

With the continuous development of industrial technology, more and more items that require multi-stage welding have appeared during welding operations. Manpower needs to weld the items to be welded in sections one by one. After completing the welding work between two sections of articles, the welding work of the next article needs to be carried out repeatedly, and the articles to be welded need to be adjusted repeatedly.

Traditional welding machines are unable to weld multi-section items at the same time. To achieve the purpose of multi-section welding, a lot of repetitive work is required, which virtually increases the amount of manual labor.

technical problem

A robot that can be used for multi-stage welding is provided, and a welding method based on the above-mentioned welding robot is further provided to solve the above-mentioned problems in the prior art.

technical solution

A robot that can be used for multi-stage welding includes three parts: a transfer welding mechanism, a clamping mechanism and a storage mechanism.

Wherein, the welding mechanism includes a base, a rotating disc, an extension arm, an adapter disc, a welding arm and a welding head; the rotating disc is fixed on the base, and the extending arm is fixedly connected to the rotating disc, so The adapter plate is fixedly connected to the extension arm, the welding arm is fixed to one side of the adapter plate, and the welding head is fixedly connected to the welding arm. The clamping mechanism includes a fixing plate, a limiting plate and a locking mechanism, the fixing plate is fixedly connected to the limiting plate, and the locking mechanism is fixedly connected to one side of the limiting plate and the fixing plate . The storage mechanism includes a storage table and a dust removal device fixedly connected with the storage table.

In a further embodiment, in order to be able to simultaneously perform welding work on items requiring multi-segment welding, the welding mechanisms are arranged in multiple groups, and can be arranged in different combinations according to welding needs. According to the arrangement of the welding mechanisms and the distance between each group of welding mechanisms, the storage table is divided into different storage areas on the surface of the storage table, so as to facilitate the placement of multi-section welding items, and each group of storage areas has a The fixed connection has a clamping mechanism, which can clamp the welding items. Considering that there will be flying dust during the welding operation, dust removal devices are fixedly connected to both sides of each group of storage areas.

In a further embodiment, the welding head further comprises a welding turntable, a welding rotating arm and a welding tube. The welding turntable and the welding arm are axially fixed, so that the welding head as a whole can be flexibly rotated, the welding turning arm is fixedly connected to the welding turntable, and the welding turning arm is fixed to the welding pipe connected, and the surface of the welding rotating arm is embedded with an intelligent scanner, which can scan the items to be welded in all directions, and intelligently generate welding solutions.

In a further embodiment, considering that the items to be welded are of different sizes, in order to be able to adapt to different welding items, the fixing plate and the limiting plate in the clamping mechanism are telescopically adjusted The rods are fixedly connected so that the distance between the limiting plate and the fixing plate can be flexibly adjusted to meet the requirements of different welding items. The locking mechanism on the side of the fixing plate and the limiting plate is a push-type locking mechanism. After the distance between the fixing plate and the limiting plate is adjusted, the fixing plate and the limiting plate can be locked. The limiting plate is locked so as to fix the item to be welded between the fixing plate and the limiting plate. In order to further fix the items to be welded, the limiting plate is also fixedly connected with a rotation locking device, which can be used for secondary fixing of the items to be welded. At the same time, the fixed plate and the inner wall of the limiting plate are provided with rollers, which can be flexibly adjusted when the items to be welded are deflected and twisted during the welding process

In a further embodiment, the dust removal device further includes a casing, and the front panel of the casing is provided with a suction filter plate for preliminary separation and filtration of the flying dust sucked into the device. The upper surface of the casing is provided with a ventilation plate, which can be used to dissipate heat and ventilate the interior of the dust removal device during the working process, so as to prevent the internal temperature from being too high due to the long-term work of the dust removal device and causing damage to the internal facilities. Windshields are fixedly connected to the edges of both sides of the front panel of the housing, extension boards are fixedly connected to the edges of the front panel of the housing, and dust sensing devices are fixedly connected to the surface of the extension boards, which can be used to sense the concentration of dust , when the concentration of dust sucked into the dust removal device is too high, the suction of dust will be stopped, and the dust sensing device is provided with an atomization spraying device, which will perform atomization spraying to make the dust fall and settle. A collection box is fixedly connected to the lower edge of the front panel of the casing. After the atomization spraying device atomizes and sprays the dust, the settled dust will fall into the collection box for centralized collection and processing.

In a further embodiment, the connection method of the welding mechanism is further that the rotating disc is bolted to the base, and the extension arm is pivotally fixed to the rotating disc so that the extension arm can surround The rotating disc can be adjusted flexibly, and the transfer disc and the extension arm are also fixed in a pivot connection, so that flexible adjustment can also be performed between the transfer disc and the extension arm, and the welding arm The shaft is connected to one side of the adapter plate. The flexible connection mode enables the welding mechanism as a whole to be flexibly adjusted according to different requirements during operation.

In a further embodiment, the surface of the storage table is provided with a sliding track, and the clamping mechanism is slidably connected to the surface of each group of storage areas. During the later welding operation, the clamping mechanism can Position adjustment is carried out in the slide track, which facilitates the clamping work. The way of bolt connection is convenient for maintenance and repair in the later stage. For this reason, the dust removal device is fixed on both sides of each storage area by bolt connection, and in order to facilitate the dust generated during the later welding work. The suction is absorbed, and the welding work is not hindered at the same time, and the clamping mechanism and the dust removal device are arranged in a misaligned manner.

In a further embodiment, the welding mechanism and the storage mechanism are integrally fixedly connected to the support plate, so that they are fixed as an integral device, which facilitates the positioning, fixing and installation of the welding mechanism and the storage mechanism . The intelligent scanner is an infrared intelligent scanner, and a zero-return correction device is also provided between the welding turntable and the welding rotating arm, and the zero-return correction device is composed of a reset piece and a correction piece. The rotating arm is fixedly connected with the rectifying piece, and the returning piece is provided with a protruding homing zero point block. After each welding step is completed, the rectifying piece will rotate, thereby driving the welding rotating arm Rotate, when it is turned to the homing zero point block, it is stuck and cannot be moved, so as to complete the homing correction work, so as to adjust the position of the welded pipe and adjust the position of the welded pipe for subsequent welding Get ready for work.

A welding method for a robot that can be used for multi-stage welding, comprising the following steps:

S1. Manually put the items to be welded into the clamping mechanism one by one, adjust the distance and space between the fixed plate and the limiting plate according to the size of the items to be welded, and at the same time The actual operation needs to adjust the position of the clamping mechanism;

S2. After adjusting the distance and space between the fixing plate and the limiting plate, manually lock the lock between the fixing plate and the limiting plate, so that the items to be welded are clamped Fix, and then turn the rotary locking device again to fix the item to be welded for the second time;

S3. Start the plurality of welding mechanisms, the intelligent scanner will intelligently scan the items to be welded, generate a welding plan, and then perform simultaneous welding on multiple sections of the items to be welded;

S4. After each welding task is completed, the welding mechanism will perform self-correction work, correct and adjust the position of the welded pipe, and prepare for the next welding work;

S5. After the welding operation is completed, the clamping mechanism can be opened manually one by one to take out the items after welding.

Beneficial effect

The invention relates to a multi-section welding robot and a welding method thereof, which can simultaneously weld items to be welded in multiple sections. Manually only need to put the items to be welded into the clamping mechanism one by one, lock and fix them, and start the welding mechanism to perform multi-stage welding work at the same time. At the same time, during the welding process, the dust removal device will also clean the The generated flying dust is processed to avoid flying dust pollution. The invention effectively solves the problem that workers need to perform repetitive placement and clamping work when faced with multi-stage welding work, effectively reduces the amount of manual labor, and improves the efficiency of welding work at the same time.

Description of drawings

Fig. 1 is a schematic diagram of the whole of the present invention.

Fig. 2 is a schematic diagram of the welding mechanism of the present invention.

Fig. 3 is a schematic diagram of the welding head of the present invention.

Fig. 4 is a schematic diagram of the clamping mechanism of the present invention.

Fig. 5 is a schematic diagram of the dust removal device of the present invention.

The reference signs in the figure are: base 1, rotating disk 2, extension arm 3, adapter disk 4, clamping mechanism 5, storage table 6, dust removal device 7, supporting plate 8, welding arm 9, welding head 10 , welding turntable 11, welding rotating arm 12, welding pipe 13, fixed plate 14, limit plate 15, push lock 16, telescopic adjustment rod 17, rotation locking device 18, cover 19, exhaust filter plate 20, ventilation Plate 21, windshield 22, extension plate 23, dust sensing device 24, collection box 25, zero-returning correction device 26.

Embodiments of the present invention

In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the present invention.

The applicant believes that traditional welding machines cannot perform multi-stage welding work at the same time. To achieve the purpose of multi-stage welding, it is necessary to manually perform repeated placement and clamping work, which increases the manual workload virtually, and also makes multi-stage welding work efficiency is lower.

To this end, the applicant designed a robot and its welding method that can be used for multi-stage welding, which can perform multi-stage welding work at the same time. Manually only need to put the items to be welded into the clamping mechanism and lock them, and start the welding mechanism It can carry out multi-stage welding work, which effectively avoids the problem of manual clamping and placing work in the face of multi-stage welding, and at the same time improves the work efficiency of multi-stage welding.

The robot that can be used for multi-stage welding that the present invention relates to mainly comprises three parts of welding mechanism, clamping mechanism 5 and storage mechanism. The welding mechanism further includes a base 1, a rotating disk 2 fixed on the base 1, the rotating disk 2 is fixedly connected with an extension arm 3, and the extension arm 3 is also fixedly connected with an adapter plate 4, One side of the adapter plate 4 is fixedly connected with a welding arm 9 , and the welding arm 9 is further fixedly connected with a welding head 10 . The clamping mechanism 5 further includes a fixing plate 14 and a limiting plate 15 fixedly connected to the fixing plate 14 , and a locking mechanism is fixedly connected to one side of the fixing plate 14 and the limiting plate 15 . The storage mechanism further includes a storage platform 6 and a dust removal device 7 fixedly connected to the storage platform 6 .

In a preferred embodiment, in order to achieve the purpose of simultaneous welding of items requiring multi-stage welding, the welding mechanism is arranged in multiple groups, which can be arranged in different combinations according to different welding needs, and can be arranged side by side , bilateral symmetry, dislocation arrangement and other arrangements. The storage table 6 is divided into different storage areas on the surface of the storage table 6 according to the arrangement of the welding mechanisms and the distance between each group of welding mechanisms, so as to facilitate the placement of multi-section welding items, and each group of storage areas All are fixedly connected with a clamping mechanism 5, which is convenient for clamping the items to be welded later. At the same time, in consideration of the occurrence of flying dust during the welding operation, the two sides of each group of storage areas are fixedly connected with dust removal devices 7, which can suck and collect the flying dust generated during the welding operation, and then carry out Centralized processing.

In a preferred embodiment, the welding head 10 further includes a welding turntable 11 , a welding rotating arm 12 and a welding pipe 13 in order to adjust the welding head 10 to complete welding work at different angles. The welding turntable 11 and the welding arm 9 are fixed in an axial connection, so that the welding turntable 11 can be flexibly adjusted and rotated up and down, and the welding turning arm 12 is fixedly connected with the welding turntable 11. The welding rotating arm 12 is bolted to the welding pipe 13, and the surface of the welding rotating arm 12 is embedded with an intelligent scanner, which can be used to scan the items to be welded in all directions, and then intelligently generate a welding plan .

In a preferred embodiment, considering that the items to be welded are of different sizes and sizes, in order to be able to smoothly perform welding work on different welding items, the fixed plate 14 in the clamping mechanism 5 is connected to the The limiting plate 15 is fixedly connected by a telescopic adjusting rod 17, so that the distance and space between the fixing plate 14 and the limiting plate 15 can be flexibly adjusted, so as to meet the requirements of different welding items. The locking mechanism on the side of the fixing plate 14 and the limiting plate 15 is a push-type locking mechanism 16. After the adjustment of the distance and space between the fixing plate 14 and the limiting plate 15 is completed, The fixing plate 14 and the limiting plate 15 can be locked, so that the item to be welded is fixed between the fixing plate 14 and the limiting plate 15, which is convenient for later welding work. In order to further fix the item to be welded, the limiting plate 15 is also fixedly connected with a rotation locking device 18, which can be used for secondary fixing of the item to be welded, increasing the stability of the clamped item. At the same time, considering that due to the simultaneous multi-section welding, the items to be welded will be displaced and twisted during the welding process, the fixed plate 14 and the inner wall of the limiting plate 15 are equipped with The roller for adjusting the item to be welded. During the welding process, when the item to be welded is deflected and twisted, the roller will rotate, thereby driving the rotation of the item to be welded, and then the item to be welded can be welded The items can be adjusted flexibly to ensure the smooth progress of the welding machine.

In a preferred embodiment, the dust removal device 7 further includes a casing 19, and the front panel of the casing 19 is provided with a suction filter plate 20, which can be used for preliminary separation and filtration of the flying dust sucked into the device to prevent large The inhalation of particle flying dust will cause damage to the internal devices of the dust removal device 7 . The upper surface of the casing 19 is provided with a ventilation plate 21, which can be used for cooling and ventilating the interior of the dust removal device 7 during the working process, so as to prevent the internal temperature of the dust removal device 7 from being too high due to long-term continuous operation. , causing damage to the internal facilities of the dust removal device 7 . The two side edges of the front panel of the casing 19 are fixedly connected with windshields 22, which can play a buffering role for the flying dust in the suction process and prevent the flying dust from being directly sucked into the device. Because the range is not concentrated, Phenomena that lead to poor suction effect. The upper edge of the front panel of the casing 19 is fixedly connected with an extension plate 23, and the surface of the extension plate 23 is fixedly connected with a dust sensing device 24, which can be used to sense the concentration of dust. When the dust concentration is too high, in order to prevent the inhalation of a large amount of dust from causing the blockage of the suction filter plate 20, the dust sensing device 24 will stop the dust suction work after sensing that the concentration is too high. An atomizing spraying device is provided. When the dust concentration is too high and the suction operation is stopped, the atomizing spraying device will carry out atomizing spraying to make the dust fall and settle. The lower edge of the front panel of the casing 19 is fixedly connected with a collection box 25. After the atomization and spraying device atomizes and sprays the dust, the deposited dust will fall into the collection box 25 for centralized collection and processing. , and the collection box 25 is slidingly connected to the lower edge of the front panel of the casing 19, which is convenient for processing and cleaning the concentrated collected dust in the later stage.

In a preferred embodiment, the connection method of the welding mechanism is further that the rotating disk 2 is bolted to the base 1, and the extension arm 3 is pivotally connected to the rotating disk 2, so that the The extension arm 3 can be flexibly adjusted around the rotating disk 2, and the transfer disk 4 and the extension arm 3 are also pivotally fixed, so that there is also a connection between the transfer disk 4 and the extension arm 3. It can be adjusted flexibly, and the welding arm 9 is pivotally connected to one side of the adapter plate 4 . The flexible connection means that the welding mechanism as a whole can be flexibly adjusted according to different situations during the welding operation, so as to complete different welding tasks.

In a preferred embodiment, considering that in the process of actual operation, the length of the items to be welded is sometimes different, the surface of the storage table 6 is provided with a sliding track, and the clamping mechanism 5 is slidably connected to each group On the surface of the storage area, during the later welding operation, the clamping mechanism 5 can flexibly adjust its position in the sliding track according to actual operation requirements, so as to facilitate the clamping of welding items of different lengths. Considering the later maintenance and repair work, the dust removal device 7 is fixed on both sides of each group of storage areas by means of bolt connection, and in order to facilitate the suction and collection of dust generated during the later welding work At the same time, the normal progress of the welding work can not be hindered, and the clamping mechanism 5 and the dust removal device 7 are arranged in a misaligned manner, so that the welding position between the articles can be within the suction area of the dust removal device 7 .

In a preferred embodiment, the welding mechanism and the storage mechanism are integrally fixedly connected to the supporting plate 8, so that they are fixed as an integral device, which is convenient for positioning, fixing and matching of the welding mechanism and the storage mechanism. Install. At the same time, the intelligent scanner is further an infrared intelligent scanner. Considering that after each welding work is completed, the position of the welded pipe 13 will be deviated from the product, resulting in the existence of position difference, and it is impossible to carry out accurate welding work again. A zero-return correction device 26 is also provided between the welding turntable 11 and the welding rotating arm 12, and the zero-return correction device 26 is composed of a return piece and a correction piece, and the welding rotation arm 12 is fixed to the correction piece. connected, the return sheet is provided with a protruding return zero point block, and after each welding step is completed, the correction sheet will rotate, thereby driving the rotation of the welding rotating arm, when the rotation reaches the return When it is at the zero point block, it is stuck and cannot be moved, so as to complete the homing and correction work, so as to carry out the zero-return correction on the welded pipe 13 to prepare for the subsequent welding work.

On the basis of the above-mentioned robot that can be used for multi-section welding, the present invention proposes a welding method for a welding robot that can be used for multi-section welding. The specific steps are as follows:

First, manually put the items to be welded into the clamping mechanism 5 one by one, adjust the distance and space between the fixing plate 14 and the limiting plate 15, so that the items to be welded can be fixed on the clamping mechanism 5. between the fixing plate 14 and the limiting plate 15. At the same time, the position of the clamping mechanism 5 can be adjusted according to the length requirements of the items to be clamped, so as to ensure that multiple sections of items to be welded can be sequentially arranged and fixed on the storage table 6 .

Then, after adjusting the distance and the space between the fixed plate 14 and the limiting plate 15, manually lock the buckle between the fixed plate 14 and the limiting plate 15, so that the welding The item clamped and fixed, in order to further fix the item to be welded, the rotation locking device 18 can be rotated again to squeeze it into the space between the fixing plate 14 and the limiting plate 15, thereby Secondary fixation of items to be welded.

Subsequently, the plurality of welding mechanisms are started, and the intelligent scanner intelligently scans the items to be welded to generate a welding scheme, and then performs simultaneous welding on multiple sections of the items to be welded. The dust removal device 7 is also operated synchronously, and the dust generated in the welding process is sucked and collected for centralized treatment.

After each welding task is completed, in order to remove the position deviation generated by the welded pipe 13 during the welding process and avoid the failure of the precision welding machine to complete smoothly, the welding mechanism will perform automatic correction work to correct and adjust the welded pipe 13 position to prepare for the next welding work.

Finally, after the welding work is completed, the welding mechanism is closed, and the clamping mechanism 5 can be manually opened one by one to take out the welded items.

As stated above, while the invention has been shown and described with reference to certain preferred embodiments, this should not be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

A robot that can be used for multi-stage welding is characterized by comprising:

The welding mechanism includes a base, a rotating disk fixed on the base, an extension arm fixedly connected to the rotating disk, and an adapter plate fixedly connected to the extension arm, fixed on one side of the adapter plate A welding arm, the welding arm is fixedly connected with a welding head;

The clamping mechanism includes a fixing plate, a limiting plate fixedly connected to the fixing plate, and a locking mechanism fixed on one side of the fixing plate and the limiting plate;

The storage mechanism includes a storage table, and the storage table is fixedly connected with a dust removal device.
A robot that can be used for multi-stage welding according to claim 1, characterized in that: the welding mechanisms are arranged in multiple groups, and the storage table is arranged according to the arrangement of the welding mechanisms and each group of the welding mechanisms The distance between them is divided into different storage areas on the surface, and each set of storage areas is fixedly connected with a clamping mechanism, and both sides of each set of storage areas are fixedly connected with dust removal devices.
A robot that can be used for multi-stage welding according to claim 1, wherein the welding head includes a welding turntable that is axially connected to the welding arm, and the welding turntable is fixedly connected with a welding rotating arm, and The welding rotating arm is fixedly connected with a welding pipe, and the surface of the welding rotating arm is embedded with an intelligent scanner.
A robot that can be used for multi-stage welding according to claim 1, characterized in that: the fixed plate in the clamping mechanism is fixedly connected with the limiting plate through a telescopic adjustment rod, and the limiting The distance between the plate and the fixed plate can be flexibly adjusted, and the locking mechanism on the side of the fixed plate and the limiting plate is a push-type lock, which can be used to lock the fixed plate and the limiting plate. Locking, the limiting plate is also fixedly connected with a rotation locking device, the fixed plate and the inner wall of the limiting plate are provided with a roller, during the welding process, when the item to be welded is deflected and twisted, it can Make flexible adjustments.
A robot that can be used for multi-stage welding according to claim 2, wherein the dust removal device includes a casing, the front panel of the casing is provided with a draft filter plate, and the upper surface of the casing is provided with There is a ventilation plate, and the edges of both sides of the front panel of the casing are fixedly connected with windshields, and the edge of the front panel of the casing is fixedly connected with an extension board, and the surface of the extension board is fixedly connected with a dust sensing device, when the When the dust concentration is too high, the suction of the dust will be stopped. The dust sensing device is equipped with an atomization spraying device for atomization spraying. The lower edge of the front panel of the casing is fixedly connected with a collection box. After the atomization and spraying device atomizes and sprays the dust, the dust falls into the collection box for collection and processing.
A robot that can be used for multi-stage welding according to claim 1, characterized in that: the rotating disk is bolted to the base, the extension arm is fixed to the rotating disk, and the The adapter plate is also pivotally fixed to the extension arm, and the welding arm is pivotally connected to one side of the adapter plate.
A robot that can be used for multi-stage welding according to claim 2, characterized in that: the surface of the storage table is provided with a sliding track, the clamping mechanism is slidably connected to the surface of each group of storage areas, and the dust removal device Bolts are connected to both sides of each set of storage areas, and the clamping mechanism and the dust removal device are arranged in a misaligned manner.
The multi-stage welding robot according to claim 1, characterized in that: the welding mechanism and the storage mechanism are integrally fixedly connected to the support plate so as to be fixed as a whole.
A robot that can be used for multi-stage welding according to claim 3, characterized in that: the intelligent scanner is an infrared intelligent scanner, and a zero-returning correction device is also provided between the welding turntable and the welding rotating arm , the zero-return correction device is composed of a return piece and a correction piece, the welding rotating arm is fixedly connected with the correction piece, and the return piece is provided with a protruding zero-point block, after each welding After the step, the correction piece will rotate, thereby driving the rotation of the welding rotating arm, and when it is rotated to the zero point of the homing, it will be stuck and unable to move, thereby completing the homing correction work, thereby adjusting the The position of the welded pipe.
A welding method for a robot that can be used for multi-stage welding according to any one of claims 1 to 9, characterized in that it comprises the following steps:

S1. Manually put the items to be welded into the clamping mechanism in turn, and adjust the distance and space between the fixed plate and the limit plate according to the size of the items to be welded;

S2. After adjusting the distance and space between the fixed plate and the limit plate, manually lock the locking mechanism between the two, and then turn the rotary locking device to fix the items to be welded twice ;

S3. Start multiple welding structures, the intelligent scanner will scan the items to be welded, generate a welding plan, and then simultaneously weld multiple items to be welded;

S4. After each welding task is completed, the welding mechanism will correct itself to prepare for the next welding work;

S5. After the welding is completed, manually open the clamping mechanisms one by one to take out the welded items.