Steel member welding collaborative robot and welding method thereof

Abstract

The invention discloses a steel member welding collaborative robot and a welding method thereof, and relates to the technical field of welding robotics.The steel member welding collaborative robot comprises a workbench, a welding gun body is arranged above the workbench, a welding gun head is fixedly connected to the bottom of the welding gun body, a cooling assembly is arranged in the welding gun body, and the cooling assembly comprises an active push plate; a sliding groove is formed in the inner side wall of the welding gun body, the driving push plate is slidably connected into the sliding groove, an area defined by the driving push plate and the welding gun head is an empty bin, a driven push plate is slidably connected into the sliding groove, the driven push plate is arranged above the driving push plate, an inner rod is fixedly connected to the top of the driving push plate, and an outer rod is connected to the outer side of the inner rod in a sleeving mode. And a plurality of clamping teeth are fixedly connected to the inner side wall of the outer rod, so that the technical problem that the subsequent welding effect can be influenced if the temperature of the gun head of the welding gun can continuously rise and the gun head cannot be cooled in time after welding is completed during welding operation is solved.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, and in particular to a steel component welding collaborative robot and a welding method thereof. Background Art

[0002] The steel structure welding collaborative robot is a modern automation equipment that integrates welding equipment and collaborative robot technology. It is mainly composed of three parts: collaborative robot body, control system and welding equipment. The collaborative robot body has a multi-axis structure, which can realize flexible motion control; the control system is responsible for coordinating the robot's motion and welding parameters; the welding equipment includes welding power supply, welding gun, sensor, etc., which are used to perform actual welding operations. With the development of modern industry, the requirements for welding quality and efficiency are getting higher and higher. The traditional manual welding method has problems such as high labor intensity and unstable welding quality, which is difficult to meet the needs of large-scale and high-efficiency production. Therefore, welding automation has become an inevitable trend.

[0003] After searching, the patent document (authorization announcement number is CN219443936U) includes: a machine, a horizontal slide plate is fixedly connected to the upper end of the machine, a slide plate is provided inside the horizontal slide plate, and limited blocks are fixedly connected at both ends, a pulley is installed inside the slide, the pulley is movably connected to the lower end of the wheel bracket, the upper end of the wheel bracket is fixedly connected to the lower end of the fixed block, the upper end of the fixed block is fixedly connected to the lower end of the slide plate, a telescopic rod is installed inside the outer side of the slide plate, and one end of the telescopic rod is fixedly connected to a baffle. The design of this utility model can not only lift steel components, but also carry them, eliminating the site limitation problem caused by the use of forklifts or large transporters. At the same time, when transporting to the destination, there is no need for secondary transportation, and welding work can be carried out directly. It is more practical and suitable for wide promotion and use.

[0004] However, the above device still has shortcomings:

[0005] During the welding operation, the temperature of the welding gun tip will continue to rise, and its temperature will slowly be transmitted to the gun body. If it cannot be cooled down in time after welding is completed, it will affect the subsequent welding effect. Summary of the invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a steel component welding collaborative robot and a welding method thereof, which solves the problem that the temperature of the welding gun tip will continue to rise during the welding operation, and if it cannot be cooled down in time after the welding is completed, it will affect the subsequent welding effect.

[0007] To achieve the above object, the present invention proposes a steel structure welding collaborative robot, comprising a workbench, a welding gun body is arranged above the workbench, a welding gun head is fixedly connected to the bottom of the welding gun body, and a cooling component is arranged inside the welding gun body, wherein:

[0008] The top side wall of the welding gun body is provided with a slide groove, the active push plate is slidably connected in the slide groove, and the area surrounded by the active push plate and the welding gun head is an empty warehouse, and the inner side of the slide groove is slidably connected with a driven push plate, and the driven push plate is arranged above the active push plate, and the top of the driven push plate is fixedly connected with an inner rod, and the outer side of the inner rod is sleeved with an outer rod, and the inner side wall of the outer rod is fixedly connected with a plurality of clamping teeth, and the side wall of the inner rod is arranged on one end of the outer rod and is rotatably connected with a notched disk, and a semicircular notch is provided on the end of the notched disk, and the side wall of the notched disk is fixedly connected with a clamping rod, and the side wall of the inner rod is arranged on one end of the inner rod and is fixedly connected with a limiting rod, and the end of the limiting rod conflicts with the horizontal section between the semicircular notch and the notch disk, and the top side wall of the welding gun body is provided with a liquid hole, and the outer side wall of the welding gun body is fixedly connected with a cooling pipe, and the cooling pipe is connected with the liquid hole.

[0009] Preferably, the top of the welding gun body is fixedly connected to a gas bin, and a reinforcement component is provided inside the welding gun body, the reinforcement component includes a gas one-way valve, the gas one-way valve is fixedly connected to the outer wall of the gas bin, the top of the driven push plate is fixedly connected to a support rod, the top of the support rod passes through the top of the welding gun body and extends into the gas bin, one end of the support rod arranged in the gas bin is fixedly connected to a gas compression plate, the gas compression plate is slidably connected in the gas bin, a gas pipeline is inserted into the gas compression plate, the bottom of the gas pipeline passes through the top of the welding gun body and extends into it, one end of the gas pipeline arranged in the welding gun body is fixedly connected to the driven push plate, and a nozzle is fixedly connected to the side wall of the gas pipeline close to one end of the driven push plate.

[0010] Preferably, the area enclosed by the driven push plate and the top of the welding gun body is a cooling liquid storage bin, and a plurality of limit assemblies are arranged inside the slide slot, and the limit assemblies are arranged in the cooling liquid storage bin, and the limit assemblies include a third groove, and the third groove is opened in the slide slot, and a round block is rotatably connected inside the third groove, and a long rod is fixedly connected to the side of the round block close to the support rod, and a limiting thin plate is fixedly connected inside the third groove, and the limiting thin plate is arranged below the long rod.

[0011] Preferably, the side wall of the welding gun body is provided with a first groove, a second groove and a fourth groove, and the first groove, the second groove and the fourth groove are all connected to each other, and an auxiliary component is arranged inside the welding gun body, and the auxiliary component includes a manual sliding plate, the manual sliding plate is slidably connected in the first groove, the second groove is slidably connected to a long connecting rod, and the fourth groove is provided with a cross bar inside, and the side wall of the second groove is fixedly connected to a trigger short rod, and the cross bar conflicts with the trigger short rod, the manual sliding plate and the long connecting rod are fixedly connected to each other, and the long connecting rod and the cross bar are fixedly connected to each other, and the shape of the connection between the cross bar and the long connecting rod is L-shaped.

[0012] Preferably, a plurality of bottom brackets are fixedly connected to the bottom of the workbench, a plurality of crossbeams are fixedly connected to the side walls of the bottom brackets, and a pad is fixedly connected to the top of the workbench.

[0013] Preferably, a first axis displacement component is arranged above the workbench, and the first axis displacement component includes a slide rail, the slide rail is fixedly connected to the pad, the outer side of the slide rail is slidably connected to a track block, the top of the track block is fixedly connected to a placement plate, the top of the workbench is fixedly connected to a limiting shaft, the inside of the limiting shaft is rotatably connected to a first threaded rod, the end of the first threaded rod is rotatably connected to a first motor, the first motor is fixedly connected to the top of the workbench, the side wall of the first threaded rod is threadedly connected to a support fixing plate, and the support fixing plate is fixedly connected to the bottom of the placement plate.

[0014] Preferably, a second-axis displacement assembly is provided on the top of the workbench, and the second-axis displacement assembly includes a U-shaped plate, and the U-shaped plate is fixedly connected to the top of the workbench, and the side wall of the second-axis displacement assembly is slidably connected to a track block, and the internal thread of the track block is connected to a second threaded rod, and the end of the second threaded rod is rotatably connected to a second motor, and the second motor is fixedly connected to the U-shaped plate.

[0015] Preferably, a third-axis displacement assembly is arranged above the workbench, and the third-axis displacement assembly includes a tooling long plate, the tooling long plate is fixedly connected to the track block, the top of the tooling long plate is fixedly connected to the third motor, the bottom of the third motor is rotatably connected to a third threaded rod, the end of the third threaded rod away from the third motor is threadedly connected to a mounting plate, the side wall of the mounting plate is fixedly connected to a gun head mounting plate, the side wall of the gun head mounting plate is fixedly connected to a welding gun motor, and the gas tank is fixedly connected to the bottom of the welding gun motor.

[0016] Preferably, a pair of limit blocks are fixedly connected to the top of the placement plate, the inner parts of the pair of limit blocks are threadedly connected to limit threaded rods, one end of the pair of limit threaded rods close to each other is fixedly connected with a gasket, and the other end of the limit threaded rod is fixedly connected with a turntable.

[0017] Preferably, a welding method of a steel component welding collaborative robot comprises the following steps:

[0018] Step 1: When performing welding operation, place the workpiece to be welded between a pair of limit blocks, and then rotate the track block so that a pair of gaskets abut against the workpiece to be welded, thereby achieving a fixing effect.

[0019] Step 2: The first motor, the second motor and the third motor are started by controlling the external control computer, and the first motor, the second motor and the third motor drive the first threaded rod, the second threaded rod and the third threaded rod to rotate in sequence. Under the condition of being threadedly connected with the first threaded rod, the second threaded rod and the third threaded rod, the placement plate, the track block and the mounting plate can change their current positions, so that the device can perform various welding operations;

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. Through the setting of the cooling component, it can be achieved that after welding is completed, the temperature of the welding gun head takes a long time to drop. In this process, affected by the temperature of the welding gun head, the gas in the empty chamber expands due to the heat, thereby pushing the active push plate to move. Due to the setting of the limit rod, the clamping rod can only rotate in one direction, so that the clamping rod can push the outer rod to move by contacting the clamping teeth. The outer rod pushes the driven push plate so that the cooling liquid in the cooling liquid storage bin can flow into the cooling pipe through the liquid hole. At this time, the cooling liquid can be sprayed onto the welding gun head through the cooling pipe to achieve the cooling effect. At this time, with the movement of the driven push plate, the end of the driven push plate will be stuck on the long rod. Since the limiting thin plate set under the long rod will resist the long rod, the long rod can only prompt the driven push plate to move upward.

[0022] The advantage of such a design is that the cooling operation can be completed by the heat provided by the welding gun head itself, and when the temperature of the welding gun head is lowered, the cooling operation is automatically released. This process does not require any human control at all, which greatly reduces manual labor. In addition, the temperature of the welding gun head controls the operation of the cooling component, so that the cooling component reacts quickly and can cool it down in time, thus avoiding damage to the welding gun head and the welding gun body due to high temperature. In addition, the long rod and the limiting thin plate enable the driven push plate to stay in the moved position after moving, which ensures that all the liquid in the cooling liquid storage bin can be squeezed out, thus avoiding the cooling liquid being left in the cooling liquid storage bin for a long time, causing it to fail and lose its cooling function, thus eliminating the need for staff to clean the cooling liquid storage bin, and also avoiding the remaining cooling liquid affecting the effectiveness of subsequent addition of cooling liquid.

[0023] 2. By strengthening the setting of the components, when the cooling component is working, the driven push plate pushes the gas one-way valve upward, and the support rod carries the gas compression plate upward. The gas compression plate squeezes the air in the gas bin, and the air enters the gas pipeline and is then ejected through the nozzle. The ejected gas can stir the cooling liquid in the cooling liquid storage bin, thereby preventing the cooling liquid in the cooling liquid storage bin from being unused for a long time, causing the cooling substance inside to precipitate, thereby affecting the cooling effect.

[0024] The advantage of this design is that, without the need for an additional power source, the cooling liquid in the cooling liquid storage bin can be stirred by squeezing the gas, which can effectively improve the cooling effect of the cooling liquid. No additional power equipment is required, which means that noise and maintenance costs are reduced during operation, making the entire system more environmentally friendly, economical and easy to maintain, and can achieve faster and more efficient cooling effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 It is a rear view structural schematic diagram of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the first axis displacement assembly of the present invention;

[0028] Figure 4 It is a schematic diagram of the welding gun body structure of the present invention;

[0029] Figure 5 It is a schematic diagram of the auxiliary component structure of the present invention;

[0030] Figure 6 It is a schematic diagram of the structure of the limit assembly of the present invention;

[0031] Figure 7 For the present invention Figure 4 Schematic diagram of the structure at A in the middle;

[0032] Figure 8 For the present invention Figure 4 Schematic diagram of the structure at point B in the middle.

[0033] In the figure: 1. workbench; 101. bottom bracket; 102. crossbeam frame; 103. pad; 2. first axis displacement assembly; 201. first motor; 21. slide rail; 22. track block; 23. placement plate; 24. limit axis; 25. first threaded rod; 26. support fixing plate; 3. second axis displacement assembly; 31. U-shaped plate; 32. track block; 33. second threaded rod; 34. second motor; 4. third axis displacement assembly; 41. tooling long board; 42. third motor; 43. third threaded rod; 44. mounting plate; 5. limit block; 51. limit threaded rod; 52. gasket; 53. turntable; 6. gun head mounting plate; 7. welding gun motor; 8. welding gun body; 81. welding gun head; 82. empty warehouse; 83. cooling liquid storage warehouse; 84. gas warehouse; 9. cooling assembly ;91. Active push plate;92. Slide groove;93. Driven push plate;94. Inner rod;95. Outer rod;96. Clamping teeth;97. Notched disc;971. Semicircular notch;972. Clamping rod;98. Limiting rod;99. Liquid hole;910. Cooling pipe;10. Strengthening assembly;1001. Gas one-way valve;1002. Gas pipe;1003. Nozzle;1004. Support rod;1005. Gas compression plate;11. Limiting assembly;1101. First groove;1102. Second groove;1103. Third groove;1104. Fourth groove;1105. Round block;1106. Long rod;1107. Limiting thin plate;12. Auxiliary assembly;1201. Manual sliding plate;1202. Long connecting rod;1203. Cross bar;1204. Trigger short rod. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figure 1-8 As shown, a steel structure welding collaborative robot includes a workbench 1, the bottom of the workbench 1 is fixedly connected to a plurality of bottom brackets 101, the side walls of the bottom brackets 101 are fixedly connected to a plurality of crossbeams 102, and the top of the workbench 1 is fixedly connected to a pad 103.

[0036] A first axis displacement assembly 2 is arranged above the workbench 1, and the first axis displacement assembly 2 includes a slide rail 21, which is fixedly connected to the pad 103, and a track block 22 is slidably connected to the outer side of the slide rail 21, and a placement plate 23 is fixedly connected to the top of the track block 22. A limiting shaft 24 is fixedly connected to the top of the workbench 1, and a first threaded rod 25 is rotatably connected inside the limiting shaft 24. The end of the first threaded rod 25 is rotatably connected to a first motor 201, and the first motor 201 is fixedly connected to the top of the workbench 1. The side wall of the first threaded rod 25 is threadedly connected to a support fixing plate 26, and the support fixing plate 26 is fixedly connected to the bottom of the placement plate 23.

[0037] A second axis displacement assembly 3 is provided on the top of the workbench 1, and the second axis displacement assembly 3 includes a U-shaped plate 31, and the U-shaped plate 31 is fixedly connected to the top of the workbench 1. The side wall of the second axis displacement assembly 3 is slidably connected with a track block 32, and the internal thread of the track block 32 is connected with a second threaded rod 33, and the end of the second threaded rod 33 is rotatably connected with a second motor 34, and the second motor 34 is fixedly connected to the U-shaped plate 31.

[0038] A third-axis displacement assembly 4 is arranged above the workbench 1, and the third-axis displacement assembly 4 includes a tooling long plate 41, which is fixedly connected to the track block 32, and the top of the tooling long plate 41 is fixedly connected to the third motor 42, and the bottom of the third motor 42 is rotatably connected to the third threaded rod 43, and the end of the third threaded rod 43 away from the third motor 42 is threadedly connected to the mounting plate 44, and the side wall of the mounting plate 44 is fixedly connected to the gun head mounting plate 6, and the side wall of the gun head mounting plate 6 is fixedly connected to the welding gun motor 7.

[0039] The first motor 201, the second motor 34 and the third motor 42 are started by controlling the external control computer, and the first motor 201, the second motor 34 and the third motor 42 drive the first threaded rod 25, the second threaded rod 33 and the third threaded rod 43 to rotate in turn. Under the condition of being threadedly connected with the first threaded rod 25, the second threaded rod 33 and the third threaded rod 43, the placement plate 23, the track block 32 and the mounting plate 44 can change their current positions and move on the first threaded rod 25, the second threaded rod 33 and the third threaded rod 43, so that the device can perform various welding operations.

[0040] A welding gun body 8 is arranged above the workbench 1, a welding gun head 81 is fixedly connected to the bottom of the welding gun body 8, a cooling component 9 is arranged inside the welding gun body 8, and the cooling component 9 includes an active push plate 91. After welding is completed, the temperature of the welding gun head 81 takes a long time to decrease. During this process, affected by the temperature of the welding gun head 81, the gas in the empty chamber 82 expands due to heat, thereby pushing the active push plate 91 to move. A slide groove 92 is provided on the inner side wall of the welding gun body 8, and the active push plate 91 is slidably connected in the slide groove 92. The active push plate 91 and the welding gun head 81 are connected to each other. The enclosed area is an empty bin 82, and a driven push plate 93 is slidably connected inside the slide groove 92. The driven push plate 93 is arranged above the active push plate 91. The area enclosed by the driven push plate 93 and the top of the welding gun body 8 is a cooling liquid storage bin 83. The top of the active push plate 91 is fixedly connected to an inner rod 94, and an outer rod 95 is sleeved on the outer side of the inner rod 94. A plurality of latch teeth 96 are fixedly connected to the inner side wall of the outer rod 95. The inner rod 94 is arranged on the side wall of one end of the outer rod 95 and is rotatably connected to a notched disc 97. A semicircular notch 971 is provided at the end of the notched disc 97. The side wall of the notched disc 97 is fixedly connected with a clamping rod 972, the side wall of the inner rod 94 arranged at one end of the outer rod 95 is fixedly connected with a limiting rod 98, the end of the limiting rod 98 conflicts with the horizontal section between the semicircular notch 971 and the notched disc 97, a liquid hole 99 is opened on the top side wall of the welding gun body 8, and a cooling pipe 910 is fixedly connected to the outer side wall of the welding gun body 8. Due to the setting of the limiting rod 98, the clamping rod 972 can only rotate in one direction, so that the clamping rod 972 can push the outer rod 95 to move by conflicting with the clamping teeth 96, and the outer rod 95 pushes the outer rod 95 from The active push plate 93 enables the cooling liquid in the cooling liquid storage bin 83 to flow into the cooling pipe 910 through the liquid hole 99. At this time, the cooling liquid can be sprayed onto the welding gun head 81 through the cooling pipe 910 to achieve a cooling effect. At this time, as the driven push plate 93 moves, the end of the driven push plate 93 will be stuck on the long rod 1106. Since the limiting thin plate 1107 arranged under the long rod 1106 will resist the long rod 1106, the long rod 1106 can only force the driven push plate 93 to move upward, and the cooling pipe 910 is connected to the liquid hole 99.

[0041] The cooling operation can be completed by the heat provided by the welding gun head 81 itself, and when the temperature of the welding gun head 81 is reduced, the cooling operation is automatically released. This process does not require human control at all, which greatly reduces manual labor. In addition, the temperature of the welding gun head 81 controls the operation of the cooling component 9, so that the cooling component 9 reacts quickly and can cool it in time to avoid damage to the welding gun head 81 and the welding gun body 8 due to high temperature. In addition, the long rod 1106 and the limiting thin plate 1107 make the driven push plate 93 stay in the moved position after moving, which ensures that the liquid in the cooling liquid storage bin 83 can be completely squeezed out, avoiding the cooling liquid being left in the cooling liquid storage bin 83 for a long time, causing it to fail and lose its cooling function, eliminating the work of staff cleaning the cooling liquid storage bin 83, and also avoiding the remaining cooling liquid affecting the effectiveness of subsequent addition of cooling liquid.

[0042] The top of the welding gun body 8 is fixedly connected to a gas bin 84, and a reinforcing assembly 10 is arranged inside the welding gun body 8. The reinforcing assembly 10 includes a gas one-way valve 1001, and the gas one-way valve 1001 is fixedly connected to the outer wall of the gas bin 84. The top of the driven push plate 93 is fixedly connected to a support rod 1004, and the top of the support rod 1004 passes through the top of the welding gun body 8 and extends into the gas bin 84. One end of the support rod 1004 arranged in the gas bin 84 is fixedly connected to a gas compression plate 1005, and the gas compression plate 1005 is slidably connected in the gas bin 84. The side wall of the welding gun body 8 is provided with a first groove 1101, a second groove 1102, and a fourth groove 1104. The first groove 1101, the second groove 1102, and the fourth groove 1104 are all connected. When the cooling assembly 9 is working, the driven push plate 93 pushes the gas The one-way valve 1001 moves upward, and the support rod 1004 carries the gas compression plate 1005 upward. The gas compression plate 1005 will squeeze the air in the gas bin 84, and the air will enter the gas pipe 1002 and then be sprayed out through the nozzle 1003. The sprayed gas can stir the cooling liquid in the cooling liquid storage bin 83 to prevent the cooling liquid in the cooling liquid storage bin 83 from being unused for a long time, causing the cooling material inside to precipitate, thereby affecting the cooling effect. The gas compression plate 1005 is internally connected with a gas pipe 1002, and the bottom of the gas pipe 1002 passes through the top of the welding gun body 8 and extends therein. One end of the gas pipe 1002 arranged in the welding gun body 8 is fixedly connected to the driven push plate 93, and the nozzle 1003 is fixedly connected to the side wall of the gas pipe 1002 close to the driven push plate 93.

[0043] Without the need for an additional power source, the cooling liquid in the cooling liquid storage bin 83 can be stirred by squeezing gas, which can effectively improve the cooling effect of the cooling liquid. No additional power equipment is required, which means that noise and maintenance costs are reduced during operation, making the entire system more environmentally friendly, economical and easy to maintain, and can achieve a faster and more efficient cooling effect.

[0044] A plurality of limit assemblies 11 are arranged inside the slide groove 92. The limit assemblies 11 are arranged in the cooling liquid storage bin 83. The limit assemblies 11 include a third groove 1103. The third groove 1103 is opened in the slide groove 92. A round block 1105 is rotatably connected inside the third groove 1103. A long rod 1106 is fixedly connected to the side of the round block 1105 close to the support rod 1004. A limit plate 1107 is fixedly connected inside the third groove 1103. The limit plate 1107 is arranged below the long rod 1106.

[0045] An auxiliary component 12 is provided inside the welding gun body 8, and the auxiliary component 12 includes a manual sliding plate 1201, which is slidably connected in the first groove 1101, and a long connecting rod 1202 is slidably connected inside the second groove 1102, and a cross bar 1203 is obtained inside the fourth groove 1104, and a trigger short rod 1204 is fixedly connected to the side wall of the second groove 1102, and the cross bar 1203 conflicts with the trigger short rod 1204, the manual sliding plate 1201 and the long connecting rod 1202 are fixedly connected to each other, and the long connecting rod 1202 and the cross bar 1203 are fixedly connected to each other, and the shape of the connection between the cross bar 1203 and the long connecting rod 1202 is L-shaped.

[0046] The gas tank 84 is fixedly connected to the bottom of the welding gun motor 7, and a pair of limit blocks 5 are fixedly connected to the top of the placement plate 23. The inner parts of the pair of limit blocks 5 are threadedly connected to the limit threaded rods 51, and the ends of the pair of limit threaded rods 51 close to each other are fixedly connected with gaskets 52, and the other ends of the limit threaded rods 51 are fixedly connected with a turntable 53. When performing welding operations, the workpiece to be welded is placed between the pair of limit blocks 5, and then the track block 22 is rotated so that the pair of gaskets 52 are against the workpiece to be welded, thereby achieving a fixing effect.

[0047] Working principle: When performing welding operation, the workpiece to be welded is placed between a pair of limit blocks 5, and then the track block 22 is rotated so that a pair of gaskets 52 abut against the workpiece to be welded, thereby achieving a fixing effect.

[0048] The first motor 201, the second motor 34 and the third motor 42 are started by controlling the external control computer, and the first motor 201, the second motor 34 and the third motor 42 drive the first threaded rod 25, the second threaded rod 33 and the third threaded rod 43 to rotate in turn. Under the condition of being threadedly connected with the first threaded rod 25, the second threaded rod 33 and the third threaded rod 43, the placement plate 23, the track block 32 and the mounting plate 44 can change their current positions, so that the device can perform various welding operations.

[0049] After welding is completed, it takes a long time for the temperature of the welding gun head 81 to drop. During this process, affected by the temperature of the welding gun head 81, the gas in the empty chamber 82 expands due to the heat, thereby pushing the active push plate 91 to move. Due to the setting of the limit rod 98, the clamping rod 972 can only rotate in one direction, so that the clamping rod 972 can push the outer rod 95 to move by contacting the clamping tooth 96. The outer rod 95 pushes the driven push plate 93 so that the cooling liquid in the cooling liquid storage chamber 83 can flow into the cooling pipe 910 through the liquid hole 99. At this time, the cooling liquid can be sprayed onto the welding gun head 81 through the cooling pipe 910 to achieve the cooling effect. At this time, with the movement of the driven push plate 93, the end of the driven push plate 93 will be stuck on the long rod 1106. Since the limiting thin plate 1107 set below the long rod 1106 will resist the long rod 1106, the long rod 1106 can only prompt the driven push plate 93 to move upward.

[0050] After the cooling liquid in the cooling liquid storage bin 83 is used up, the outer rod 95 and the inner rod 94 are extended to the longest length. At this time, it is only necessary to remove the welding gun body 8 as a whole from the welding gun motor 7, and then rotate it so that the welding gun head 81 is above the welding gun body 8. Under the influence of gravity, the clamping rod 972 will move closer to the side wall of the inner rod 94. At this time, the inner rod 94 can also be retracted into the outer rod 95 under the influence of gravity, and then the welding gun body 8 is reversed. At this time, the driven push plate 93 and the active push plate 91 will be restored to their original positions at the same time to prepare for the next operation. Since the long rod 1106 and the clamping rod 972 limit the directions in opposite directions, they cannot be restored in the same way.

[0051] In addition, it is necessary to add liquid to the cooling liquid storage bin 83. At this time, the driven push plate 93 has also been in contact with the inner top of the welding gun body 8. The driven push plate 93 cannot move down due to the resistance of the long rod 1106. The staff drives the long connecting rod 1202 to slide in the second groove 1102 by lifting the manual sliding plate 1201, and drives the cross bar 1203 to move up through the drive of the long connecting rod 1202. At this time, due to the resistance between the triggering short rod 1204 and the cross bar 1203, the triggering short rod 1204 drives the long rod 1106 to rotate, thereby causing the round block 1105 to rotate. The long rod 1106 will move to the third groove 1103 under the condition that the round block 1105 rotates, so that the driven push plate 93 can automatically fall off and return to its original position.

[0052] When the cooling component 9 is working, the driven push plate 93 pushes the gas one-way valve 1001 upward, and the support rod 1004 carries the gas compression plate 1005 upward. The gas compression plate 1005 will squeeze the air in the gas bin 84, and the air will enter the gas pipe 1002 and then be sprayed out through the nozzle 1003. The sprayed gas can stir the cooling liquid in the cooling liquid storage bin 83 to prevent the cooling liquid in the cooling liquid storage bin 83 from being unused for a long time, causing the cooling substance inside to precipitate, thereby affecting the cooling effect.

[0053] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A steel component welding collaborative robot, characterized in that: The invention comprises a workbench (1), a welding gun body (8) is arranged above the workbench (1), a welding gun head (81) is fixedly connected to the bottom of the welding gun body (8), and a cooling component (9) is arranged inside the welding gun body (8), wherein: The cooling component (9) includes an active push plate (91), the inner side wall of the welding gun body (8) is provided with a slide groove (92), the active push plate (91) is slidably connected in the slide groove (92), the area surrounded by the active push plate (91) and the welding gun head (81) is an empty chamber (82), the inner side of the slide groove (92) is slidably connected with a driven push plate (93), the driven push plate (93) is arranged above the active push plate (91), the top of the active push plate (91) is fixedly connected with an inner rod (94), the outer side of the inner rod (94) is sleeved with an outer rod (95), the inner side wall of the outer rod (95) is fixedly connected with a plurality of latching teeth (96), the inner rod (94) is arranged A notched disc (97) is rotatably connected to the side wall of the inner end of the outer rod (95); a semicircular notch (971) is provided at the end of the notched disc (97); a clamping rod (972) is fixedly connected to the side wall of the notched disc (97); a limiting rod (98) is fixedly connected to the side wall of the inner rod (94) arranged at the inner end of the outer rod (95); the end of the limiting rod (98) is in conflict with a horizontal section between the semicircular notch (971) and the notched disc (97); a liquid hole (99) is provided on the top side wall of the welding gun body (8); a cooling pipe (910) is fixedly connected to the outer side wall of the welding gun body (8); and the cooling pipe (910) is communicated with the liquid hole (99).

2. A steel component welding collaborative robot according to claim 1, characterized in that: The top of the welding gun body (8) is fixedly connected to a gas bin (84), and a reinforcing assembly (10) is arranged inside the welding gun body (8). The reinforcing assembly (10) includes a gas one-way valve (1001), and the gas one-way valve (1001) is fixedly connected to the outer wall of the gas bin (84). The top of the driven push plate (93) is fixedly connected to a support rod (1004), and the top of the support rod (1004) passes through the top of the welding gun body (8) and extends into the gas bin (84). The support rod (1004) is arranged in the gas bin (84). One end is fixedly connected to a gas compression plate (1005), and the gas compression plate (1005) is slidably connected in the gas bin (84). A gas pipeline (1002) is inserted into the interior of the gas compression plate (1005). The bottom of the gas pipeline (1002) passes through the top of the welding gun body (8) and extends into the inside. One end of the gas pipeline (1002) arranged in the welding gun body (8) is fixedly connected to the driven push plate (93), and a nozzle (1003) is fixedly connected to the side wall of one end of the gas pipeline (1002) close to the driven push plate (93).

3. The steel component welding collaborative robot according to claim 2, characterized in that: The area enclosed by the driven push plate (93) and the top of the welding gun body (8) is a cooling liquid storage bin (83). A plurality of limit assemblies (11) are arranged inside the slide groove (92). The limit assemblies (11) are arranged in the cooling liquid storage bin (83). The limit assemblies (11) include a third groove (1103). The third groove (1103) is provided in the slide groove (92). A round block (1105) is rotatably connected inside the third groove (1103). A long rod (1106) is fixedly connected to the side of the round block (1105) close to the support rod (1004). A limit thin plate (1107) is fixedly connected inside the third groove (1103). The limit thin plate (1107) is arranged below the long rod (1106).

4. The steel component welding collaborative robot according to claim 1, characterized in that: The side wall of the welding gun body (8) is provided with a first groove (1101), a second groove (1102), and a fourth groove (1104); the first groove (1101), the second groove (1102), and the fourth groove (1104) are all connected; an auxiliary component (12) is arranged inside the welding gun body (8); the auxiliary component (12) comprises a manual sliding plate (1201); the manual sliding plate (1201) is slidably connected in the first groove (1101); the second groove (1102) is slidably connected inside The long connecting rod (1202) is provided with a cross bar (1203) inside the fourth groove (1104), the side wall of the second groove (1102) is fixedly connected with a trigger short rod (1204), the cross bar (1203) and the trigger short rod (1204) are in conflict with each other, the manual sliding plate (1201) and the long connecting rod (1202) are fixedly connected to each other, the long connecting rod (1202) and the cross bar (1203) are fixedly connected to each other, and the shape of the connection between the cross bar (1203) and the long connecting rod (1202) is L-shaped.

5. The steel component welding collaborative robot according to claim 2, characterized in that: The bottom of the workbench (1) is fixedly connected to a plurality of bottom brackets (101), the side walls of the bottom brackets (101) are fixedly connected to a plurality of crossbeams (102), and the top of the workbench (1) is fixedly connected to a pad (103).

6. The steel component welding collaborative robot according to claim 5, characterized in that: A first axial displacement assembly (2) is arranged above the workbench (1), and the first axial displacement assembly (2) includes a slide rail (21), the slide rail (21) is fixedly connected to the pad (103), the outer side of the slide rail (21) is slidably connected to a track block (22), the top of the track block (22) is fixedly connected to a placement plate (23), the top of the workbench (1) is fixedly connected to a limit shaft (24), the inside of the limit shaft (24) is rotatably connected to a first threaded rod (25), the end of the first threaded rod (25) is rotatably connected to a first motor (201), the first motor (201) is fixedly connected to the top of the workbench (1), the side wall of the first threaded rod (25) is threadedly connected to a support fixing plate (26), and the support fixing plate (26) is fixedly connected to the bottom of the placement plate (23).

7. The steel component welding collaborative robot according to claim 6, characterized in that: A second axis displacement assembly (3) is arranged on the top of the workbench (1), and the second axis displacement assembly (3) comprises a U-shaped plate (31), and the U-shaped plate (31) is fixedly connected to the top of the workbench (1); a track block (32) is slidably connected to the side wall of the second axis displacement assembly (3); the internal thread of the track block (32) is connected to a second threaded rod (33); the end of the second threaded rod (33) is rotatably connected to a second motor (34); and the second motor (34) is fixedly connected to the U-shaped plate (31).

8. The steel component welding collaborative robot according to claim 7, characterized in that: A third axis displacement assembly (4) is arranged above the workbench (1), and the third axis displacement assembly (4) comprises a tooling long plate (41), the tooling long plate (41) is fixedly connected to the track block (32), the top of the tooling long plate (41) is fixedly connected to a third motor (42), the bottom of the third motor (42) is rotatably connected to a third threaded rod (43), one end of the third threaded rod (43) away from the third motor (42) is threadedly connected to a mounting plate (44), the side wall of the mounting plate (44) is fixedly connected to a gun head mounting plate (6), the side wall of the gun head mounting plate (6) is fixedly connected to a welding gun motor (7), and the gas chamber (84) is fixedly connected to the bottom of the welding gun motor (7).

9. The steel component welding collaborative robot according to claim 6, characterized in that: A pair of limit blocks (5) are fixedly connected to the top of the placement plate (23); the interiors of the pair of limit blocks (5) are both threadedly connected to limit threaded rods (51); a gasket (52) is fixedly connected to one end of the pair of limit threaded rods (51) close to each other; and the other end of the limit threaded rod (51) is fixedly connected to a rotating disk (53).

10. A welding method for a steel component welding collaborative robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: When performing a welding operation, place the workpiece to be welded between a pair of limit blocks (5), and then rotate the track block (22) so that a pair of gaskets (52) abut against the workpiece to be welded, thereby achieving a fixing effect; Step 2: The first motor (201), the second motor (34) and the third motor (42) are started by controlling the external control computer. The first motor (201), the second motor (34) and the third motor (42) drive the first threaded rod (25), the second threaded rod (33) and the third threaded rod (43) to rotate in sequence. Under the condition of being threadedly connected with the first threaded rod (25), the second threaded rod (33) and the third threaded rod (43), the placement plate (23), the track block (32) and the mounting plate (44) can change their current positions, so that the device can perform various welding operations.

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