Arm of automatic arc welding robot for building

Abstract

The invention discloses a building automation electric arc welding robot arm which comprises a mechanical arm body, a telescopic supporting column, an adjusting assembly and a welding mechanism, a rotating disc is rotatably arranged at the output end of the mechanical arm body, and the telescopic supporting column is fixedly arranged on the rotating disc; the welding mechanism is connected with the telescopic supporting column through the adjusting assembly, the adjusting assembly comprises a first deflection telescopic rod, a two-way telescopic rod, a second deflection telescopic rod and a driving assembly, the first deflection telescopic rod is rotationally connected with the telescopic supporting column in a limiting mode, and a hydraulic telescopic rod is hinged between the first deflection telescopic rod and the telescopic supporting column; the first deflection telescopic rod and the second deflection telescopic rod are rotationally arranged at the two ends of the bidirectional telescopic rod in a limited mode respectively, driving assemblies are arranged between the bidirectional telescopic rod and the first deflection telescopic rod and between the bidirectional telescopic rod and the second deflection telescopic rod, and the welding mechanism is rotationally arranged at the output end of the second deflection telescopic rod.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic building welding, and specifically to an automatic building arc welding robot arm. Background Art

[0002] An automatic building arc welding robot is an intelligent device integrating advanced robot technology, automatic control, and welding technology, aiming to improve the efficiency, quality, and safety of welding operations in the construction industry. By carrying lidar, vision sensors (such as 3D cameras), or infrared imaging technology, it can scan the weld position, geometry, and material thickness in real time, dynamically adjust the welding path, and is equipped with a robot arm with multiple degrees of freedom and a mobile platform to meet the welding work of complex spatial structures.

[0003] For different workpiece structures, different welding methods are required. Usually, some simple joint welding or thin plate welding only requires single-sided welding, but for the welding of some load-bearing components or thick plates, circumferential welding or multi-layer multi-pass welding is generally required. This makes the welding equipment need to move circumferentially along the periphery of the workpiece. However, the range and orientation of the traditional robot arm for adjusting the welding equipment are limited, and it cannot perform circumferential welding according to workpieces of different sizes. At the same time, for some narrow spaces, the traditional robot arm will be restricted when adjusting the welding mechanism, and thus cannot meet the welding requirements.

[0004] Therefore, it is necessary to provide an automatic building arc welding robot arm to solve the problems raised in the above background art. Summary of the Invention

[0005] To achieve the above object, the present invention provides the following technical solution: An automatic building arc welding robot arm includes a robotic arm, a telescopic support column, an adjustment assembly, and a welding mechanism. Among them, a turntable is rotatably provided at the output end of the robotic arm, the telescopic support column is fixedly provided on the turntable, and the welding mechanism is connected to the telescopic support column through the adjustment assembly; The adjustment assembly includes a first deflecting telescopic rod, a bidirectional telescopic rod, a second deflecting telescopic rod, and a driving assembly. Among them, the first deflecting telescopic rod is rotatably and limit-connected to the telescopic support column, and a hydraulic telescopic rod is hinged between the two. The first deflecting telescopic rod and the second deflecting telescopic rod are respectively rotatably and limit-mounted at both ends of the bidirectional telescopic rod. A driving assembly is provided between the bidirectional telescopic rod and the first deflecting telescopic rod and the second deflecting telescopic rod. The welding mechanism is rotatably provided at the output end of the second deflecting telescopic rod.

[0006] Further, preferably, the driving assembly includes a fixed rod, a sliding rod, a driving rod, and a hinged rod. Among them, the fixed rod is fixedly arranged on the bidirectional telescopic rod. The two ends of the fixed rod are slidably provided with sliding rods. The output end of the sliding rod is slidably provided with a driving rod through hydraulic drive. The output end of the driving rod is hinged with a hinged rod. The other ends of the two hinged rods are respectively hinged with the first deflecting telescopic rod and the second deflecting telescopic rod.

[0007] Further, preferably, the bidirectional telescopic rod includes a main rod body and a support rod. Among them, two hydraulic chambers are opened at both ends of the main rod body. The support rod is hermetically slidably arranged in the hydraulic chamber. The output end of the support rod is fixedly provided with a connecting ring. The connecting ring is fixedly connected to the output end of the sliding rod.

[0008] Further, preferably, the welding mechanism includes a welding seat and a welding torch. Among them, the welding seat is rotatably arranged at the output end of the second deflecting telescopic rod. A welding torch is fixedly arranged on the welding seat.

[0009] Further, preferably, a first gear is rotatably arranged on the welding seat. A rack is slidably arranged inside the welding seat. The rack meshes with the first gear. A second gear is fixedly arranged on the second deflecting telescopic rod. The second gear meshes with the first gear.

[0010] Further, preferably, a sealing rod is fixedly arranged in the welding seat. A sealing chamber is opened on the rack. The sealing rod hermetically slides along the sealing chamber. The sealing chamber is connected to an external hydraulic drive mechanism through a hydraulic pipe.

[0011] Further, preferably, a first limiting block is fixedly arranged at the output end of the support rod. The first limiting blocks on the two support rods can respectively abut against the first deflecting telescopic rod and the second deflecting telescopic rod. A second limiting block is fixedly arranged at the output end of the first deflecting telescopic rod. The second limiting block can abut against the telescopic support column.

[0012] Compared with the prior art, the present invention provides a robotic arm for automatic arc welding in construction, having the following beneficial effects: In the present invention, through the multi-degree-of-freedom high-precision adjustment of the adjustment component, without moving the whole device, the welding mechanism can fit the surfaces of workpieces with different sizes and shapes for welding, and can also perform welding work during circular movement, greatly improving the welding efficiency. That is, various welding requirements of the workpiece can be completed only by single positioning. At the same time, the multi-degree-of-freedom adjustment of the adjustment component is mainly realized by the driving component, and the driving component itself occupies a small space, so that the adjustment component can be used in a narrow space, further enabling the welding mechanism to complete welding work in a narrow space and further expanding its application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the adjustment component and the welding mechanism in the present invention; Figure 3 is a schematic diagram of the structure of the driving component in the present invention; Figure 4 is a schematic diagram of the internal structure of the welding base in the present invention; Figure 5 is a schematic diagram of the adjustment implementation structure of the adjustment component in the present invention; In the figure: 1, robotic arm; 11, turntable; 2, telescopic support column; 3, adjustment component; 31, first deflecting telescopic rod; 311, hydraulic telescopic rod; 312, second limiting block; 32, bidirectional telescopic rod; 321, main rod body; 322, branch rod; 323, connecting ring; 324, first limiting block; 33, second deflecting telescopic rod; 331, second gear; 34, driving component; 341, fixed rod; 342, sliding rod; 343, driving rod; 344, articulated rod; 4, welding mechanism; 41, welding base; 411, first gear; 412, rack; 413, sealing rod; 42, welding torch. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0014] Please refer to Figures 1 to 5 , in an embodiment of the present invention, a robotic arm for automatic arc welding in construction includes a robotic arm 1, a telescopic support column 2, an adjustment component 3, and a welding mechanism 4. Among them, a turntable 11 is rotatably provided at the output end of the robotic arm 1, the telescopic support column 2 is fixedly provided on the turntable 11, and the welding mechanism 4 is connected to the telescopic support column 2 through the adjustment component 3; The adjustment assembly 3 includes a first deflecting telescopic rod 31, a bidirectional telescopic rod 32, a second deflecting telescopic rod 33, and a driving assembly 34. Among them, the first deflecting telescopic rod 31 is rotationally connected to the telescopic support column 2 in a limited manner, and a hydraulic telescopic rod 311 is hinged between the two. The first deflecting telescopic rod 31 and the second deflecting telescopic rod 33 are respectively rotationally arranged at both ends of the bidirectional telescopic rod 32 in a limited manner. A driving assembly 34 is arranged between the bidirectional telescopic rod 32 and the first deflecting telescopic rod 31 and the second deflecting telescopic rod 33. The welding mechanism 4 is rotationally arranged at the output end of the second deflecting telescopic rod 33; The bidirectional telescopic rod 32 includes a main rod body 321 and a support rod 322. Among them, two hydraulic chambers are opened at both ends of the main rod body 321. A support rod 322 is hermetically slidably arranged in the hydraulic chamber. A connecting ring 323 is fixedly arranged at the output end of the support rod 322. The connecting ring 323 is fixedly connected to the output end of the sliding rod 342; The welding mechanism 4 includes a welding seat 41 and a welding torch 42. Among them, the welding seat 41 is rotationally arranged at the output end of the second deflecting telescopic rod 33, and a welding torch 42 is fixedly arranged on the welding seat 41; A first gear 411 is rotationally arranged on the welding seat 41, and a rack 412 is slidably arranged inside the welding seat 41. The rack 412 meshes with the first gear 411; A second gear 331 is fixedly arranged on the second deflecting telescopic rod 33. The second gear 331 meshes with the first gear 411; A sealing rod 413 is fixedly arranged in the welding seat 41; A sealing chamber is opened on the rack 412. The sealing rod 413 seals and slides along the sealing chamber. The sealing chamber is connected to an external hydraulic driving mechanism through a hydraulic pipe.

[0015] It should be noted that the design of the first gear 411 and the second gear 331 makes the adjustment accuracy of the rotation angle of the welding seat 41 higher, that is, the welding mechanism 4 can perfectly fit the surfaces of workpieces with different shapes, thereby improving the welding quality. At the same time, the rotation of the first gear 411 is controlled by the sliding of the rack 412, which further makes the rotation adjustment of the welding seat 41 more convenient.

[0016] During implementation, the robot 1 and the welding mechanism 4 are moved as a whole to the specified position by a mobile vehicle, and then the robot 1 is used to move the adjustment component 3 and the welding mechanism 4 to the position where welding is required, and at the same time, the position of the workpiece is observed, that is, whether the workpiece is vertical, horizontal or inclined, and the turntable 11 is rotated according to this position, so that the initial placement position of the adjustment component 3 and the welding mechanism 4 corresponds to the workpiece, and then the adjustment component 3 is used to control the welding mechanism 4 to weld the workpiece. When the workpiece needs to be welded in a circle, first, the workpiece is welded on one side of the welding mechanism 4. After welding, the rack 412 is driven to slide, so that the gear 1 411 rotates. The rotation of the gear 1 411 causes the gear 1 411 to make a circular motion around the gear 2 331, thereby causing the welding seat 41 to rotate around the output end of the deflection telescopic rod 2 33, and at the same time, the deflection angle of the welding seat 41 is controlled by adjusting the sliding distance of the rack 412, so that the welding gun 42 can be attached to the outer surface of the workpiece at different angles. When the workpiece is welded to the surface of the welding mechanism 4, the deflection of the deflection telescopic rod 1 31 and the deflection telescopic rod 2 33 around the two-way telescopic rod 32, and the deflection telescopic rod 1 31 around the telescopic support column 2, so that the adjustment component 3 can be arranged in an L-shape or a 冂-shape, that is, the welding mechanism 4 is transported to the top surface or the back surface of the workpiece, so as to realize the circular welding of the workpiece, and when adjusting the shape of the adjustment component 3, the two-way telescopic rod 32, the deflection telescopic rod 1 31 and the deflection telescopic rod 2 33 can be telescoped, so that when facing workpieces of different sizes, the welding mechanism 4 can perform circular welding under the action of the adjustment component 3, so as to realize automatic welding of workpieces of different positions, different sizes and different shapes, and automatic circular welding can be realized without moving the entire device during circular welding or double-sided welding, thereby greatly improving the welding efficiency.

[0017] It should be noted that the adjustment of the adjustment component 3 is not a fixed L-shaped or 冂-shaped vertical structure. Figure 5 The implementation process diagram of the adjustment component 3 in FIG. 1 is only a schematic diagram of an adjustment in the adjustment component 3. Figure 3 The deflection angles of the deflection telescopic rod 1 31 and the deflection telescopic rod 2 33 around the bidirectional telescopic rod 32 are changeable, and the specific adjustment needs to be determined according to the specific shape of the workpiece. For example, when welding a rectangular workpiece, vertical adjustment is required. When welding a polygonal workpiece, different inclination angles need to be adjusted according to the inclination change of the welding surface, so as to adapt to the welding work of workpieces of various shapes and further improve the welding quality.

[0018] In this embodiment, Figure 3, the driving component 34 includes a fixed rod 341, a sliding rod 342, a driving rod 343 and a hinged rod 344. Among them, the fixed rod 341 is fixedly arranged on the bidirectional telescopic rod 32. The two ends of the fixed rod 341 are slidably provided with the sliding rod 342. The output end of the sliding rod 342 is slidably provided with the driving rod 343 through hydraulic drive. The output end of the driving rod 343 is hinged with the hinged rod 344. The other ends of the two hinged rods 344 are respectively hinged with the first deflecting telescopic rod 31 and the second deflecting telescopic rod 33.

[0019] During implementation, when the bidirectional telescopic rod 32 expands and contracts, the sliding rod 342 will slide along with the sliding of the support rod 322. As a result, without the driving rod 343 sliding, the distance between the connecting ring 323 and the first deflecting telescopic rod 31 or the second deflecting telescopic rod 33 remains unchanged. That is, the deflection angles between the first deflecting telescopic rod 31 and the second deflecting telescopic rod 33 and the bidirectional telescopic rod 32 will not be affected by the expansion and contraction of the bidirectional telescopic rod 32 itself. At the same time, due to the arrangement of the hinged rod 344, the deflection between the bidirectional telescopic rod 32 and the first deflecting telescopic rod 31 or the second deflecting telescopic rod 33 can be achieved only by the sliding of the driving rod 343, making the adjustment of the deflection angles of the first deflecting telescopic rod 31 and the second deflecting telescopic rod 33 more accurate. Moreover, the fixed rod 341 is arranged closely against the bidirectional telescopic rod 32, that is, the sliding of the sliding rod 342 and the driving rod 343 is parallel to the bidirectional telescopic rod 32, which makes the overall occupied space of the driving component 34 smaller. Further, the adjusting component 3 can be used in a narrow space, and then the welding mechanism 4 can complete the welding work in a complex environment, further improving its convenience.

[0020] In this embodiment, as Figure 2 and Figure 3 , the output end of the support rod 322 is fixedly provided with a first limiting block 324. The first limiting blocks 324 on the two support rods 322 can respectively abut against the first deflecting telescopic rod 31 and the second deflecting telescopic rod 33. The output end of the first deflecting telescopic rod 31 is fixedly provided with a second limiting block 312. The second limiting block 312 can abut against the telescopic support column 2.

[0021] In summary, when the present invention is implemented, through the multi-degree-of-freedom high-precision adjustment of the adjustment component 3, without moving the whole device, the welding mechanism 4 can fit the surfaces of workpieces of different sizes and shapes for welding, and at the same time can perform welding work during circular movement, greatly improving the welding efficiency, that is, various welding requirements of the workpiece can be completed only by a single positioning. At the same time, the multi-degree-of-freedom adjustment of the adjustment component 3 is mainly realized by the driving component 34, and the driving component 34 itself occupies a small space, so that the adjustment component 3 can be used in a narrow space, further enabling the welding mechanism 4 to complete welding work in a narrow space, further expanding its scope of application.

[0022] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent replacements or changes should be covered within the protection scope of the present invention.

Claims

1. An automatic arc welding robot arm for construction, characterized in that: It includes a robotic arm (1), a telescopic support column (2), an adjustment assembly (3), and a welding mechanism (4). Among them, a turntable (11) is rotatably arranged at the output end of the robotic arm (1), the telescopic support column (2) is fixedly arranged on the turntable (11), and the welding mechanism (4) is connected to the telescopic support column (2) through the adjustment assembly (3). The adjustment assembly (3) includes a first deflecting telescopic rod (31), a bidirectional telescopic rod (32), a second deflecting telescopic rod (33), and a driving assembly (34). Among them, the first deflecting telescopic rod (31) is rotatably and limit-connected to the telescopic support column (2), and a hydraulic telescopic rod (311) is hinged between the two. The first deflecting telescopic rod (31) and the second deflecting telescopic rod (33) are respectively rotatably and limit-arranged at both ends of the bidirectional telescopic rod (32). A driving assembly (34) is arranged between the bidirectional telescopic rod (32) and the first deflecting telescopic rod (31) and the second deflecting telescopic rod (33). The welding mechanism (4) is rotatably arranged at the output end of the second deflecting telescopic rod (33).

2. The robotic arm for building automation arc welding according to claim 1, characterized in that: The driving assembly (34) includes a fixed rod (341), a sliding rod (342), a driving rod (343), and a hinged rod (344). Among them, the fixed rod (341) is fixedly arranged on the bidirectional telescopic rod (32). Sliding rods (342) are slidably arranged at both ends of the fixed rod (341). The output end of the sliding rod (342) is slidably driven by hydraulic pressure to have a driving rod (343). The output end of the driving rod (343) is hinged with a hinged rod (344). The other ends of the two hinged rods (344) are respectively hinged with the first deflecting telescopic rod (31) and the second deflecting telescopic rod (33).

3. The robotic arm for building automation arc welding according to claim 2, characterized in that: The bidirectional telescopic rod (32) includes a main rod body (321) and a support rod (322). Among them, two hydraulic chambers are opened at both ends of the main rod body (321). Support rods (322) are hermetically slidably arranged in the hydraulic chambers. The output end of the support rod (322) is fixedly provided with a connecting ring (323). The connecting ring (323) is fixedly connected to the output end of the sliding rod (342).

4. The robotic arm for building automation arc welding according to claim 1, characterized in that: The welding mechanism (4) includes a welding seat (41) and a welding torch (42). Among them, the welding seat (41) is rotatably arranged at the output end of the second deflecting telescopic rod (33), and a welding torch (42) is fixedly arranged on the welding seat (41).

5. An automatic arc welding robot arm for construction according to claim 4, characterized in that: A first gear (411) is rotatably arranged on the welding seat (41). A rack (412) is slidably arranged inside the welding seat (41). The rack (412) meshes with the first gear (411). A second gear (331) is fixedly arranged on the second deflecting telescopic rod (33). The second gear (331) meshes with the first gear (411).

6. The robotic arm for building automation arc welding according to claim 5, wherein: A sealing rod (413) is fixedly arranged in the welding seat (41). A sealing chamber is opened on the rack (412). The sealing rod (413) hermetically slides along the sealing chamber. The sealing chamber is connected to an external hydraulic driving mechanism through a hydraulic pipe.

7. The robotic arm for automated arc welding in construction according to claim 3, wherein: A first limiting block (324) is fixedly arranged at the output end of the support rod (322), and the first limiting blocks (324) on the two support rods (322) can respectively abut against the first deflecting telescopic rod (31) and the second deflecting telescopic rod (33); A second limiting block (312) is fixedly arranged at the output end of the first deflecting telescopic rod (31), and the second limiting block (312) can abut against the telescopic support column (2).

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