Intelligent robot for body-in-white welding

Abstract

The application discloses an intelligent robot for a body-in-white welding, and relates to the technical field of welding robots, which comprises a base, a robot joint arm and a welding head, the robot joint arm is installed on the base, the welding head is installed on the end of the robot joint arm far from the base, the upper end of the welding head is fixedly connected with a wire feeding pipe, a wire feeder is installed on the upper portion of the base, the end of the wire feeding pipe far from the welding head is installed with the wire feeder, and the inner scraping ring and the outer scraping ring can clean the inner and outer surfaces of the welding head, so that the blockages on the inner and outer surfaces of the nozzle of the welding head, such as the spatters and the welding slag generated in the welding, can be scraped off, the smooth flow of the protective gas is ensured, a good welding environment is maintained, if there are welding wire residues remaining on the inner wall of the conductive nozzle, the friction will be increased when the subsequent welding wire is conveyed, and the wear, the increase of the aperture and the like will occur, the impurities which are easy to cause the wear can be timely removed through the cleaning, the parts can be kept in a good initial state, and the normal use period of the welding head is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, and in particular to an intelligent robot for body-in-white welding. Background Art

[0002] Intelligent welding robots are developed based on industrial robots. They combine a variety of advanced technologies such as robotics, welding processes, sensor technology, artificial intelligence technology, and computer control technology. They can automatically complete welding tasks according to pre-set programs or through real-time perception of environmental information, and intelligently control and optimize the welding process. Welding robots are widely used in automobile manufacturing.

[0003] The body in white refers to the body of a car that has been welded but not yet painted. Body in white welding is the process of connecting the various stamping parts that make up the car body through a welding process to form a complete body structure. Intelligent welding robots usually weld the body in white through arc welding. Arc welding uses an electric arc as a heat source to melt the welding wire and the weldment to form a weld. Arc welding is suitable for some parts that have high requirements for weld strength and sealing, such as some frame structures and sealing welds of the car body. During the welding process, the conductive nozzle of the welding head and other parts are prone to welding spatter, impurities, etc. If they are not cleaned in time, these residual substances will affect the conductive performance when welding again, resulting in arc instability, arc flickering, arc breaking, etc., which will affect the continuity and forming quality of the weld. Manual cleaning requires frequent manual operation to touch the welding head, which can easily cause burns to the hands when they come into contact with the welding head.

[0004] In view of this, the present invention provides an intelligent robot for body-in-white welding. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides an intelligent robot for body-in-white welding to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] An intelligent robot for body-in-white welding comprises a base, a robot articulated arm, and a welding head. The robot articulated arm is mounted on the base, the welding head is mounted on one end of the robot articulated arm away from the base, the upper end of the welding head is fixedly connected to a wire feeding tube, a wire feeding machine is mounted on the upper part of the base, the end of the wire feeding tube away from the welding head is mounted to the wire feeding machine, a cleaning component for cleaning the welding head is mounted on the outer wall of the welding head, the cleaning component comprises a rotating shaft rotatably connected to the outer surface of the welding head, the end of the rotating shaft away from the welding head is rotatably connected to a winding wheel, the outer wall of the winding wheel is wrapped with two ropes, and the outer surface of the rotating shaft near the bottom is fixedly connected to An arc-shaped support column, the outer surface of the arc-shaped support column away from the welding head is fixedly connected to a small motor through a support plate, the output shaft of the small motor is coaxially fixedly connected to the winding wheel, the outer surface of the arc-shaped support column near the lower end is slidably connected to a sliding sleeve, the outer wall of the sliding sleeve away from the arc-shaped support column is fixedly connected to a sealing disk, a side of the sealing disk close to the welding head is fixedly connected to a stainless steel bellows 1, an end of the stainless steel bellows 1 away from the sealing disk is fixedly connected to an inner scraper ring, a stainless steel bellows 2 is fixedly connected to the sliding sleeve, and an end of the stainless steel bellows 2 away from the sliding sleeve is fixedly connected to an outer scraper ring, and a reset spring is provided on the outer surface of the arc-shaped support column near the lower end.

[0008] Preferably, the outer surface of the arc-shaped support column is fixedly connected to the limiting plate, one end of a rope passes through the limiting plate and is fixedly connected to the sleeve, one end of the return spring is fixedly connected to the outer surface of the arc-shaped support column, and the other end of the return spring is fixedly connected to the sleeve.

[0009] Preferably, a cooling assembly is provided on the outer surface of the welding head, and the cooling assembly includes a piston cylinder fixedly connected to the outer surface of the welding head, the outer surface of the piston cylinder is fixedly connected to a water tank, and the upper part of the water tank is fixedly connected to a water injection pipe.

[0010] Preferably, a support spring is fixedly connected to the top of the inner cavity of the piston cylinder, the lower end of the support spring is fixedly connected to the piston plate, the piston plate is slidably connected to the inner wall of the piston cylinder, and the end of the other rope away from the winding wheel passes through the piston cylinder and is fixedly connected to the middle of the piston plate, and the ends of the two ropes close to each other are fixedly connected to the winding wheel.

[0011] Preferably, the lower end of the piston cylinder is fixedly connected to an air outlet pipe, and the end of the air outlet pipe away from the piston cylinder is fixedly connected to an annular tube, and a plurality of air holes are evenly opened on the lower surface of the annular tube.

[0012] Preferably, a one-way air outlet valve is provided at the position where the air outlet pipe is connected to the piston cylinder, the outer surface of the piston cylinder is fixedly connected to the air inlet pipe, a one-way air inlet valve is provided in the air inlet pipe, the lower surface of the piston cylinder is rotatably connected to the transmission wheel, and the rope is attached to the outer surface of the transmission wheel.

[0013] Preferably, the outer surface of the welding head is provided with a limit assembly for adjusting the position of the rotating shaft, and the limit assembly wraps the toothed disc fixedly connected to the outer surface of the rotating shaft.

[0014] Preferably, the limiting assembly further comprises a protrusion fixedly connected to the outer surface of the welding head, a movable column is slidably connected to the protrusion, and one end of the movable column passes through the lower part of the protrusion and is fixedly connected to the limiting frame.

[0015] Preferably, a limit spring is sleeved on the outer surface of the movable column, one end of the limit spring is fixedly connected to the outer surface of the movable column, and the other end of the limit spring is fixedly connected to the protrusion.

[0016] The intelligent robot for body-in-white welding provided by the present invention has the following beneficial effects:

[0017] Stainless steel bellows 1 and stainless steel bellows 2 will bend and deform along the shape of the welding head pipeline, so that the inner scraper ring and the outer scraper ring can effectively adapt to the shape of the welding head and clean the inner and outer surfaces of the welding head. They can scrape off blockages on the inner and outer surfaces of the welding head nozzle, such as spatter and slag produced by welding, to ensure smooth circulation of the shielding gas, maintain a good welding environment, and avoid residual welding wire residue on the inner wall of the conductive nozzle, which will increase friction during subsequent welding wire transportation, resulting in wear and enlarged aperture, etc. By cleaning the inner and outer surfaces of the welding head, these impurities that are prone to wear can be removed in time, so that the components can be kept in good initial condition and the normal service life of the welding head can be extended.

[0018] Initially, when the welding robot is not in use, the inner scraper ring is located inside the welding head, the outer scraper ring is mounted on the outside of the welding head, and the sealing disk is sealed on the end of the welding head. That is, when the welding head of the welding robot is not in use, the sealing disk is attached to the welding head to prevent external dust from entering the welding head, and to prevent dust from entering the welding head and adhering to key parts such as the conductive nozzle and the nozzle, thereby affecting current conduction and shielding gas ejection. This ensures that all components of the welding head are in a relatively clean state during each welding, maintains stable welding parameters, and ensures consistency in welding quality.

[0019] The gas sucked in the piston cylinder will enter the annular tube from the outlet pipe and be ejected from the air holes of the annular tube to the outer wall of the welding gun head. Subsequently, the small motor can be repeatedly rotated forward and reversed, so that the piston cylinder repeatedly extracts and exhausts gas to the welding head. By timely jetting cooling the welding head, the damage to components caused by high temperature can be effectively alleviated, and problems such as component cracking and deformation caused by thermal stress can be reduced, thereby extending the service life of key components such as the conductive tip and nozzle.

[0020] By setting up a water tank outside the piston cylinder and injecting low-temperature water into the water tank, water cooling reduces the temperature of the piston cylinder wall. When the gas enters the piston cylinder, the cylinder wall will take away the heat, thereby reducing the gas temperature. The ejected gas can be effectively cooled, thereby better achieving the effect of cooling the welding head. The jet cooling can speed up the natural cooling speed of the welding head, shorten the waiting time of the equipment, and enable the welding robot to be engaged in the next round of welding tasks more quickly.

[0021] When it is necessary to replace or add cooling water, you can first manually open the sealing plug on the water injection pipe, and then use the robot articulated arm to tilt the welding head. Since the piston cylinder is also installed on the welding head, the piston cylinder and the water tank will also tilt to allow the water to be poured out. After that, the robot articulated arm drives the welding head back to the original position, and new cooling water can be poured in at this time to ensure that the gas used for jet cooling is a relatively low-temperature gas, thereby improving the effect of cooling the welding head.

[0022] Under the reset rebound of the limit spring, the limit frame can re-limit the gear disc, so that the rotating shaft, stainless steel bellows 1, stainless steel bellows 2, inner scraper ring and outer scraper ring in the adjusted position remain stationary, thereby not affecting the subsequent movement welding of the welding head driven by the robot articulated arm, achieving the effect of storing the entire cleaning component and avoiding the cleaning component blocking the movement welding of the welding head. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 For the present invention Figure 1 Schematic diagram of the enlarged structure of area A in the middle;

[0025] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention from another perspective;

[0026] Figure 4 This is a schematic diagram of the installation structure of the air outlet pipe and the annular pipe of the present invention;

[0027] Figure 5 This is a schematic diagram of the partial cross-section structure of the welding head and the piston cylinder of the present invention;

[0028] Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged structure of the middle B area;

[0029] Figure 7 For the present invention Figure 5 Schematic diagram of the enlarged structure of the middle C area;

[0030] Figure 8 This is a schematic diagram of the installation of the piston cylinder, water storage tank, transmission wheel and other structures of the present invention;

[0031] Figure 9 For the present invention Figure 8 Schematic diagram of the enlarged structure of the middle D area;

[0032] Figure 10 This is a schematic diagram of the winding wheel and rope installation structure of the present invention.

[0033] In the picture:

[0034] 1. Base; 2. Robot articulated arm; 3. Welding head; 4. Wire feed tube; 5. Wire feeder; 51. Rotating shaft; 52. Winding wheel; 53. Rope; 54. Small motor; 55. Arc support column; 56. Sleeve; 57. Sealing disk; 58. Stainless steel bellows (I); 59. Inner scraper; 510. Stainless steel bellows (II); 511. Outer scraper; 512. Limit plate; 513. Return spring; 61. Piston cylinder; 62. Water tank; 63. Water injection pipe; 64. Support spring; 65. Piston plate; 66. Exhaust pipe; 67. Annular pipe; 68. Inlet pipe; 69. Transmission wheel; 71. Toothed plate; 72. Bump; 73. Movable column; 74. Limit frame; 75. Limit spring. DETAILED DESCRIPTION

[0035] Embodiments of the present invention:

[0036] See also Figures 1 to 3 and Figure 5 、 Figure 6 and Figure 8 、 Figure 10 , an intelligent robot for body-in-white welding, including a base 1, a robot articulated arm 2, and a welding head 3. The robot articulated arm 2 is mounted on the base 1. The robot articulated arm 2 is a conventional structure, including a base, waist, upper arm, lower arm, and wrist. Each joint has different degrees of freedom and can move in coordination. Through the rotation, extension, or bending of each joint, the position of the welding head 3 in three-dimensional space is precisely changed, so that the welding head 3 can drive the welding head 3 to perform precise and intelligent welding on the weld seam of the body-in-white. The welding head 3 is mounted on the end of the robot articulated arm 2 away from the base 1. The upper end of the welding head 3 is fixedly connected to the wire feeder 4. A wire feeder 5 is mounted on the upper part of the base 1. The wire feeder 5 is a conventional structure and is a device for accurately delivering welding material (welding wire) to the welding area. Its main function is to deliver the welding wire from the wire reel to the welding head 3 in accordance with the set speed and wire feeding method, so as to ensure that the welding wire can be continuously and stably supplied during the welding process, thereby realizing continuous welding operation. The wire feeder 4 is mounted on the end away from the welding head 3 to the wire feeder 5.

[0037] The outer wall of the welding head 3 is provided with a cleaning assembly for cleaning the welding head 3, the cleaning assembly comprising a rotating shaft 51 rotatably connected to the outer surface of the welding head 3, the end of the rotating shaft 51 away from the welding head 3 being rotatably connected with a winding wheel 52, the outer wall of the winding wheel 52 being wound with two ropes 53, the outer surface of the rotating shaft 51 close to the lower portion being fixedly connected with an arc-shaped support column 55, the outer surface of the arc-shaped support column 55 away from the welding head 3 being fixedly connected with a small motor 54 through a support plate, the output shaft of the small motor 54 being coaxially fixedly connected with the winding wheel 52, the outer surface of the arc-shaped support column 55 close to the lower end being slidably connected with a sliding sleeve 56, the outer wall of the sliding sleeve 56 away from the arc-shaped support column 55 being fixedly connected with a sealing disc 57, one side of the sealing disc 57 close to the welding head 3 being fixedly connected with a stainless steel bellows one 58, the end of the stainless steel bellows one 58 away from the sealing disc 57 being fixedly connected with an inner scraping ring 59, the sliding sleeve 56 being fixedly connected with a stainless steel bellows two 510, the end of the stainless steel bellows two 510 away from the sliding sleeve 56 being fixedly connected with an outer scraping ring 511, the outer surface of the arc-shaped support column 55 close to the lower end being sleeved with a reset spring 513, the stainless steel bellows one 58 and the stainless steel bellows two 510 are both made of stainless steel material and have good flexibility, the structure of the bellows is corrugated, which can flexibly bend and stretch within a certain range and easily adapt to the shape of the pipeline with different directions and bending degrees, the outer surface of the arc-shaped support column 55 is fixedly connected with a limiting plate 512, one end of one of the ropes 53 passes through the limiting plate 512 and is fixedly connected with the sliding sleeve 56, the limiting plate 512 can limit the movement track of one of the ropes 53, one end of the reset spring 513 is fixedly connected with the outer surface of the arc-shaped support column 55, and the other end of the reset spring 513 is fixedly connected with the sliding sleeve 56.

[0038] Please refer to Figure 4 , Figure 5 and Figures 7 to 10The outer surface of the welding head 3 is provided with a cooling assembly, which includes a piston cylinder 61 fixedly connected to the outer surface of the welding head 3, and the outer surface of the piston cylinder 61 is fixedly connected to a water tank 62, and the upper part of the water tank 62 is fixedly connected to a water injection pipe 63, and a sealing plug is inserted in the water injection pipe 63. The top of the inner cavity of the piston cylinder 61 is fixedly connected to a support spring 64, and the lower end of the support spring 64 is fixedly connected to a piston plate 65. The piston plate 65 is slidably connected to the inner wall of the piston cylinder 61, and the piston plate 65 can only slide vertically in the piston cylinder 61. The end of the other rope 53 away from the winding wheel 52 passes through the piston cylinder 61 and is fixedly connected to the middle of the piston plate 65, and the ends of the two ropes 53 close to each other are fixedly connected to the winding wheel 52, and the two ropes 53 are oriented on the same side to ensure that the winding wheel When 52 rotates, it can drive the two ropes 53 to reel in and loosen at the same time. A sealing gasket is provided at the penetration point between the piston cylinder 61 and the rope 53 close to it to ensure the sealing of the piston cylinder 61. The lower end of the piston cylinder 61 is fixedly connected to an air outlet pipe 66. The end of the air outlet pipe 66 away from the piston cylinder 61 is fixedly connected to an annular tube 67. The annular tube 67 is sleeved on the outer surface of the welding head 3. A plurality of air holes are evenly opened on the lower surface of the annular tube 67. The annular tube 67 is sleeved on the outer wall of the welding head 3. A one-way air outlet valve is provided at the position where the air outlet pipe 66 is connected to the piston cylinder 61. The outer surface of the piston cylinder 61 is fixedly connected to an air inlet pipe 68. A one-way air inlet valve is provided in the air inlet pipe 68. The lower surface of the piston cylinder 61 is rotatably connected to a transmission wheel 69, and one of the ropes 53 is attached to the outer surface of the transmission wheel 69.

[0039] See also Figure 8 and Figure 9 The outer surface of the welding head 3 is provided with a limit assembly for adjusting the position of the rotating shaft 51. The limit assembly wraps a toothed disc 71 fixedly connected to the outer surface of the rotating shaft 51. The toothed disc 71 consists of a disc and two teeth, and the two teeth are fixedly connected to the outer surface of the disc. The limit assembly also includes a protrusion 72 fixedly connected to the outer surface of the welding head 3. A movable column 73 is slidably connected to the protrusion 72. The movable column 73 passes through one end of the lower part of the protrusion 72 and is fixedly connected to a limit frame 74. The limit frame 74 is engaged with the teeth of the toothed disc 71. The outer surface of the movable column 73 is provided with a limit spring 75. One end of the limit spring 75 is fixedly connected to the outer surface of the movable column 73, and the other end of the limit spring 75 is fixedly connected to the protrusion 72.

[0040] The following is the entire working process and working principle of the above embodiment:

[0041] Initial state: the inner scraper ring 59 is located inside the welding head 3, the outer scraper ring 511 is sleeved on the outside of the welding head 3, the two ropes 53 are partially wrapped around the outer wall of the winding wheel 52, the return spring 513 and the support spring 64 are both in a stretched state, and initially low-temperature ice water can be injected into the water tank 62 through the water injection pipe 63.

[0042] When in use, first turn on the small motor 54 to drive the winding wheel 52 to rotate, and the winding wheel 52 can gradually loosen the two ropes 53, so that one end of the two ropes 53 no longer pulls the sliding sleeve 56 and the piston plate 65. At this time, the return spring 513 returns to its original position and pulls the sliding sleeve 56 and the sealing disk 57 to slide on the arc support column 55, and drives the inner scraper ring 59 and the outer scraper ring 511 to gradually move away from the welding head 3 through the stainless steel bellows 1 58 and the stainless steel bellows 2 510. When the sealing disk 57 and the inner scraper ring 59 and the outer scraper ring 511 are not in contact with the welding head 3, the movable column 73 can be pulled upward by hand, and the movable column 73 will slide upward on the protrusion 72, and drive the limit frame 74 to no longer limit the teeth on the toothed disk 71, and will also gradually compress the limit spring 75. At this time, the arc support column 55 can be manually rotated clockwise, so that the rotating shaft 51 drives the small motor 54 to rotate together through the arc support column 55 until the arc support column 55 passes through the sliding sleeve. 56 drives the stainless steel bellows 1 58, the stainless steel bellows 2 510, the inner scraper 59 and the outer scraper 511 to rotate with the rotating shaft 51 as the fulcrum, so that the stainless steel bellows 1 58, the stainless steel bellows 2 510, the inner scraper 59 and the outer scraper 511 are away from the bottom of the welding head 3 and no longer block the nozzle position of the welding head 3. The arc-shaped support column 55 rotates clockwise from the original vertical shape to the horizontal shape. At this time, the second tooth of the toothed disc 71 is close to the limit frame 74. , the movable column 73 can be loosened. At this time, under the reset rebound of the limit spring 75, the limit frame 74 can re-limit the toothed disc 71, so that the rotating shaft 51, stainless steel bellows 1 58, stainless steel bellows 2 510, inner scraper ring 59 and outer scraper ring 511 in the adjusted position remain stationary, thereby not affecting the subsequent movement and welding of the welding head 3 driven by the robot articulated arm 2, thereby achieving the effect of storing the entire cleaning component and preventing the cleaning component from blocking the movement and welding of the welding head 3.

[0043] Subsequently, the robot articulated arm 2 and the wire feeder 5 can be turned on to cooperate with the welding head 3 to move the white body for welding. After welding is completed, the movable column 73 can be repeatedly manually pulled upward to move, and then the arc-shaped support column 55 can be manually rotated to restore it to a vertical state. At this time, the sliding sleeve 56 is located at the very end of the arc-shaped support column 55, and the inner scraper ring 59 and the outer scraper ring 511 are located at the lower end of the welding head 3. Then the small motor 54 is started to drive the winding wheel 52 to rotate. The winding wheel 52 will drive the two ropes 53 to gradually wind around the winding wheel 52. At this time, one end of one of the ropes 53 will pull the sliding sleeve 56 to slide on the arc-shaped support column 55, so that the sealing disk 57 gradually drives the inner scraper ring 59 and the outer scraper ring 511 to gradually approach the welding head 3 through the stainless steel bellows 1 58 and the stainless steel bellows 2 510. The inner scraper ring 59 It will enter the inside of the welding head 3, and the outer scraper ring 511 will be mounted on the outer surface of the welding head 3, and the stainless steel bellows 1 58 and the stainless steel bellows 2 510 will bend and deform along the shape of the welding head 3 pipeline, so that the inner scraper ring 59 and the outer scraper ring 511 can effectively adapt to the shape of the welding head 3 and clean the inner and outer surfaces of the welding head 3. It can scrape off blockages on the inner and outer surfaces of the nozzle of the welding head 3, such as spatter and slag produced by welding, to ensure the smooth circulation of the protective gas, maintain a good welding environment, and avoid residual welding wire residue on the inner wall of the conductive nozzle, which will increase friction during subsequent welding wire transportation, resulting in wear and enlarged aperture, etc. These impurities that are prone to wear can be removed in time through cleaning, so that the components can maintain a good initial state and extend the normal service life of the welding head 3.

[0044] Moreover, when the welding robot is not in use initially, the inner scraper ring 59 is located inside the welding head 3, the outer scraper ring 511 is mounted on the outside of the welding head 3, and the sealing disk 57 is sealed on the end of the welding head 3. That is, when the welding head 3 of the welding robot is not in use, the sealing disk 57 is attached to the welding head 3 to prevent external dust from entering the welding head 3, and to prevent dust from entering the welding head 3 and adhering to key parts such as the conductive nozzle and the nozzle to affect current conduction and shielding gas ejection, thereby ensuring that the various components of the welding head 3 are in a relatively clean state during each welding, maintaining stable welding parameters, and ensuring the consistency of welding quality.

[0045] Furthermore, when the initial winding wheel 52 rotates and gradually loosens the two ropes 53, one end of the other rope 53 will also loosen, causing the support spring 64 to gradually reset and pull the piston plate 65 upward to inhale. When the piston plate 65 moves upward, the one-way valve in the air outlet pipe 66 is closed, and the one-way valve in the air inlet pipe 68 is opened, allowing external air to enter the interior of the piston cylinder 61. Later, when the small motor 54 needs to be turned on for cleaning, the rope 53 is gradually tightened. At this time, one end of the rope 53 will pull the piston plate 65 downward to exhaust and stretch the support spring 64, and the rope 53 will also move in contact with the surface of the transmission wheel 69. At this time, the air outlet pipe 66 The one-way valve inside is opened, and the one-way valve in the air inlet pipe 68 is closed. The gas sucked in the piston cylinder 61 will enter the annular tube 67 from the air outlet pipe 66 and be ejected from the air holes of the annular tube 67 to the outer wall of the welding head 3. Subsequently, the forward and reverse rotation of the small motor 54 can be repeated, so that the piston cylinder 61 repeatedly pumps air and exhausts it to the welding head 3. Since high temperature is one of the important factors causing aging and damage of the welding head components, continuous heat action will accelerate the wear and deformation of the components. Timely jet cooling of the welding head 3 can effectively alleviate the damage to the components caused by high temperature, reduce problems such as cracking and deformation of components caused by thermal stress, and extend the service life of key components such as the conductive tip and nozzle.

[0046] Furthermore, by arranging a water tank 62 outside the piston cylinder 61 and injecting low-temperature water into the water tank 62, water cooling reduces the temperature of the cylinder wall of the piston cylinder 61, and when the gas enters the piston cylinder 61, the cylinder wall will take away the heat, thereby reducing the gas temperature, and effectively cooling the ejected gas, thereby better achieving the effect of cooling the welding head 3, and the jet cooling can speed up the natural cooling speed of the welding head 3, shorten the waiting time of the equipment, and enable the welding robot to be engaged in the next round of welding tasks more quickly.

[0047] Moreover, when it is necessary to replace or add cooling water, the sealing plug on the water injection pipe 63 can be manually opened first, and then the welding head 3 can be tilted by the robot articulated arm 2. Since the piston cylinder 61 is also installed on the welding head 3, the piston cylinder 61 and the water tank 62 will also be tilted, so that the water can be poured out. After that, the robot articulated arm 2 drives the welding head 3 back to the original position, and new cooling water can be poured in at this time to ensure that the gas used for jet cooling is a relatively low-temperature gas, thereby improving the effect of cooling the welding head 3.

[0048] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent robot for body-in-white welding, comprising a base (1), a robot articulated arm (2), and a welding head (3), characterized in that: The robot joint arm (2) is installed on the base (1), the welding head (3) is installed at one end of the robot joint arm (2) away from the base (1), the upper end of the welding head (3) is fixedly connected to the wire feeding tube (4), the upper part of the base (1) is installed with a wire feeding machine (5), the end of the wire feeding tube (4) away from the welding head (3) is installed with the wire feeding machine (5), the outer wall of the welding head (3) is installed with a cleaning component for cleaning the welding head (3), the cleaning component includes a rotating shaft (51) rotatably connected to the outer surface of the welding head (3), the end of the rotating shaft (51) away from the welding head (3) is rotatably connected to the winding wheel (52), the outer wall of the winding wheel (52) is wrapped with two ropes (53), the outer surface of the rotating shaft (51) near the lower part is fixedly connected to the arc support column (55), the arc support column (55) is away from the outer surface of the welding head (3), and the arc support column (55) is away from the outer surface of the welding head (3). A small motor (54) is fixedly connected to the surface through a support plate, and the output shaft of the small motor (54) is coaxially fixedly connected to the winding wheel (52). The outer surface of the arc-shaped support column (55) near the lower end is slidably connected to a sliding sleeve (56), and the outer wall of the sliding sleeve (56) away from the arc-shaped support column (55) is fixedly connected to a sealing disk (57). A side of the sealing disk (57) near the welding head (3) is fixedly connected to a stainless steel bellows (58), and one end of the stainless steel bellows (58) away from the sealing disk (57) is fixedly connected to an inner scraper ring (59). A stainless steel bellows (510) is fixedly connected to the sliding sleeve (56), and one end of the stainless steel bellows (510) away from the sliding sleeve (56) is fixedly connected to an outer scraper ring (511). A reset spring (513) is provided on the outer surface of the arc-shaped support column (55) near the lower end.

2. The intelligent robot for body-in-white welding according to claim 1, characterized in that: The outer surface of the arc-shaped support column (55) is fixedly connected to the limit plate (512), one end of a rope (53) passes through the limit plate (512) and is fixedly connected to the sliding sleeve (56), one end of the return spring (513) is fixedly connected to the outer surface of the arc-shaped support column (55), and the other end of the return spring (513) is fixedly connected to the sliding sleeve (56).

3. The intelligent robot for body-in-white welding according to claim 1, characterized in that: The outer surface of the welding head (3) is provided with a cooling assembly, which includes a piston cylinder (61) fixedly connected to the outer surface of the welding head (3), the outer surface of the piston cylinder (61) is fixedly connected to a water storage tank (62), and the upper part of the water storage tank (62) is fixedly connected to a water injection pipe (63).

4. The intelligent robot for body-in-white welding according to claim 3, characterized in that: The top of the inner cavity of the piston cylinder (61) is fixedly connected to a support spring (64), the lower end of the support spring (64) is fixedly connected to a piston plate (65), and the piston plate (65) is slidably connected to the inner wall of the piston cylinder (61). The end of another rope (53) away from the winding wheel (52) passes through the piston cylinder (61) and is fixedly connected to the middle of the piston plate (65), and the ends of the two ropes (53) close to each other are fixedly connected to the winding wheel (52).

5. The intelligent robot for body-in-white welding according to claim 4, characterized in that: The lower end of the piston cylinder (61) is fixedly connected to an air outlet pipe (66), and one end of the air outlet pipe (66) away from the piston cylinder (61) is fixedly connected to an annular pipe (67), and a plurality of air holes are evenly opened on the lower surface of the annular pipe (67).

6. The intelligent robot for body-in-white welding according to claim 5, characterized in that: A one-way air outlet valve is provided at a position where the air outlet pipe (66) is connected to the piston cylinder (61); an air inlet pipe (68) is fixedly connected to the outer surface of the piston cylinder (61); a one-way air inlet valve is provided in the air inlet pipe (68); a transmission wheel (69) is rotatably connected to the lower surface of the piston cylinder (61); and a rope (53) is attached to the outer surface of the transmission wheel (69).

7. The intelligent robot for body-in-white welding according to claim 1, characterized in that: The outer surface of the welding head (3) is provided with a limit assembly for adjusting the position of the rotating shaft (51), and the limit assembly wraps around a toothed disc (71) fixedly connected to the outer surface of the rotating shaft (51).

8. The intelligent robot for body-in-white welding according to claim 7, characterized in that: The limiting assembly further comprises a protrusion (72) fixedly connected to the outer surface of the welding head (3), a movable column (73) being slidably connected to the protrusion (72), and one end of the movable column (73) passing through the lower part of the protrusion (72) and fixedly connected to the limiting frame (74).

9. The intelligent robot for body-in-white welding according to claim 8, characterized in that: The outer surface of the movable column (73) is sleeved with a limit spring (75), one end of the limit spring (75) is fixedly connected to the outer surface of the movable column (73), and the other end of the limit spring (75) is fixedly connected to the protrusion (72).

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