Welding manipulator

Abstract

The invention discloses a welding manipulator, which belongs to the technical field of welding equipment and comprises a multi-joint structure of a base, a first connecting arm and a second connecting arm, a base rotating body can rotate by 360 degrees, and the two connecting arms are linked to realize spatial multi-angle pitching swing and expand the working coverage range. A universal point is arranged at the end of the welding head, the welding gun can deflect around the universal point, deflection movement is supported through cooperation of a universal sleeve and a universal ball in the welding head, and the deflection angle is accurately controlled through a guide plate and a driving unit. Meanwhile, the welding head can do circular motion around the center shaft through transmission of a disc, a fluted disc and a gear, and the welding requirement of a circular weld joint is met. And the welding gun can be accurately positioned without overall movement of the mechanical arm through the composite capability of universal deflection of the welding gun and circular motion of the welding head.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a welding manipulator. Background Art

[0002] Traditional welding guns are mostly fixed structures and cannot penetrate into the narrow gaps of complex workpieces (such as the inner wall of a pipe and the joints of multi-layer components). They need to rely on the overall movement of the robotic arm to adjust their position. The operation is cumbersome and easily subject to space constraints.

[0003] Welding gun angle adjustment relies on the overall motion of the robotic arm, resulting in large cumulative errors and making it difficult to meet high-precision welding requirements (such as welding microelectronic components and precision instruments). Circular welds require repeated positioning of the robotic arm, resulting in low production efficiency and poor weld uniformity. Traditional single-joint or low-joint robotic arms have a fixed working range and are unable to adapt to multi-position and multi-directional welding scenarios, especially for complex curved workpieces.

[0004] To this end, the present invention provides a welding robot that solves the above problems. Summary of the Invention

[0005] In response to the above-mentioned technical deficiencies, the purpose of the present invention is to provide a welding robot that, through a composite motion design of a multi-joint arm and a welding head with universal deflection and circular motion, solves the accuracy and efficiency bottlenecks of welding in narrow spaces with traditional equipment and achieves high-precision welding operations.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solution: The present invention provides a welding robot, comprising: An arm body and a welding head, wherein the welding head is mounted on an end portion of the arm body; A welding gun is installed at the end of the welding head, and the end of the welding gun extends to the outside of the welding head. A universal point is provided at the center of the end of the welding head, and the welding gun can deflect around the universal point. A central axis is provided inside the welding head. When the welding gun is in a deflected state, the welding head can perform circular motion around the central axis.

[0007] Preferably, an inner cavity is provided inside the welding head, a universal sleeve is provided at an end outlet of the inner cavity, a universal ball is embedded in the inner portion of the universal sleeve, and the welding gun passes through the universal ball.

[0008] Preferably, a guide plate is installed in the inner cavity, a guide path is provided inside the guide plate, the welding gun passes through the guide path, and drive units are provided on both sides of the guide plate, and the drive units are connected to the welding gun.

[0009] Preferably, the driving unit includes two rollers rotatably mounted on the side walls of the guide plate and a conveyor belt sleeved on the rollers. A slider is fixed on the welding gun, and the slider is connected to the conveyor belt.

[0010] Preferably, an arc-shaped plate is fixed between the two rollers located on the same side of the guide plate, the conveyor belt moves along the arc-shaped plate, and the central axis of the arc-shaped plate and the universal point have an overlapping portion.

[0011] Preferably, a disc is rotatably mounted in the inner cavity, and the guide plate is fixedly mounted inside the disc.

[0012] Preferably, a first motor is fixed on the guide plate, and an output shaft of the first motor is connected to any one of the rotating rollers.

[0013] Preferably, a toothed disc is fixed on the circular disc, a second motor is fixed inside the welding head, a gear is fixed on the output shaft of the second motor, and the gear is meshed with the toothed disc.

[0014] Preferably, the arm body includes a base, a first connecting arm and a second connecting arm, the first connecting arm is rotatably mounted on the base, and the second connecting arm is rotatably mounted on the first connecting arm.

[0015] Preferably, the base includes a fixed body and a rotating body rotatably mounted on the fixed body, and the first connecting arm is rotatably mounted on the rotating body.

[0016] The beneficial effects of the present invention are: The welding gun can be deflected to any angle within a preset range around the universal point. It can penetrate into narrow positions that conventional welding guns cannot reach without the need for the entire robot arm to move, thus avoiding interference with the workpiece.

[0017] The driving unit adopts a combination of conveyor belt and servo motor, and the trajectory of the guide plate is limited, and the welding gun angle is adjustable.

[0018] Circular motion simplifies circular weld welding. The circular motion of the welding head around the central axis can directly complete circular welds of preset diameters without the need for repeated positioning of the robotic arm, thereby improving welding efficiency and weld formation uniformity.

[0019] The rolling fit between the universal ball and the universal sleeve, the flexible transmission of the conveyor belt and the gear meshing transmission all have low friction and wear resistance characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 This is a diagram of the interior of the welding head.

[0022] Figure 3 This is a cross-sectional view of the interior of the disc.

[0023] Figure 4 This is a three-dimensional view of the interior of the disk.

[0024] Figure 5 A cross-sectional view of a disk.

[0025] Figure 6 for Figure 2 A in the enlarged view.

[0026] Figure 7 for Figure 2 Enlarged view of point B in .

[0027] In the figure: 1. Arm, 2. Welding head, 201. Inner cavity, 3. Welding gun, 4. Universal sleeve, 5. Universal ball, 6. Guide plate, 7. Roller, 8. Conveyor belt, 9. Slider, 10. Arc plate, 11. Disc. DETAILED DESCRIPTION

[0028] The present invention is described below with specific examples, but is not intended to be limiting of the invention.

[0029] Example 1 like Figure 1-Figure 7 As shown, in this embodiment, a welding robot is provided, which includes an arm body 1 and a welding head 2 , and the welding head 2 is installed at the end of the arm body 1 .

[0030] A welding gun 3 is mounted on the end of the welding head 2. The end of the welding gun 3 extends to the outside of the welding head 2. A universal joint is provided at the center of the end of the welding head 2. The welding gun 3 can deflect around the universal joint. A central axis is provided inside the welding head 2. When the welding gun 3 is in a deflected state, the welding head 2 can perform circular motion around the central axis. The deflection function of the welding gun 3 enables it to adapt to narrow welding positions that conventional welding guns 3 cannot reach. By finely adjusting the angle of the welding gun 3, the welding gun 3 can be accurately positioned without relying on the overall movement of the mechanical arm, significantly improving operational accuracy. In addition, the welding head 2 can perform circular motion around its central axis, so that after the welding arm is fixed in position, circular welds can be directly welded without repositioning. The welding gun 3 achieves angular deflection through the universal joint, and the welding head 2 can simultaneously perform circular motion around the central axis. These two movements are independent of each other, forming a composite motion capability.

[0031] The arm body 1 includes a base, a first connecting arm, and a second connecting arm. The first connecting arm is rotatably mounted on the base, and the second connecting arm is rotatably mounted on the first connecting arm, forming a multi-jointed motion structure. This expands the welding manipulator's workspace and enables it to reach a wider range of welding positions. The multi-jointed structure can also adjust the posture of the welding head 2 to adapt to different welding requirements. The base includes a fixed body and a rotating body rotatably mounted on the fixed body. The first connecting arm is rotatably mounted on the rotating body, achieving the overall rotational positioning of the welding manipulator and further expanding its working range. The base's rotating structure, combined with the multi-jointed structure of the arm body 1, enables the welding manipulator to flexibly reach any welding position.

[0032] Example 2 like Figure 1-Figure 7 As shown, based on the first embodiment, this embodiment provides an internal structure of the welding head 2, which is as follows: The welding head 2 has an internal cavity 201, and a universal sleeve 4 is located at the end of the cavity 201. A universal ball 5 is embedded in the universal sleeve 4, and the welding gun 3 passes through the universal ball 5. The centers of the universal ball 5 and the universal sleeve 4 coincide with the universal point. The universal sleeve 4 has through-holes at both ends, through which the welding gun 3 extends to the outside. The welding gun 3 can tilt and deflect with the universal ball 5. When the welding gun 3 deflects, the universal ball 5 rolls smoothly within the universal sleeve 4, providing multi-angle support for movement. This ensures that the welding gun 3 remains stable during deflection, reducing shaking and improving welding accuracy. Furthermore, the through-holes in the universal sleeve 4 guide the welding gun 3, preventing it from shifting during movement.

[0033] A guide plate 6 is installed in the inner cavity 201. A guide path is provided inside the guide plate 6. The welding gun 3 passes through the guide path. Drive units are provided on both sides of the guide plate 6. The drive units are connected to the welding gun 3. The guide path inside the guide plate 6 provides a movement path for the welding gun 3. The drive units on both sides are connected to the welding gun 3 through a conveyor belt 8 to achieve precise driving of the welding gun 3. The guide plate 6 limits the movement trajectory of the welding gun 3 to ensure that it deflects according to the preset path; the drive unit provides power so that the welding gun 3 can quickly respond to the control signal and achieve precise angle adjustment.

[0034] The drive unit includes two rollers 7 rotatably mounted on the sidewalls of the guide plate 6 and a conveyor belt 8 sleeved over the rollers 7. A slider 9 is fixed to the welding gun 3 and connected to the conveyor belt 8. When the rollers 7 rotate, the conveyor belt 8 moves accordingly, thereby driving the welding gun 3 to deflect. The conveyor belt 8 drive system has a simple structure and smooth transmission, and can precisely control the deflection angle of the welding gun 3. Furthermore, the flexible nature of the conveyor belt 8 can adapt to the multi-angle movement of the welding gun 3, reducing mechanical interference.

[0035] A curved plate 10 is fixed between the two rollers 7 on the same side of the guide plate 6. The conveyor belt 8 moves along the curved plate 10. The central axis of the curved plate 10 overlaps with the universal joint. This alignment ensures that the motion trajectory of the conveyor belt 8 matches the deflection trajectory of the welding gun 3. This optimizes the motion trajectory of the conveyor belt 8, reduces friction between the conveyor belt 8 and the welding gun 3, and improves transmission efficiency. This also ensures that the welding gun 3 is evenly stressed during deflection, preventing jamming.

[0036] A first motor is fixed to the guide plate 6. The output shaft of the first motor is connected to any one of the rollers 7. By controlling the rotation direction and angle of the first motor, the roller 7 is driven to rotate, which in turn drives the conveyor belt 8 and the welding gun 3. This provides power for the deflection of the welding gun 3 and achieves precise control of the angle of the welding gun 3. The first motor can be a servo motor or a stepper motor to ensure control accuracy.

[0037] Example 3 like Figure 1-Figure 7 As shown, based on the first and second embodiments, this embodiment provides a disc 11 structure, which is as follows: A circular disc 11 is rotatably mounted within the inner cavity 201, and a guide plate 6 is fixedly mounted within the disc 11. Rotation of the disc 11 drives the guide plate 6 and the welding gun 3 in a circular motion about the central axis. This circular motion of the welding head 2 allows for direct welding of circular seams without repositioning the welding arm after the welding arm is fixed in position, improving welding efficiency and quality.

[0038] A toothed disc is fixed to the disc 11, and a second motor is fixed inside the welding head 2. A gear is fixed to the output shaft of the second motor, and the gear meshes with the toothed disc. The second motor drives the disc 11 to rotate through the meshing of the gears with the toothed disc, thereby achieving circular motion of the welding head 2, providing power for the circular motion of the welding head 2, and achieving precise control of the rotation angle and speed of the welding head 2. The gear transmission can achieve a larger transmission ratio, improving control accuracy.

[0039] Working principle: The arm body 1 adopts a multi-joint structure of "base-first connecting arm-second connecting arm": The rotating body of the base can rotate around the fixed body, driving the entire arm body 1 to achieve 360° horizontal positioning; The first connecting arm is rotatably mounted on the base rotating body, and the second connecting arm is rotatably mounted on the first connecting arm. Through the pitching and swinging of the two joints, a flexible spatial motion trajectory is formed to expand the working range.

[0040] The combination of base rotation and arm 1 joint motion allows the welding head 2 to reach any position in space, adapting to the needs of different welding stations. A universal joint is located at the center of the end of the welding head 2. A universal ball 5 is connected to the universal sleeve 4 inside. The welding gun 3 passes through the universal ball 5 and can be deflected around the universal joint. When the welding gun 3 is deflected, the universal ball 5 rolls within the universal sleeve 4, providing multi-angle support.

[0041] The guide track inside the guide plate 6 limits the movement of the welding gun 3. The drive units on both sides are connected to the slider 9 on the welding gun 3 via the conveyor belt 8. The first motor drives the roller 7 to rotate, and the conveyor belt 8 drives the welding gun 3 to precisely deflect along the preset angle, achieving fine-tuning of the welding gun 3's posture.

[0042] The disc 11 in the inner cavity 201 of the welding head 2 is driven by the second motor through the engagement of the toothed disc and the gear. When the disc 11 rotates, it drives the guide plate 6 and the welding gun 3 to make a circular motion around the central axis, so that a circular weld can be welded without repositioning.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A welding robot, characterized in that: include: An arm body (1) and a welding head (2), wherein the welding head (2) is mounted on the end of the arm body (1); A welding gun (3) is installed at the end of the welding head (2), the end of the welding gun (3) extends to the outside of the welding head (2), a universal point is provided at the center of the end of the welding head (2), the welding gun (3) can deflect around the universal point, and a central axis is provided inside the welding head (2), and when the welding gun (3) is in a deflected state, the welding head (2) can perform circular motion around the central axis.

2. A welding robot according to claim 1, characterized in that: An inner cavity (201) is provided inside the welding head (2), a universal sleeve (4) is provided at the end outlet of the inner cavity (201), a universal ball (5) is embedded inside the universal sleeve (4), and the welding gun (3) passes through the universal ball (5).

3. A welding robot according to claim 2, characterized in that: A guide plate (6) is installed in the inner cavity (201), a guide path is provided inside the guide plate (6), the welding gun (3) passes through the guide path, and drive units are provided on both sides of the guide plate (6), and the drive units are connected to the welding gun (3).

4. A welding robot according to claim 3, characterized in that: The driving unit comprises two rollers (7) rotatably mounted on the side walls of the guide plate (6) and a conveyor belt (8) sleeved on the rollers (7); a slider (9) is fixed on the welding gun (3), and the slider (9) is connected to the conveyor belt (8).

5. A welding robot according to claim 4, characterized in that: An arc-shaped plate (10) is fixed between two rollers (7) located on the same side of the guide plate (6), and the conveyor belt (8) moves along the arc-shaped plate (10). The central axis of the arc-shaped plate (10) and the universal point have an overlapping portion.

6. A welding robot according to claim 3, characterized in that: A disc (11) is rotatably mounted in the inner cavity (201), and the guide plate (6) is fixedly mounted inside the disc (11).

7. A welding robot according to claim 4, characterized in that: A first motor is fixed on the guide plate (6), and an output shaft of the first motor is connected to any one of the rotating rollers (7).

8. The welding robot according to claim 6, characterized in that: A toothed disc is fixed on the circular disc (11), a second motor is fixed inside the welding head (2), a gear is fixed on the output shaft of the second motor, and the gear is meshed with the toothed disc.

9. The welding robot according to claim 1, characterized in that: The arm body (1) comprises a base, a first connecting arm and a second connecting arm, wherein the first connecting arm is rotatably mounted on the base, and the second connecting arm is rotatably mounted on the first connecting arm.

10. A welding robot according to claim 9, characterized in that: The base includes a fixed body and a rotating body rotatably mounted on the fixed body, and the first connecting arm is rotatably mounted on the rotating body.

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