A multi-joint manipulator and a mechanical arm

Abstract

The present invention relates to the field of robot technology, and specifically to a multi-joint robot and robot arm, comprising: a support seat, a welding block and an electrode cap connected in sequence; a cooling channel; located in the welding block, for circulating a cooling medium to cool the electrode cap; the cooling medium is preferably water; and also comprising: a connecting mechanism, located between the electrode cap and the welding block, for connecting the welding block and the electrode cap; a sealing mechanism, located between the electrode cap and the welding block, for sealing the welding block and the electrode cap; the multi-joint robot of the present invention cooperates with the staff to release the connection between the electrode cap and the welding block by the connecting mechanism, and then the staff puts a new electrode cap on the welding block and then fixes the electrode cap on the welding block through the connecting mechanism, thereby achieving the purpose of facilitating the staff to replace the electrode cap, and at the same time, the sealing mechanism is used to seal the electrode cap and the welding block, thereby ensuring the sealing effect originally achieved by the over-fitting between the electrode cap and the welding block.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to a multi-joint manipulator and a manipulator arm. Background Art

[0002] A manipulator refers to an automatic operating device that can imitate certain movements and functions of human hands and arms, and is used to grab, move objects or operate tools according to a fixed program. Most manipulators are multi-jointed structures, that is, they include multiple mechanical arms, and the adjacent mechanical arms are movably connected, so that the manipulator can move between multiple workstations; the manipulator can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and other industries, especially in the manufacturing industry; some raw material processing factories use welding robots to weld raw materials. According to different welding methods, welding robots include spot welding robots, two-protection welding robots, argon arc welding robots, etc.; when the spot welding robot is welding, the electrode cap on the manipulator is used to clamp two workpieces, and then the electrode cap is energized to melt and combine the workpieces between the two electrode caps to complete the welding;

[0003] The electrode cap will be worn out during welding. Usually, the factory needs to replace the electrode cap every day when performing normal production tasks. However, in the prior art, the electrode cap and the manipulator are overfitted to achieve sealing between the electrode cap and the manipulator to prevent cooling water leakage, making it difficult for workers to remove the electrode cap when replacing it. Even with a special wrench, it is difficult to remove it, and it is inconvenient to remove the electrode cap;

[0004] Although there is a device in the prior art for conveniently removing the electrode cap, its function is to quickly install the electrode cap after removal, and the staff still needs to manually remove the electrode cap, which does not fundamentally solve the problem of difficulty in replacing the electrode cap, thus causing limitations to this solution.

[0005] In view of this, in order to overcome the above technical problems, the present invention proposes a multi-joint manipulator and a manipulator arm to solve the above technical problems. Summary of the invention

[0006] In order to make up for the shortcomings of the prior art, the present invention proposes a multi-joint manipulator and a manipulator arm. The connecting mechanism of the present invention squeezes the fixed block when the cooling water flows, and the fixed block moves and fixes the electrode cap. When the cooling water stops flowing, the fixed block returns to its original position, and the fixed block stops fixing the electrode cap, thereby replacing the original over-fit connection method, making it convenient for the staff to remove the electrode cap, and making it unnecessary for the staff to knock on the electrode cap to fix the electrode cap after replacing the electrode cap, thereby reducing the labor intensity of the staff when replacing the electrode cap.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a multi-joint manipulator described in the present invention comprises:

[0008] A supporting base, a welding block and an electrode cap connected in sequence;

[0009] A cooling channel; located in the welding block, used for circulating a cooling medium to cool the electrode cap; the cooling medium is pressurized and passed into the cooling channel, and the cooling medium is preferably cooling water;

[0010] Also includes:

[0011] A connecting mechanism, located between the electrode cap and the welding block, and used to connect the welding block and the electrode cap;

[0012] The sealing mechanism is located between the electrode cap and the welding block and is used for sealing the welding block and the electrode cap.

[0013] Preferably, an annular groove is provided on the inner wall of the electrode cap; an annular support block is fixedly connected to the outer side of the welding block; the annular support block contacts the electrode cap; the connecting mechanism includes a fixed block, a fixed groove and a reset spring; the fixed groove is provided on the outer side of the welding block and is connected to the cooling channel, and the position of the fixed groove corresponds to the annular groove; the fixed block is slidingly and sealingly connected to the fixed groove, one end of the fixed block passes through the fixed groove and is located in the cooling channel, and the other end can enter the annular groove under the action of the cooling medium in the cooling channel; the reset spring is sleeved on the fixed block, and the two ends of the reset spring are respectively fixedly connected to the fixed block and the fixed groove.

[0014] Preferably, an annular groove is provided on the inner wall of the electrode cap; an annular support block is fixedly connected to the outer side of the welding block; the annular support block contacts the electrode cap; the connecting mechanism includes a fixed block, a connecting groove and a sliding groove; the sliding groove is provided on the outer side of the welding block and corresponds to the annular groove, and the sliding groove is connected to the fixed block in a sliding seal; the connecting groove is provided on the outer side surface of the annular support block, the connecting groove passes through the annular support block and is connected to the sliding groove through the welding block; the sliding block is connected to the sliding seal in the connecting groove; the sliding block passes through the connecting groove to expose the annular sealing block.

[0015] Preferably, the sealing mechanism includes a sealing groove and a sealing film; the sealing groove is arranged on the outside of the welding block and contacts the electrode cap, the sealing groove is in the shape of a circular ring, the end face of the sealing groove close to the support seat is fixedly connected to the sealing film, the sealing film is in the shape of a circular ring, and the sealing film is arranged close to the electrode cap.

[0016] Preferably, the sealing mechanism includes a sealing groove and an annular sealing block; the size of the annular sealing block close to the support seat is larger than the size of the end away from the support seat, the end of the annular sealing block with a smaller size does not expose the sealing groove, and the material of the annular sealing block is a flexible material.

[0017] Preferably, a telescopic spring is fixedly connected to the bottom of the sealing groove; the telescopic spring is evenly arranged away from the support seat, and the other end of the telescopic spring is fixedly connected to the sealing membrane.

[0018] Preferably, an extrusion groove is provided on the end surface of the annular sealing block away from the support seat; the shape of the extrusion groove is annular, and the size of the bottom of the extrusion groove is larger than the size of the extrusion groove opening.

[0019] Preferably, the cross-sectional shape of one end of the fixing block located in the cooling channel is triangular, and the direction of the hypotenuse is opposite to the flow direction of the cooling medium.

[0020] Preferably, an annular sliding groove is provided on the end surface of the annular support block away from the support seat; the inner wall of the annular sliding groove is in contact with the welding block, and an annular blocking block is slidably connected in the annular sliding groove.

[0021] Preferably, a multi-joint robotic arm is suitable for the above-mentioned multi-joint robotic arm, and the multi-joint robotic arm includes a base, a rotating arm and a multi-joint robotic arm connected in sequence from bottom to top, and also includes a controller; the base and the rotating arm, as well as the rotating arm and the multi-joint robotic arm are connected through a rotating mechanism; the controller controls the automatic operation of the present invention.

[0022] The beneficial effects of the present invention are as follows:

[0023] 1. The connection mechanism of the present invention compresses the fixing block when cooling water flows, and the fixing block moves and fixes the electrode cap. When the cooling water stops flowing, the fixing block returns to its original position, and the fixing block stops fixing the electrode cap, thereby replacing the original over-fit connection method, making it convenient for the staff to remove the electrode cap, and making it unnecessary for the staff to knock on the electrode cap to fix the electrode cap after replacing the electrode cap, thereby reducing the labor intensity of the staff when replacing the electrode cap.

[0024] 2. The sealing mechanism of the present invention prevents the cooling water from continuing to spread along the gap between the electrode cap and the welding block through the sealing film, thereby achieving the purpose of sealing the electrode cap and the welding block, thereby preventing the cooling water from leaking and dripping onto the welding point of the workpiece during welding, so that the welding point cannot be air-cooled after melting and affects the performance of the welding point, thereby ensuring the actual use effect of the present invention.

[0025] 3. The connection mechanism of the present invention is that the staff pulls the sliding block, so that the fixed block stops fixing the electrode cap, and then the staff puts on the electrode cap and pushes the sliding block, and the fixed block fixes the electrode cap again to cooperate, thereby achieving the purpose of facilitating the replacement of the electrode cap and reducing the labor intensity of the staff when replacing the electrode cap. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] Figure 1 is a stereogram of the present invention;

[0028] Figure 2 yes Figure 1 The enlarged view of point A in the middle;

[0029] Figure 3 is a partial cross-sectional view of a first embodiment of the connecting mechanism and the sealing mechanism of the present invention;

[0030] Figure 4 yes Figure 3 The enlarged view of point B in the middle;

[0031] Figure 5 is a partial cross-sectional view of a second embodiment of the connecting mechanism and the sealing mechanism of the present invention;

[0032] Figure 6 yes Figure 5 Enlarged view of point C in the middle;

[0033] In the figure: 1. support seat; 2. welding block; 21. annular support block; 22. annular sliding groove; 23. annular blocking block; 3. electrode cap; 31. annular groove; 4. cooling channel; 5. connecting mechanism; 51. fixed block; 52. fixed groove; 53. reset spring; 54. connecting groove; 55. sliding groove; 56. sliding block; 6. sealing mechanism; 61. sealing groove; 62. sealing film; 63. annular sealing block; 64. telescopic spring; 65. extrusion groove; 7. base; 8. rotating arm; 9. multi-joint manipulator; 91. rotating mechanism. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0035] like Figures 1 to 6 As shown, a multi-joint manipulator and a manipulator arm according to the present invention include:

[0036] A supporting base 1, a welding block 2 and an electrode cap 3 connected in sequence;

[0037] A cooling channel 4 is located in the welding block 2 and is used to circulate a cooling medium to cool the electrode cap 3. The cooling medium is pressurized and then passed into the cooling channel 4. The cooling medium is preferably cooling water.

[0038] Also includes:

[0039] A connecting mechanism 5, located between the electrode cap 3 and the welding block 2, and used to connect the welding block 2 and the electrode cap 3;

[0040] A sealing mechanism 6, located between the electrode cap 3 and the welding block 2, and used for sealing the welding block 2 and the electrode cap 3;

[0041] During operation, the electrode cap 3 will be worn out during welding. Usually, the factory needs to replace the electrode cap 3 every day when performing normal production tasks. However, in the prior art, the electrode cap 3 and the manipulator are overfitted to achieve sealing between the electrode cap 3 and the manipulator to prevent cooling water leakage, making it difficult for workers to remove the electrode cap 3 when replacing the electrode cap 3. Even with a special wrench, it is difficult to remove the electrode cap 3, which is inconvenient.

[0042] Therefore, when the staff replaces the electrode cap 3 on the manipulator of the spot welding robot, the staff first controls the cooling water in the cooling channel 4 to stop flowing through the controller, and then controls the manipulator to move to the side of the staff's workstation, so that the staff releases the connection between the electrode cap 3 and the welding block 2 through the connecting mechanism 5, and then removes the electrode cap 3 from the welding block 2. The staff puts the new electrode cap 3 on the welding block 2, and then fixes the electrode cap 3 on the welding block 2 through the connecting mechanism 5, and realizes the sealing between the electrode cap 3 and the welding block 2 through the sealing mechanism 6;

[0043] The multi-joint manipulator 9 of the present invention cooperates with the staff to release the connection between the electrode cap 3 and the welding block 2 by the connecting mechanism 5, and then the staff puts a new electrode cap 3 on the welding block 2 and fixes the electrode cap 3 on the welding block 2 through the connecting mechanism 5, thereby achieving the purpose of convenient replacement of the electrode cap 3 by the staff. At the same time, the sealing mechanism 6 is used to seal the electrode cap 3 and the welding block 2, ensuring the sealing effect achieved by the original over-fitting between the electrode cap 3 and the welding block 2.

[0044] As an embodiment of the present invention, an annular groove 31 is provided on the inner wall of the electrode cap 3; an annular support block 21 is fixedly connected to the outer side of the welding block 2; the annular support block 21 contacts the electrode cap 3; the connecting mechanism 5 includes a fixed block 51, a fixed groove 52 and a reset spring 53; the fixed groove 52 is provided on the outer side of the welding block 2 and communicates with the cooling channel 4, and the position of the fixed groove 52 corresponds to the annular groove 31; the fixed block 51 is slidingly sealedly connected to the fixed groove 52, one end of the fixed block 51 passes through the fixed groove 52 and is located in the cooling channel 4, and the other end can enter the annular groove 31 under the action of the cooling medium in the cooling channel 4; the reset spring 53 is sleeved on the fixed block 51, and the two ends of the reset spring 53 are respectively fixedly connected to the fixed block 51 and the fixed groove 52;

[0045] During operation, cooling water flows in the cooling channel 4, so that the cooling water squeezes the fixed block 51, so that the fixed block 51 moves toward the annular groove 31 on the electrode cap 3, and then the fixed block 51 compresses the reset spring 53, and the end of the fixed block 51 close to the annular groove 31 enters the annular groove 31, and the air between the annular groove 31 and the fixed block 51 is discharged through the gap between the electrode cap 3 and the welding block 2, and the fixed block 51 fixes the electrode cap 3; when the multi-joint manipulator 9 welds the workpiece, the electrode caps 3 on the two welding blocks 2 clamp the workpiece, so that the annular support block 21 supports the electrode cap 3; when the staff replaces the electrode cap 3, the staff The staff controls the cooling water to stop flowing through the controller, so that the cooling water stops squeezing the fixed block 51, and the fixed block 51 returns to its original position under the action of the reset spring 53, and the part of the fixed block 51 located in the annular groove 31 moves out of the annular groove 31, so that the fixed block 51 stops fixing the electrode cap 3, so that the staff can pull the electrode cap 3 off the welding block 2, and then the staff puts a new electrode cap 3 on the welding block 2 until the electrode cap 3 contacts the annular support block 21, at which time the staff controls the cooling water to flow through the controller, so that the cooling water squeezes the fixed block 51 again, so that the fixed block 51 fixes the electrode cap 3;

[0046] The present invention compresses the fixing block 51 when cooling water flows, so that the fixing block 51 moves and fixes the electrode cap 3, and then returns to its original position when the cooling water stops flowing, so that the fixing block 51 stops fixing the electrode cap 3, thereby replacing the original over-fit connection method, making it convenient for the staff to disassemble the electrode cap 3, and making it unnecessary for the staff to knock on the electrode cap 3 to fix the electrode cap 3 after replacing the electrode cap 3, thereby reducing the labor intensity of the staff when replacing the electrode cap 3.

[0047] As an embodiment of the present invention, an annular groove 31 is provided on the inner wall of the electrode cap 3; an annular support block 21 is fixedly connected to the outer side of the welding block 2; the annular support block 21 contacts the electrode cap 3; the connecting mechanism 5 includes a fixed block 51, a connecting groove 54 and a sliding groove 55; the sliding groove 55 is provided on the outer side of the welding block 2 and corresponds to the annular groove 31, and the sliding groove 55 is connected to the fixed block 51 in a sliding and sealing manner; the connecting groove 54 is provided on the outer side surface of the annular support block 21, the connecting groove 54 passes through the annular support block 21 and is connected to the sliding groove 55 through the welding block 2; a sliding block 56 is connected in a sliding and sealing manner in the connecting groove 54; the sliding block 56 passes through the connecting groove 54 to expose the annular sealing block 63; the connecting groove 54 and the sliding groove 55 are filled with a compressed medium, and the compressed medium is preferably hydraulic oil;

[0048] During work, when the electrode cap 3 needs to be replaced, the staff moves the multi-joint manipulator 9 to the staff station through the controller, so that the staff pulls the sliding block 56 outward, so that the pressure in the connecting groove 54 is reduced, and the fixed block 51 moves into the sliding groove 55, and the fixed block 51 stops fixing the electrode cap 3; after the staff removes the electrode cap 3 from the welding block 2, the new electrode cap 3 is put on the welding block 2, and after the electrode cap 3 contacts the annular support block 21, the staff slides the sliding block 56 into the connecting groove 54, so that the sliding block 56 compresses the hydraulic oil in the connecting groove 54 and the sliding groove 55, and the hydraulic oil in the connecting groove 54 and the sliding groove 55 pushes the fixed block 51, so that the fixed block 51 slides in the direction close to the annular groove 31 and enters the annular groove 31, and then the fixed block 51 fixes the electrode cap 3;

[0049] According to the present invention, the worker pulls the sliding block 56 so that the fixing block 51 stops fixing the electrode cap 3, and then the worker puts on the electrode cap 3 and pushes the sliding block 56, so that the fixing block 51 fixes the electrode cap 3 again, thereby facilitating the replacement of the electrode cap 3 and reducing the labor intensity of the worker when replacing the electrode cap 3.

[0050] As an embodiment of the present invention, the sealing mechanism 6 includes a sealing groove 61 and a sealing film 62; the sealing groove 61 is arranged outside the welding block 2 and contacts the electrode cap 3, the sealing groove 61 is in the shape of a circular ring, the end surface of the sealing groove 61 close to the support seat 1 is fixedly connected to the sealing film 62, the sealing film 62 is in the shape of a circular ring, and the sealing film 62 is arranged close to the electrode cap 3;

[0051] During operation, when the worker controls the multi-joint manipulator 9 to perform welding through the controller, the cooling water in the cooling channel 4 flows and spreads along the gap between the welding block 2 and the electrode cap 3. When the cooling water spreads into the sealing groove 61, it fills the space in the sealing groove 61 and pushes and squeezes the sealing film 62, so that the sealing film 62 is closely attached to the inner wall of the electrode cap 3, so that the sealing film 62 prevents the cooling water from continuing to spread;

[0052] The present invention prevents the cooling water from continuing to spread along the gap between the electrode cap 3 and the welding block 2 through the sealing film 62, thereby achieving the purpose of sealing the electrode cap 3 and the welding block 2, thereby preventing the cooling water from leaking and dripping onto the welding point of the workpiece during welding, so that the welding point cannot be air-cooled after melting and affects the performance of the welding point, thereby ensuring the actual use effect of the present invention.

[0053] As an embodiment of the present invention, the sealing mechanism 6 includes a sealing groove 61 and an annular sealing block 63; the size of the annular sealing block 63 at one end close to the support seat 1 is larger than the size at the end away from the support seat 1, and the end of the annular sealing block 63 with a smaller size does not expose the sealing groove 61, and the material of the annular sealing block 63 is a flexible material;

[0054] During operation, when the staff puts the electrode cap 3 on the welding block 2, the electrode cap 3 first contacts the relatively smaller end of the annular sealing block 63, so that as the electrode cap 3 continues to move, the electrode cap 3 squeezes the annular sealing block 63, so that the annular sealing block 63 is in close contact with the electrode cap 3 and is pressed into the sealing groove 61 until the electrode cap 3 contacts the annular support block 21, thereby achieving a sealing effect between the electrode cap 3 and the welding block 2. Compared with the implementation method of using the sealing film 62 for sealing, the service life of the annular sealing block 63 is greater than the service life of the sealing film 62.

[0055] As an embodiment of the present invention, a telescopic spring 64 is fixedly connected to the bottom of the sealing groove 61; the telescopic spring 64 is evenly arranged away from the support seat 1, and the other end of the telescopic spring 64 is fixedly connected to the sealing film 62;

[0056] During operation, when the worker is welding, cooling water flows, and the telescopic spring 64 supports the sealing film 62, so that the end of the sealing film 62 away from the support seat 1 enters the No. 1 groove and fits the electrode cap 3, and then the cooling water enters the sealing groove 61 from between the sealing film 62 and the welding block 2, preventing the gap between the sealing film 62 and the electrode cap 3 from being relatively large, causing the cooling water to flow between the sealing film 62 and the electrode cap 3, and then causing the sealing film 62 to be unable to seal the electrode cap 3 and the welding block 2, thereby ensuring the implementation effect of the present invention.

[0057] As an embodiment of the present invention, an end surface of the annular sealing block 63 away from the support seat 1 is provided with an extrusion groove 65; the shape of the extrusion groove 65 is annular, and the size of the bottom of the extrusion groove 65 is larger than the size of the mouth of the extrusion groove 65;

[0058] During operation, cooling water enters the extrusion groove 65, thereby squeezing the two side walls of the extrusion groove 65, so that the two side walls of the extrusion groove 65 are separated from each other and respectively pressed against the electrode cap 3 and the bottom of the sealing groove 61, thereby increasing the sealing effect of the annular sealing block 63, further ensuring the sealing between the electrode cap 3 and the welding block 2, and thus improving the stability of the present invention.

[0059] As an embodiment of the present invention, the cross-sectional shape of the fixing block 51 at one end in the cooling channel 4 is triangular and the direction of the hypotenuse is opposite to the flow direction of the cooling medium;

[0060] During operation, cooling water flows in the cooling channel 4. After the cooling water contacts the inclined surface of the fixed block 51, it pushes the fixed block 51, causing the fixed block 51 to slide toward the direction of the annular groove 31. Combined with the cooling water squeezing the fixed block 51, the force exerted on the fixed block 51 is increased, preventing the friction force of the sliding seal between the fixed block 51 and the fixed groove 52 from increasing due to long-term use, making it impossible for the fixed block 51 to enter the annular groove 31, thereby further improving the use effect of the present invention.

[0061] As an embodiment of the present invention, an annular sliding groove 22 is provided on the end surface of the annular support block 21 away from the support seat 1; the inner wall of the annular sliding groove 22 is in contact with the welding block 2, and an annular blocking block 23 is slidably connected in the annular sliding groove 22;

[0062] Before putting the electrode cap 3 on the welding block 2, the staff slides the annular blocking block 23 out of the annular sliding groove 22, so that the annular blocking block 23 contacts the sealing film 62. As the annular blocking block 23 slides out of the annular sliding groove 22, the annular blocking block 23 presses the sealing film 62 and the telescopic spring 64 into the sealing groove 61. At this time, the staff puts the electrode cap 3 on the welding block 2 again, so that as the electrode cap 3 moves, the telescopic spring 64 cannot contact the end of the electrode cap 3 close to the annular support block 21, preventing the telescopic spring 64 from blocking the electrode cap 3, once again ensuring the use effect of the present invention.

[0063] A multi-joint robotic arm, which is suitable for the above-mentioned multi-joint robotic hand 9, comprises a base 7, a rotating arm 8 and a multi-joint robotic hand 9 connected in sequence from bottom to top, and also comprises a controller; the base 7 and the rotating arm 8, as well as the rotating arm 8 and the multi-joint robotic hand 9 are connected via a rotating mechanism 91; the controller controls the automatic operation of the present invention;

[0064] During operation, the controller controls the rotating arm 8 in the multi-joint robot arm and the rotating mechanism 91 corresponding to the multi-joint manipulator 9 to rotate, so that the rotating arm 8 and the multi-joint manipulator 9 move separately to realize the welding of the workpiece, so that the whole invention can operate and ensure the effect of the invention.

[0065] Embodiment 1:

[0066] A multi-joint manipulator and a mechanical arm, comprising:

[0067] A supporting base 1, a welding block 2 and an electrode cap 3 connected in sequence;

[0068] Cooling channel 4; located in welding block 2, used for circulating cooling medium to cool electrode cap 3; cooling medium is preferably cooling water;

[0069] Also includes:

[0070] A connecting mechanism 5, located between the electrode cap 3 and the welding block 2, and used to connect the welding block 2 and the electrode cap 3;

[0071] A sealing mechanism 6, located between the electrode cap 3 and the welding block 2, and used for sealing the welding block 2 and the electrode cap 3;

[0072] During operation, the electrode cap 3 will be worn out during welding. Usually, the factory needs to replace the electrode cap 3 every day when performing normal production tasks. However, in the prior art, the electrode cap 3 and the manipulator are overfitted to achieve sealing between the electrode cap 3 and the manipulator to prevent cooling water leakage, making it difficult for workers to remove the electrode cap 3 when replacing the electrode cap 3. Even with a special wrench, it is difficult to remove the electrode cap 3, which is inconvenient.

[0073] Therefore, when the staff replaces the electrode cap 3 on the manipulator of the spot welding robot, the staff first controls the water in the cooling channel 4 to stop flowing through the controller, and then controls the manipulator to move to the side of the staff's workstation, so that the staff releases the connection between the electrode cap 3 and the welding block 2 through the connecting mechanism 5, and then removes the electrode cap 3 from the welding block 2. The staff puts the new electrode cap 3 on the welding block 2, and then fixes the electrode cap 3 on the welding block 2 through the connecting mechanism 5, and realizes the sealing between the electrode cap 3 and the welding block 2 through the sealing mechanism 6;

[0074] The multi-joint manipulator 9 of the present invention cooperates with the staff to release the connection between the electrode cap 3 and the welding block 2 by the connecting mechanism 5, and then the staff puts a new electrode cap 3 on the welding block 2 and fixes the electrode cap 3 on the welding block 2 through the connecting mechanism 5, thereby achieving the purpose of convenient replacement of the electrode cap 3 by the staff. At the same time, the sealing mechanism 6 is used to seal the electrode cap 3 and the welding block 2, ensuring the sealing effect achieved by the original over-fitting between the electrode cap 3 and the welding block 2.

[0075] In this embodiment, an annular groove 31 is provided on the inner wall of the electrode cap 3; an annular support block 21 is fixedly connected to the outer side of the welding block 2; the annular support block 21 contacts the electrode cap 3; the connecting mechanism 5 includes a fixed block 51, a fixed groove 52 and a reset spring 53; the fixed groove 52 is provided on the outer side of the welding block 2 and is connected to the cooling channel 4, and the position of the fixed groove 52 corresponds to the annular groove 31; the fixed block 51 is slidingly sealed and connected to the fixed groove 52, one end of the fixed block 51 passes through the fixed groove 52 and is located in the cooling channel 4, and the other end can enter the annular groove 31 under the action of the cooling medium in the cooling channel 4; the reset spring 53 is sleeved on the fixed block 51, and the two ends of the reset spring 53 are respectively fixedly connected to the fixed block 51 and the fixed groove 52;

[0076] During operation, cooling water flows in the cooling channel 4, so that the cooling water squeezes the fixed block 51, so that the fixed block 51 moves toward the annular groove 31 on the electrode cap 3, and then the fixed block 51 compresses the reset spring 53, and the end of the fixed block 51 close to the annular groove 31 enters the annular groove 31, and the air between the annular groove 31 and the fixed block 51 is discharged through the gap between the electrode cap 3 and the welding block 2, and the fixed block 51 fixes the electrode cap 3; when the multi-joint manipulator 9 welds the workpiece, the electrode caps 3 on the two welding blocks 2 clamp the workpiece, so that the annular support block 21 supports the electrode cap 3; when the staff replaces the electrode cap 3, the staff The staff controls the cooling water to stop flowing through the controller, so that the cooling water stops squeezing the fixed block 51, and the fixed block 51 returns to its original position under the action of the reset spring 53, and the part of the fixed block 51 located in the annular groove 31 moves out of the annular groove 31, so that the fixed block 51 stops fixing the electrode cap 3, so that the staff can pull the electrode cap 3 off the welding block 2, and then the staff puts a new electrode cap 3 on the welding block 2 until the electrode cap 3 contacts the annular support block 21, at which time the staff controls the cooling water to flow through the controller, so that the cooling water squeezes the fixed block 51 again, so that the fixed block 51 fixes the electrode cap 3;

[0077] The present invention compresses the fixing block 51 when cooling water flows, and the fixing block 51 moves and fixes the electrode cap 3. When cooling water stops flowing, the fixing block 51 returns to its original position, and the fixing block 51 stops fixing the electrode cap 3, thereby replacing the original over-fit connection method, making it convenient for the staff to disassemble the electrode cap 3, and making it unnecessary for the staff to knock on the electrode cap 3 to fix the electrode cap 3 after replacing the electrode cap 3, thereby reducing the labor intensity of the staff when replacing the electrode cap 3.

[0078] In this embodiment, the sealing mechanism 6 includes a sealing groove 61 and a sealing film 62; the sealing groove 61 is arranged outside the welding block 2 and contacts the electrode cap 3, the sealing groove 61 is in the shape of a circular ring, the end surface of the sealing groove 61 close to the support seat 1 is fixedly connected to the sealing film 62, the sealing film 62 is in the shape of a circular ring, and the sealing film 62 is arranged close to the electrode cap 3;

[0079] During operation, when the worker controls the multi-joint manipulator 9 to perform welding through the controller, the cooling water in the cooling channel 4 flows and spreads along the gap between the welding block 2 and the electrode cap 3. When the cooling water spreads into the sealing groove 61, it fills the space in the sealing groove 61 and pushes and squeezes the sealing film 62, so that the sealing film 62 is closely attached to the inner wall of the electrode cap 3, so that the sealing film 62 prevents the cooling water from continuing to spread;

[0080] The present invention prevents the cooling water from continuing to spread along the gap between the electrode cap 3 and the welding block 2 through the sealing film 62, thereby achieving the purpose of sealing the electrode cap 3 and the welding block 2, thereby preventing the cooling water from leaking and dripping onto the welding point of the workpiece during welding, so that the welding point cannot be air-cooled after melting and affects the performance of the welding point, thereby ensuring the actual use effect of the present invention.

[0081] In this embodiment, a telescopic spring 64 is fixedly connected to the bottom of the sealing groove 61; the telescopic spring 64 is evenly arranged away from the support seat 1, and the other end of the telescopic spring 64 is fixedly connected to the sealing film 62;

[0082] During operation, when the worker is welding, cooling water flows, and the telescopic spring 64 supports the sealing film 62, so that the end of the sealing film 62 away from the support seat 1 enters the No. 1 groove and fits the electrode cap 3, and then the cooling water enters the sealing groove 61 from between the sealing film 62 and the welding block 2, preventing the gap between the sealing film 62 and the electrode cap 3 from being relatively large, causing the cooling water to flow between the sealing film 62 and the electrode cap 3, and then causing the sealing film 62 to be unable to seal the electrode cap 3 and the welding block 2, thereby ensuring the implementation effect of the present invention.

[0083] In this embodiment, the cross-sectional shape of the fixing block 51 at one end in the cooling channel 4 is triangular, and the direction of the hypotenuse is opposite to the flow direction of the cooling medium;

[0084] During operation, cooling water flows in the cooling channel 4. After the cooling water contacts the inclined surface of the fixed block 51, it pushes the fixed block 51, causing the fixed block 51 to slide toward the direction of the annular groove 31. Combined with the cooling water squeezing the fixed block 51, the force exerted on the fixed block 51 is increased, preventing the friction force of the sliding seal between the fixed block 51 and the fixed groove 52 from increasing due to long-term use, making it impossible for the fixed block 51 to enter the annular groove 31, thereby further improving the use effect of the present invention.

[0085] In this embodiment, an annular sliding groove 22 is provided on the end surface of the annular support block 21 away from the support seat 1; the inner wall of the annular sliding groove 22 is in contact with the welding block 2, and an annular blocking block 23 is slidably connected in the annular sliding groove 22;

[0086] Before putting the electrode cap 3 on the welding block 2, the staff slides the annular blocking block 23 out of the annular sliding groove 22, so that the annular blocking block 23 contacts the sealing film 62. As the annular blocking block 23 slides out of the annular sliding groove 22, the annular blocking block 23 presses the sealing film 62 and the telescopic spring 64 into the sealing groove 61. At this time, the staff puts the electrode cap 3 on the welding block 2 again, so that as the electrode cap 3 moves, the telescopic spring 64 cannot contact the end of the electrode cap 3 close to the annular support block 21, preventing the telescopic spring 64 from blocking the electrode cap 3, once again ensuring the use effect of the present invention.

[0087] In this embodiment, the multi-joint manipulator 9 includes a base 7, a rotating arm 8 and a multi-joint manipulator 9 connected in sequence from bottom to top, and also includes a controller; the base 7 and the rotating arm 8 and the rotating arm 8 and the multi-joint manipulator 9 are connected through a rotating mechanism 91; the controller controls the automatic operation of the present invention;

[0088] During operation, the controller controls the rotating arm 8 in the multi-joint robot arm and the rotating mechanism 91 corresponding to the multi-joint manipulator 9 to rotate, so that the rotating arm 8 and the multi-joint manipulator 9 move separately to realize the welding of the workpiece, so that the whole invention can operate and ensure the effect of the invention.

[0089] Embodiment 2:

[0090] The difference compared with Example 1 is:

[0091] In this embodiment, an annular groove 31 is provided on the inner wall of the electrode cap 3; an annular support block 21 is fixedly connected to the outer side of the welding block 2; the annular support block 21 contacts the electrode cap 3; the connecting mechanism 5 includes a fixed block 51, a connecting groove 54 and a sliding groove 55; the sliding groove 55 is provided on the outer side of the welding block 2 and corresponds to the annular groove 31, and the sliding groove 55 is connected to the fixed block 51 in a sliding and sealing manner; the connecting groove 54 is provided on the outer side surface of the annular support block 21, and the connecting groove 54 passes through the annular support block 21 and is connected to the sliding groove 55 through the welding block 2; a sliding block 56 is connected in a sliding and sealing manner in the connecting groove 54; the sliding block 56 passes through the connecting groove 54 to expose the annular sealing block 63;

[0092] During work, when the electrode cap 3 needs to be replaced, the staff moves the multi-joint manipulator 9 to the staff station through the controller, so that the staff pulls the sliding block 56 outward, so that the pressure in the connecting groove 54 is reduced, and the fixed block 51 moves into the sliding groove 55, and the fixed block 51 stops fixing the electrode cap 3; after the staff removes the electrode cap 3 from the welding block 2, the new electrode cap 3 is put on the welding block 2, and after the electrode cap 3 contacts the annular support block 21, the staff slides the sliding block 56 into the connecting groove 54, so that the sliding block 56 compresses the hydraulic oil in the connecting groove 54 and the sliding groove 55, and the hydraulic oil in the connecting groove 54 and the sliding groove 55 pushes the fixed block 51, so that the fixed block 51 slides in the direction close to the annular groove 31 and enters the annular groove 31, and then the fixed block 51 fixes the electrode cap 3;

[0093] According to the present invention, the worker pulls the sliding block 56 so that the fixing block 51 stops fixing the electrode cap 3, and then the worker puts on the electrode cap 3 and pushes the sliding block 56, so that the fixing block 51 fixes the electrode cap 3 again, thereby facilitating the replacement of the electrode cap 3 and reducing the labor intensity of the worker when replacing the electrode cap 3.

[0094] Embodiment 3:

[0095] The difference compared with Example 1 is:

[0096] In this embodiment, the sealing mechanism 6 includes a sealing groove 61 and an annular sealing block 63; the size of the annular sealing block 63 at one end close to the support seat 1 is larger than the size at the end away from the support seat 1, and the end of the annular sealing block 63 with a smaller size does not expose the sealing groove 61, and the material of the annular sealing block 63 is a flexible material;

[0097] During operation, when the staff puts the electrode cap 3 on the welding block 2, the electrode cap 3 first contacts the relatively smaller end of the annular sealing block 63, so that as the electrode cap 3 continues to move, the electrode cap 3 squeezes the annular sealing block 63, so that the annular sealing block 63 is in close contact with the electrode cap 3 and is pressed into the sealing groove 61 until the electrode cap 3 contacts the annular support block 21, thereby achieving a sealing effect between the electrode cap 3 and the welding block 2. Compared with the implementation method of using the sealing film 62 for sealing, the service life of the annular sealing block 63 is greater than the service life of the sealing film 62.

[0098] In this embodiment, an end surface of the annular sealing block 63 away from the support seat 1 is provided with an extrusion groove 65; the shape of the extrusion groove 65 is annular, and the size of the bottom of the extrusion groove 65 is larger than the size of the mouth of the extrusion groove 65;

[0099] During operation, cooling water enters the extrusion groove 65, thereby squeezing the two side walls of the extrusion groove 65, so that the two side walls of the extrusion groove 65 are separated from each other and respectively pressed against the electrode cap 3 and the bottom of the sealing groove 61, thereby increasing the sealing effect of the annular sealing block 63, further ensuring the sealing between the electrode cap 3 and the welding block 2, and thus improving the stability of the present invention.

[0100] Experimental verification 1:

[0101] Experimental purpose: To test the time of replacing the electrode cap of the present invention and compare it with the prior art;

[0102] Experimental instruments:

[0103] Stopwatch, electrode wrench;

[0104] Experimental process: The staff selected one of the present invention according to the first embodiment and another of the present invention according to the second embodiment, respectively tested and recorded the time of replacing the electrode cap, tested five times, and recorded the sealing condition between the electrode cap and the welding block after the electrode cap was replaced; the staff then selected an existing spot welding robot, replaced the electrode cap using an electrode wrench, and recorded the replacement time, also tested five times and recorded the sealing condition between the electrode cap and the welding block after the electrode cap was replaced;

[0105] Experimental results:

[0106] Table 1

[0107]

[0108] Table 2

[0109]

[0110] Table 3

[0111]

[0112] In Table 1-3: UNL means no leakage, L means leakage;

[0113] Analysis and summary:

[0114] By comparing Table 1, Table 2 and Table 3, it can be seen that the time for replacing the electrode cap in Example 1 is the fastest, and the time for replacing the electrode cap in Example 1 and Example 2 is significantly shorter than that in the prior art; when the staff replaced the electrode cap of the spot welding robot in the prior art for the fourth time, the electrode cap was not correctly covered on the welding block, but due to the excessive fit between the electrode cap and the welding block, there was a gap between the electrode cap and the welding block, so the sealing was affected, and it can be seen that the effect of Example 1 is better than that of Example 2. Therefore, the present invention has broad market application prospects.

[0115] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the attached Figure 2 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0116] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A multi-joint manipulator, comprising: A supporting base (1), a welding block (2) and an electrode cap (3) connected in sequence; Cooling channel (4); Located in the welding block (2), used for circulating cooling medium to cool the electrode cap (3); It is characterized by: also including: A connecting mechanism (5), located between the electrode cap (3) and the welding block (2), and used to connect the welding block (2) and the electrode cap (3); A sealing mechanism (6), located between the electrode cap (3) and the welding block (2), and used for sealing the welding block (2) and the electrode cap (3); The inner wall of the electrode cap (3) is provided with an annular groove (31); an annular support block (21) is fixedly connected to the outer side of the welding block (2); the annular support block (21) is in contact with the electrode cap (3); the connection mechanism (5) comprises a fixed block (51), a fixed groove (52) and a reset spring (53); the fixed groove (52) is arranged on the outer side of the welding block (2) and is connected to the cooling channel (4), and the position of the fixed groove (52) corresponds to the annular groove (31); the fixed block (51) is connected to the fixed groove (52) in a sliding and sealing manner, one end of the fixed block (51) passes through the fixed groove (52) and is located in the cooling channel (4), and the other end can enter the annular groove (31) under the action of the cooling medium in the cooling channel (4); the reset spring (53) is sleeved on the fixed block (51), and the two ends of the reset spring (53) are respectively fixedly connected to the fixed block (51) and the fixed groove (52).

2. A multi-joint manipulator according to claim 1, characterized in that: The sealing mechanism (6) comprises a sealing groove (61) and a sealing film (62); the sealing groove (61) is arranged outside the welding block (2) and contacts the electrode cap (3); the sealing groove (61) is in the shape of a circular ring; the end surface of the sealing groove (61) close to the support seat (1) is fixedly connected to the sealing film (62); the sealing film (62) is in the shape of a circular ring; and the sealing film (62) is arranged close to the electrode cap (3).

3. A multi-joint manipulator according to claim 1, characterized in that: The sealing mechanism (6) comprises a sealing groove (61) and an annular sealing block (63); the size of the annular sealing block (63) at one end close to the support seat (1) is larger than the size at the end away from the support seat (1).

4. A multi-joint manipulator according to claim 2, characterized in that: A telescopic spring (64) is fixedly connected to the bottom of the sealing groove (61); the telescopic spring (64) is evenly arranged away from the support seat (1), and the other end of the telescopic spring (64) is fixedly connected to the sealing membrane (62).

5. A multi-joint manipulator according to claim 3, characterized in that: An extrusion groove (65) is provided on the end surface of the annular sealing block (63) away from the support seat (1); the extrusion groove (65) is annular in shape, and the size of the bottom of the extrusion groove (65) is larger than the size of the mouth of the extrusion groove (65).

6. A multi-joint manipulator according to claim 1, characterized in that: The cross-sectional shape of the fixed block (51) at one end in the cooling channel (4) is triangular, and the direction of the hypotenuse is opposite to the flow direction of the cooling medium.

7. A multi-joint manipulator according to claim 1, characterized in that: An annular sliding groove (22) is provided on the end surface of the annular support block (21) away from the support seat (1); the inner wall of the annular sliding groove (22) is in contact with the welding block (2), and an annular blocking block (23) is slidably connected in the annular sliding groove (22).

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