A welding robot capable of quickly replacing welding guns

Abstract

The present invention discloses a welding robot capable of quickly replacing welding guns in the field of welding robot technology, comprising a robot body, an upper curved arm mounted on the surface of the robot body, a shaking head rotatably connected to the inner wall of the upper curved arm, a rotating motor driving the shaking head to rotate fixedly mounted on the surface of the upper curved arm, a gun clamping mechanism fixedly mounted on the inner wall of the shaking head, an axial slide slidably connected to the surface of the upper curved arm, a driving push rod driving the axial slide to move fixedly mounted on the inner wall of the upper curved arm, a longitudinal screw drive module fixedly mounted on the inner wall of the axial slide, and the circumferential side of the longitudinal screw drive module is transmission-connected with the longitudinal slide. The present invention changes the single welding gun structure of the traditional welding robot into a multi-welding gun structure by arranging a shaking head, a gun clamping mechanism, an axial slide and a longitudinal slide. When in use, the automatic replacement operation of the welding gun can be completed efficiently in an automated manner through the cooperation of the gun clamping mechanism, the driving push rod and the longitudinal screw drive module.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, in particular to a welding robot capable of quickly replacing a welding gun. Background Art

[0002] Welding robots are industrial robots that perform welding. According to the definition of the International Organization for Standardization, industrial robots belong to standard welding robots. Industrial robots are multi-purpose, reprogrammable automatic control manipulators with three or more programmable axes, used in the field of industrial automation. In order to adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange that can be connected to different tools or end effectors. The welding robot is an industrial robot with a welding tongs or welding gun installed on the end axis flange, so that it can perform welding, cutting or thermal spraying.

[0003] However, in the prior art, the existing welding robots basically use welding guns to weld, and in the process of welding, the high temperature generated by welding will cause the outer surface of the welding gun to oxidize. After severe oxidation, in order to ensure the quality of welding, the welding gun needs to be replaced. However, the installation structure of the existing welding gun is too complicated, and it is difficult to disassemble and replace, which is not convenient for the staff to operate. In order to solve the problems raised in the above background technology, the patent document with publication number CN216326000U discloses a welding robot that is easy to replace the welding gun. In the robot, the welding gun body first fits the inner wall of the hollow block through the fixed blocks on the two rotating rods on the outer surface, and then the spring squeezes the welding gun body below. Then, the fixed block will start to move downward at the same time, and contact with the bottom surface of the inner wall of the hollow block during the movement, and fix it by the natural force of the spring, and achieve the limiting effect. Compared with the traditional welding gun installation structure, it is simpler and faster, but the above welding gun replacement structure requires manual operation, which is time-consuming and labor-intensive. Based on this, the present invention designs a welding robot that can quickly replace the welding gun to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a welding robot capable of quickly replacing welding guns, so as to solve the problem that the existing welding robots mentioned in the above background technology are not convenient for automatic replacement of welding guns.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a welding robot capable of quickly replacing welding guns, comprising a robot body, an upper curved arm being installed on the surface of the robot body, the inner wall of the upper curved arm being rotatably connected with a shaking head, a rotating motor for driving the shaking head to rotate being fixedly installed on the surface of the upper curved arm, a gun clamping mechanism being fixedly installed on the inner wall of the shaking head, an axial slide being slidably connected on the surface of the upper curved arm, a driving push rod for driving the axial slide to move being fixedly installed on the inner wall of the upper curved arm, a longitudinal screw drive module being fixedly installed on the inner wall of the axial slide, the circumferential side surface of the longitudinal screw drive module being transmission-connected with the longitudinal slide, a plurality of equidistantly distributed card slots being provided inside the longitudinal slide, a welding gun module being clamped on the inner wall of each of the card slots, and a positioning magnetic column magnetically attracted to the welding gun module being fixedly installed on the inner wall of each of the card slots.

[0006] Preferably, the robot body includes a base, the top surface of the base is respectively fixedly mounted with an electric rotating table and a chassis, the surface of the electric rotating table is fixedly mounted with a connecting table, the inner wall of the connecting table is rotatably connected with a lower curved arm, the inner wall of the connecting table is fixedly mounted with a first stepper motor for driving the lower curved arm to rotate, the inner wall of the lower curved arm is rotatably connected with an upper curved arm, the surface of the lower curved arm is fixedly mounted with a second stepper motor for driving the upper curved arm to rotate, and the bottom ends of a group of welding gun modules are fixedly connected with the chassis.

[0007] Preferably, the gun clamping mechanism includes a guide groove opened inside the shaking head, a clamping screw rotatably connected to the shaking head and a transmission motor fixedly connected to the shaking head, the output shaft end of the transmission motor is fixedly connected to the clamping screw, the circumferential side surface of the clamping screw is symmetrically provided with a forward threaded portion and a reverse threaded portion, the circumferential side surface of the clamping screw and the positions corresponding to the forward threaded portion and the reverse threaded portion are transmission-connected with clamps, and the circumferential side surfaces of the two clamps are slidably connected to the guide groove.

[0008] Preferably, the welding gun module includes a gun seat, the inner wall of which is fixedly mounted with a welding gun body, the tail of which is fixedly mounted with a corrugated conduit connected to the welding gun body, the other end of which is fixedly connected to a chassis, and the inner wall of the gun seat is fixedly provided with an embedded hole that cooperates with a positioning magnetic column.

[0009] Preferably, the gun seat is a regular polygon structure, the embedded hole is a regular polygon hole, the surface of the gun seat is interference fit with the slot at the corresponding position, the gun seat is made of metal, and the surfaces of the two clamps are fixedly mounted with semi-arc chucks that match the shape of the welding gun body.

[0010] Preferably, the longitudinal screw drive module respectively includes a driving motor, a transmission screw and two symmetrically arranged guide rods, one surface of the driving motor and both ends of the two guide rods are fixedly connected to the axial slide, both ends of the transmission screw are rotatably connected to the axial slide, the output shaft of the driving motor is fixedly connected to the transmission screw, the circumferential side surfaces of the two guide rods are transmission connected to the longitudinal slide, and the circumferential side surfaces of the transmission screw are transmission connected to the longitudinal slide.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] The present invention changes the single welding gun structure of the traditional welding robot into a multi-welding gun structure through the arrangement of a shake head, a gun clamping mechanism, an axial slide and a longitudinal slide. When in use, the cooperation of the gun clamping mechanism, the driving push rod and the longitudinal screw drive module facilitates the automatic replacement of the welding gun in an automated manner and efficiently completes the automatic replacement of the welding gun. Moreover, this welding gun replacement structure does not require human intervention, so the installation accuracy and replacement efficiency are higher during the tool head replacement operation, which facilitates the continuous welding operation of the welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 It is a structural schematic diagram of the present invention;

[0015] Figure 2 For the present invention Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0016] Figure 3 It is a schematic diagram of the structure of the gun holder, the welding gun body and the corrugated conduit of the present invention;

[0017] Figure 4 This is a schematic diagram of the structure of the driving push rod and the shaking head of the present invention;

[0018] Figure 5 For the present invention Figure 4 Schematic diagram of the local enlarged structure at point B in the middle.

[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0020] 1-upper crank arm, 2-shaking head, 3-rotating motor, 4-axial slide, 5-driving push rod, 6-longitudinal screw drive module, 7-longitudinal slide, 8-slot, 9-positioning magnetic column, 10-base, 11-electric rotating table, 12-chassis, 13-connecting table, 14-lower crank arm, 15-first stepper motor, 16-clamping screw, 17-transmission motor, 18-clamp, 19-gun seat, 20-welding gun body, 21-corrugated conduit, 22-embedded hole, 23-semi-arc chuck, 24-second stepper motor. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1-5 , the present invention provides a technical solution: a welding robot capable of quickly replacing a welding gun, comprising a robot body, an upper curved arm 1 being mounted on the surface of the robot body;

[0023] The robot body includes a base 10, on the top surface of the base 10 are respectively fixedly mounted an electric rotating table 11 and a chassis 12, the surface of the electric rotating table 11 is fixedly mounted a connecting table 13, the inner wall of the connecting table 13 is rotatably connected to a lower curved arm 14, the inner wall of the connecting table 13 is fixedly mounted a first stepper motor 15 for driving the lower curved arm 14 to rotate, the inner wall of the lower curved arm 14 is rotatably connected to the upper curved arm 1, the surface of the lower curved arm 14 is fixedly mounted a second stepper motor 24 for driving the upper curved arm 1 to rotate, the bottom ends of a group of welding gun modules are all fixedly connected to the chassis 12, and the function of the chassis 12 is to supply power source, power supply and gas source to the welding gun module;

[0024] The inner wall of the upper crank arm 1 is rotatably connected with a shaking head 2, a rotating motor 3 driving the shaking head 2 to rotate is fixedly installed on the surface of the upper crank arm 1, and a gun clamping mechanism is fixedly installed on the inner wall of the shaking head 2;

[0025] The gun clamping mechanism includes a guide groove opened inside the shaking head 2, a clamping screw 16 rotatably connected to the shaking head 2, and a transmission motor 17 fixedly connected to the shaking head 2. The output shaft end of the transmission motor 17 is fixedly connected to the clamping screw 16. The peripheral side surface of the clamping screw 16 is symmetrically provided with a positive thread portion and a reverse thread portion. The peripheral side surface of the clamping screw 16 and the positions corresponding to the positive thread portion and the reverse thread portion are both transmission-connected with clamps 18. The peripheral side surfaces of the two clamps 18 are both slidably connected to the guide groove.

[0026] By setting the forward threaded portion and the reverse threaded portion, the two clamps 18 can be synchronously moved closer to each other or moved away from each other, and the clamping operation is then performed by the two clamps 18 being synchronously moved closer to each other or moving away from each other;

[0027] The surface of the upper curved arm 1 is slidably connected with an axial slide 4, and a driving push rod 5 for driving the axial slide 4 to move is fixedly installed on the inner wall of the upper curved arm 1. A longitudinal screw drive module 6 is fixedly installed on the inner wall of the axial slide 4, and the peripheral side of the longitudinal screw drive module 6 is transmission-connected with a longitudinal slide 7. A plurality of equally spaced card slots 8 are opened inside the longitudinal slide 7, and a welding gun module is clamped on the inner wall of each card slot 8. A positioning magnetic column 9 magnetically attracted to the welding gun module is fixedly installed on the inner wall of each card slot 8, and the positioning magnetic column 9 is essentially an electromagnet.

[0028] The longitudinal screw drive module 6 is configured to drive the longitudinal slide 7 to move in the longitudinal direction;

[0029] The longitudinal screw drive module 6 includes a driving motor, a transmission screw and two symmetrically arranged guide rods, one surface of the driving motor and both ends of the two guide rods are fixedly connected to the axial slide 4, both ends of the transmission screw are rotatably connected to the axial slide 4, the output shaft of the driving motor is fixedly connected to the transmission screw, the peripheral side surfaces of the two guide rods are transmission-connected to the longitudinal slide 7, and the peripheral side surfaces of the transmission screw are transmission-connected to the longitudinal slide 7;

[0030] Among them, the welding gun module includes a gun seat 19, which is a regular polygon structure. The surface of the gun seat 19 is interference fit with the slot 8 at the corresponding position. The gun seat 19 is made of metal. The metal material of the gun seat 19 is set to ensure that the gun seat 19 can be adsorbed by the positioning magnetic column 9. The inner wall of the gun seat 19 is fixedly installed with a welding gun body 20, and the tail of the gun seat 19 is fixedly installed with a corrugated conduit 21 connected to the welding gun body 20. The other end of the corrugated conduit 21 is fixedly connected to the chassis 12. The inner wall of the gun seat 19 is fixedly provided with an embedded hole 22 that cooperates with the positioning magnetic column 9, and the embedded hole 22 is a regular polygon hole.

[0031] A semi-arc chuck 23 matching the shape of the welding gun body 20 is fixedly mounted on the surface of the two clamps 18 .

[0032] Working principle: Before use, welding gun modules are pre-installed in each slot 8. During installation, the specifications and models of the welding gun bodies 20 in each welding gun module are different, thereby ensuring that each welding gun body 20 can adapt to a welding condition. During processing, a welding gun body 20 of a specified specification or model is clamped between two semi-arc chucks 23. After clamping, multi-axis welding operations of the welding gun body 20 can be performed through the angle settings of the upper curved arm 1, the lower curved arm 14, and the shaking head 2. When the welding gun needs to be replaced, first, the axial slide 4 is fully moved in the direction away from the shaking head 2 by controlling the driving push rod 5. After the movement is completed, the rotating motor 3 is controlled , so that the shaking head 2 is set vertically upward. After the vertical upward setting is completed, the driving push rod 5 cooperates with the longitudinal screw drive module 6 to make a vacant slot 8 align with the welding gun body 20 originally clamped between the two semi-arc chucks 23, and make the welding gun body 20 fully inserted into the slot 8. After the insertion is completed, the gun clamping mechanism loses its clamping effect. Subsequently, the driving push rod 5 cooperates with the longitudinal screw drive module 6 to clamp another type of welding gun body 20 between the two semi-arc chucks 23, and then perform the welding operation. After the welding gun body 20 is replaced, under the control of the driving push rod 5, the axial slide 4 is fully away from the shaking head 2, thereby reducing the influence of the axial slide 4 on the working welding gun body 20.

[0033] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0034] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A welding robot capable of quickly replacing a welding gun, comprising a robot body, an upper curved arm (1) being mounted on the surface of the robot body, characterized in that: The inner wall of the upper curved arm (1) is rotatably connected to a shaking head (2), the surface of the upper curved arm (1) is fixedly mounted with a rotating motor (3) for driving the shaking head (2) to rotate, the inner wall of the shaking head (2) is fixedly mounted with a gun clamping mechanism, the surface of the upper curved arm (1) is slidably connected to an axial slide (4), the inner wall of the upper curved arm (1) is fixedly mounted with a driving push rod (5) for driving the axial slide (4) to move, the inner wall of the axial slide (4) is fixedly mounted with a longitudinal screw drive module (6), the peripheral side surface of the longitudinal screw drive module (6) is transmission-connected with a longitudinal slide (7), the interior of the longitudinal slide (7) is provided with a plurality of equally spaced slots (8), the inner wall of each slot (8) is clamped with a welding gun module, and each of the slots (8) is provided with a plurality of equally spaced slots (8), each of which is clamped with a welding gun module. The inner wall of the card slot (8) is fixedly mounted with a positioning magnetic column (9) that is magnetically attracted to the welding gun module. The robot body comprises a base (10). The top surface of the base (10) is respectively fixedly mounted with an electric rotating table (11) and a chassis (12). The surface of the electric rotating table (11) is fixedly mounted with a connecting table (13). The inner wall of the connecting table (13) is rotatably connected to a lower curved arm (14). The inner wall of the connecting table (13) is fixedly mounted with a first stepper motor (15) that drives the lower curved arm (14) to rotate. The inner wall of the lower curved arm (14) is rotatably connected to an upper curved arm (1). The surface of the lower curved arm (14) is fixedly mounted with a second stepper motor (24) that drives the upper curved arm (1) to rotate. The bottom end of a group of the welding gun modules The gun clamping mechanism comprises a guide groove provided inside the shaking head (2), a clamping screw (16) rotatably connected to the shaking head (2), and a transmission motor (17) fixedly connected to the shaking head (2); the output shaft end of the transmission motor (17) is fixedly connected to the clamping screw (16); the peripheral side surface of the clamping screw (16) is symmetrically provided with a forward threaded portion and a reverse threaded portion; the peripheral side surface of the clamping screw (16) and the positions corresponding to the forward threaded portion and the reverse threaded portion are both transmission-connected with clamps (18); the peripheral side surfaces of the two clamps (18) are both slidably connected to the guide groove; the welding gun module comprises a gun seat (19); the inner wall of the gun seat (19) is fixedly mounted with a welding gun body (20); A corrugated conduit (21) connected to the welding gun body (20) is fixedly installed at the rear end of the gun seat (19), and the other end of the corrugated conduit (21) is fixedly connected to the chassis (12). An embedded hole (22) matching the positioning magnetic column (9) is fixedly opened on the inner wall of the gun seat (19). The gun seat (19) is a regular polygon structure, and the embedded hole (22) is a regular polygon hole. The surface of the gun seat (19) is interference-fitted with the slot (8) at the corresponding position. The gun seat (19) is made of metal. Semi-arc chucks (23) matching the shape of the welding gun body (20) are fixedly installed on the surfaces of the two clamps (18). The longitudinal screw drive module (6) comprises a drive motor, a transmission screw and two symmetrically arranged guide rods.One surface of the drive motor and both ends of the two guide rods are fixedly connected to the axial slide (4), both ends of the transmission screw are rotationally connected to the axial slide (4), the output shaft of the drive motor is fixedly connected to the transmission screw, the circumferential side surfaces of the two guide rods are transmission-connected to the longitudinal slide (7), and the circumferential side surfaces of the transmission screw are transmission-connected to the longitudinal slide (7).

Images