A welding actuator and a rail-mounted welding robot

Abstract

The present application relates to a kind of welding actuators and track type welding robots, welding actuators include torch assembly, torch transverse angle adjustment assembly, torch swing assembly and torch vertical angle adjustment assembly, set torch transverse angle adjustment assembly, torch vertical angle adjustment assembly jointly drive torch assembly complete the quick and effective adjustment of relative angle of torch and the combined joint to be welded, set torch swing assembly can be small amplitude orderly swing to the welding wire in molten state, to meet the welding action demand and fully guarantee weld forming quality;Track type welding robot includes welding actuators, shell, track mechanism, walking mechanism, walking drive mechanism, lifting mechanism and reinforcing rib plate, can drive welding actuators to adjust welding position in horizontal direction and vertical direction, combined with different working condition requirements, can realize the functional requirements when carrying out structural member flat angle welding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding equipment, in particular to a welding execution mechanism and a track type welding robot. BACKGROUND

[0002] The welding robot is an industrial robot engaged in welding operation. Compared with manual welding, the welding robot can improve the labor intensity of workers and improve the safety of operation. However, the existing welding robot has a small working range, poor motion flexibility, and is inconvenient to carry and install, and is not convenient for quick adjustment of the pose of the robot and the attitude of the welding torch, and cannot adapt to the demand of flat angle welding of structural parts, which affects the welding efficiency and welding quality, and cannot meet the actual use requirement. SUMMARY

[0003] Therefore, the technical problem to be solved by the present application is to overcome the problem that the existing welding robot cannot meet the demand of flat angle welding of structural parts, and to provide a welding execution mechanism and a track type welding robot, which can effectively and quickly adjust the relative angle of the welding torch and the combined joint to be welded, and can make small amplitude and orderly swing of the welding wire in the molten state, so as to meet the demand of welding action and fully guarantee the forming quality of the weld, and can meet the functional demand when flat angle welding of structural parts is performed.

[0004] To solve the above technical problem, the present application provides a welding execution mechanism, comprising: a welding torch assembly comprising a straight handle welding torch and a welding wire gas delivery pipe; a welding torch transverse angle adjusting assembly comprising: a welding torch fixing plate connected with the straight handle welding torch, a corner support supporting the welding torch fixing plate, a positioning anti-loose nut connecting the welding torch fixing plate and the corner support, a rotary positioning handle adjusting the welding torch fixing plate and the corner support, and an adapter support connected with the corner support; a welding torch swing assembly comprising: a ball screw drive device and a sliding table, the output end of the ball screw drive device is connected with the adapter support, and the ball screw drive device drives the welding torch fixing plate to reciprocate on the sliding table through the adapter support:

[0005] A welding torch vertical angle adjusting assembly comprising: a support shaft connected with the sliding table, an angle adjusting support connected with the support shaft, and an anti-loose fastening handle and an angle adjusting device connected at both ends of the support shaft, the angle adjusting device is arranged on the angle adjusting support, and the angle adjusting device drives the support shaft to rotate relative to the angle adjusting support.

[0006] In one embodiment of the present application, the corner support is provided with a rotating positioning hole and an adjusting arc-shaped hole, the welding torch fixing plate is provided with a positioning stud and a rotating fixing stud, the positioning stud is arranged in the rotating positioning hole and is locked and connected by a positioning lock nut, and the rotating fixing stud is arranged in the adjusting arc-shaped hole and is locked and connected by the rotating positioning handle.

[0007] In one embodiment of the present application, the ball screw driving device comprises a ball screw, a nut fixing seat sleeved on the ball screw and threadedly connected with the ball screw, a first bearing seat and a second bearing seat respectively supported at two ends of the ball screw, a driving source, a driving wheel arranged at an output end of the driving source, and a driven wheel connected with the ball screw and connected with the driving wheel through a transmission belt.

[0008] In one embodiment of the present application, the sliding table comprises a fixed flange plate, a sliding rail arranged on the fixed flange plate, a sliding block sliding on the sliding rail along the extension direction of the sliding rail and connected with the nut fixing seat, and a belt protection cover connected with the fixed flange plate and covering the driving wheel, the driven wheel and the transmission belt.

[0009] In one embodiment of the present application, the angle adjusting device comprises an adjusting rotating block connected with the supporting shaft, a screw nut connected with the adjusting rotating block, an angle adjusting screw arranged in the screw nut and threadedly connected with the screw nut, a screw positioning block arranged on the angle adjusting support for supporting the angle adjusting screw, and a screw rotating handle arranged at an end of the angle adjusting screw.

[0010] To solve the above technical problems, the present application further provides a rail type welding robot comprising the above welding execution mechanism and further comprising a shell, wherein the welding execution mechanism is arranged on the shell, a rail mechanism for providing a horizontal moving platform for the shell, a walking mechanism arranged on the rail mechanism and connected with the shell and driving the shell to move on the rail mechanism, a walking driving mechanism arranged in the shell for providing a walking driving force for the walking mechanism, a lifting mechanism arranged on the shell for providing a lifting force for the welding execution mechanism to move relative to the shell, and a reinforcing rib plate connecting the shell, the walking driving mechanism and the lifting mechanism.

[0011] In one embodiment of the present application, the rail mechanism comprises a rail support and a permanent magnet block arranged below the rail support for erecting and installing the rail support, and a driving rack arranged on a side edge of the rail support along the extension direction of the rail support.

[0012] In one embodiment of the present application, the walking mechanism comprises: a roller fixing frame connected with the shell and supporting the shell; a first roller assembly and a second roller assembly arranged on the roller fixing frame, the first roller assembly and the second roller assembly being capable of being clamped on two sides of the track support, respectively; a guide positioning seat arranged on the roller fixing frame and used for limiting the position of the walking driving mechanism; and a tension screw arranged on the roller fixing frame and used for locking the walking driving mechanism.

[0013] In one embodiment of the present application, the walking driving mechanism comprises: a fixed connecting plate connected with the roller fixing frame; a walking driving source arranged in the fixed connecting plate; a cylindrical gear connected with the output end of the walking driving source and driven by the walking driving source to rotate axially, the cylindrical gear being engaged with the driving rack; a gear positioning seat arranged on the fixed connecting plate and used for supporting the cylindrical gear; and a guide positioning wedge arranged on the fixed connecting plate and matched with the tension screw.

[0014] In one embodiment of the present application, the lifting mechanism comprises: a lifting slide arranged on the fixed connecting plate and arranged perpendicularly to the fixed connecting plate; a lifting driving device arranged on the lifting slide; an execution device connecting block connected with the welding execution mechanism and moved on the lifting slide by the lifting driving device; and a sealing plate arranged between the lifting slide and the execution device connecting block.

[0015] The above technical solution of the present application has the following advantages compared with the prior art:

[0016] The welding execution mechanism of the present application is provided with a welding torch transverse angle adjusting assembly and a welding torch vertical angle adjusting assembly to jointly drive a welding torch assembly to quickly and effectively adjust the relative angle of the welding torch and the combined joint to be welded, and is provided with a welding torch swinging assembly to swing the welding wire in a small range in an orderly manner when the welding wire is in a molten state, so as to meet the welding action requirement and sufficiently ensure the weld forming quality.

[0017] The track type welding robot of the present application is provided with the above welding execution mechanism, can realize the functions of the welding execution mechanism, and is further provided with a track mechanism, a walking mechanism, a walking driving mechanism and a lifting mechanism, can drive the welding execution mechanism to adjust the welding position in the horizontal direction and the vertical direction, and can meet the functional requirement when performing the flat angle welding of a structural member in combination with different working condition requirements. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to make the content of the present application more easily understood, the present application will be further described in detail below according to specific embodiments of the present application and in combination with the drawings, in which

[0019] Figure 1 is the overall structure schematic diagram of the welding actuator of the present application;

[0020] Figure 2 is the structure schematic diagram of the welding torch assembly of the present application;

[0021] Figure 3 is the structure schematic diagram of the welding torch transverse angle adjustment assembly of the present application;

[0022] Figure 4 is the structure schematic diagram of the corner bracket of the present application;

[0023] Figure 5 is the structure schematic diagram of the welding fixing plate of the present application;

[0024] Figure 6 is the angle adjustment schematic diagram of the welding torch transverse angle adjustment assembly of the present application;

[0025] Figure 7 is the structure schematic diagram of the welding torch swing assembly of the present application;

[0026] Figure 8 is the structure schematic diagram of the ball screw driving device of the present application;

[0027] Figure 9 is the exploded structure schematic diagram of the ball screw driving device of the present application;

[0028] Figure 10 is the structure schematic diagram of the sliding table of the present application;

[0029] Figure 11 is the structure schematic diagram of the welding torch longitudinal angle adjustment assembly of the present application;

[0030] Figure 12 is the exploded structure schematic diagram of the angle adjustment assembly of the present application;

[0031] Figure 13 is the angle adjustment schematic diagram of the welding torch longitudinal angle adjustment assembly of the present application, which makes the welding torch in a horizontal state;

[0032] Figure 14 is the angle adjustment schematic diagram of the welding torch longitudinal angle adjustment assembly of the present application, which makes the welding torch in an inclined state;

[0033] Figure 15 is the overall structure schematic diagram of the track type welding robot of the present application;

[0034] Figure 16 is the structure schematic diagram of the inside of the shell of the track type welding robot of the present application;

[0035] Figure 17 is the structure schematic diagram of the shell of the present application;

[0036] Figure 18 is an exploded structural schematic diagram of the shell of the present application;

[0037] Figure 19 is a structural schematic diagram of the trachea support frame of the present application;

[0038] Figure 20 is a structural schematic diagram of the track mechanism of the present application;

[0039] Figure 21 is a structural schematic diagram of the overall structure of the walking mechanism of the present application;

[0040] Figure 22 is an exploded structural schematic diagram of the walking mechanism of the present application;

[0041] Figure 23 is a structural schematic diagram of the first roller assembly of the present application;

[0042] Figure 24 is a structural schematic diagram of the second roller assembly of the present application;

[0043] Figure 25 is a structural schematic diagram of the anti-rotation tapping tap cooperating with the second roller assembly of the present application;

[0044] Figure 26 is a structural schematic diagram of the anti-rotation tapping tap of the present application;

[0045] Figure 27 is a structural schematic diagram of the guide positioning seat of the present application;

[0046] Figure 28 is a structural schematic diagram of the walking driving mechanism of the present application;

[0047] Figure 29 is an exploded structural schematic diagram of the walking driving mechanism of the present application;

[0048] Figure 30 is a structural schematic diagram of the lifting mechanism of the present application;

[0049] Figure 31 is a structural schematic diagram of the execution device connecting block of the present application

[0050] Figure 32 is a structural schematic diagram of the sealing plate of the present application;

[0051] Figure 33 is a structural schematic diagram of the track type welding robot and in use of the present application;

[0052] Figure 34 is a structural schematic diagram of the welding track of the track type welding robot of the present application.

[0053] Explanation of the reference signs in the drawings:

[0054] 1. Welding execution mechanism; 11. Welding torch assembly; 111. Straight handle welding torch; 112. Welding wire gas delivery tube; 12. Welding torch transverse angle adjustment assembly; 121. Welding torch fixing plate; 1211. Positioning stud; 1212. Rotating fixing stud; 122. Corner support; 1221. Rotating positioning hole; 1222. Adjustment arc-shaped hole; 123. Positioning lock nut; 124. Rotating positioning handle; 125. Adapter support; 13. Welding torch swing assembly; 131. Ball screw driving device; 1311. Ball screw; 1312. Nut fixing seat; 1313. First bearing seat; 1314. Second bearing seat; 1315. Driving source; 1316. Driving wheel; 1317. Driven wheel; 1318. Transmission belt; 1319. Tightening screw; 132. Slide table; 1321. Fixed flange plate; 1322. Slide rail; 1323. Slide block; 1324. Belt protection cover; 14. Welding torch vertical angle adjustment assembly; 141. Support shaft; 142. Angle adjustment support; 143. Locking and tightening handle; 144. Angle adjustment device; 1441. Adjustment rotating block; 1442. Screw nut; 1443. Angle adjustment screw; 1444. Screw positioning block; 1445. Screw rotating handle; 1446. Dial; 1447. Pointer; 145. Anti-creep spacer sleeve; 146. Support shaft connecting key; 147. Positioning stud;

[0055] 2. Housing; 21. Housing body; 211. Housing support; 212. Housing left cover plate; 213. Housing right cover plate; 214. Handle; 215. Navigation plug; 216. Scale; 22. Air pipe support; 221. Vertical rod; 222. Support fixing connecting plate; 223. Air pipe fixing support;

[0056] 3. Track mechanism; 31. Track support; 32. Permanent magnet block; 33. Driving rack;

[0057] 4. Walking mechanism; 41. Roller fixing support; 42. First roller assembly; 421. Roller; 422. Roller shaft; 4221. Straight handle roller shaft; 4222. Crank roller shaft; 423. Roller shaft deep groove ball bearing; 424. Roller assembly tightening nut; 425. Nylon lock nut; 426. Anti-rotation tightening tap; 4261. Cone body; 4262. Stud; 4263. Internal hexagonal counterbore; 43. Second roller assembly; 44. Guiding positioning seat; 441. Positioning seat body; 442. Positioning seat fixing step hole; 443. Guiding wedge surface groove; 45. Tensioning screw; 46. Guard plate;

[0058] 5, walking driving mechanism; 51, fixed connection plate; 52, walking driving source; 53, cylindrical gear; 54, gear positioning seat; 55, guide positioning wedge; 56, motor connecting key; 57, gear positioning bearing;

[0059] 6, lifting mechanism; 61, lifting slide; 62, lifting driving device; 63, execution device connecting block; 631, connecting block body; 632, connecting block mounting hole; 64, sealing plate; 641, folded edge plate; 642, sealing plate fixing hole; 643, measuring claw;

[0060] 7, reinforcing rib plate; 8, carbon dioxide gas cylinder; 9, electric welding machine; 10, wire feeder. DETAILED DESCRIPTION

[0061] The present application will be further described below in conjunction with the drawings and specific examples, so that those skilled in the art can better understand the present application and implement it, but the examples are not as a limitation on the present application.

[0062] Example 1

[0063] Referring to Figure 1 As shown in the figure, the embodiment discloses a welding execution mechanism 1, comprising: a welding torch assembly 11, a welding torch transverse angle adjusting assembly 12, a welding torch swing assembly 13 and a welding torch vertical angle adjusting assembly 14, wherein: the welding torch assembly 11 is arranged on the welding torch transverse angle adjusting assembly 12, the welding torch transverse angle adjusting assembly 12 is arranged on the welding torch swing assembly 13, the welding torch swing assembly 13 is arranged on the welding torch vertical angle adjusting assembly 14, and the welding torch assembly 11 can realize rapid and effective adjustment of the relative angle of the welding torch and the combined joint to be welded under the joint action of the welding torch transverse angle adjusting assembly 12 and the welding torch vertical angle adjusting assembly 14, and the welding torch assembly 11 can make small-amplitude ordered swing of the welding wire in the molten state under the action of the welding torch swing assembly 13, so as to meet the welding action requirement and fully guarantee the weld forming quality.

[0064] Referring to Figure 2 As shown in the figure, the welding torch assembly 11 comprises: a straight handle welding torch 111 and a welding wire gas delivery pipe 112, the straight handle welding torch 111 is also called a welding gun, which is a tool capable of welding or preheating ferrous metal or non-ferrous metal workpieces, and is the main tool for gas welding operation; the welding wire gas delivery pipe 112 provides the gas required for welding for the straight handle welding torch.

[0065] Referring to Figure 3As shown, the torch transverse angle adjusting assembly 12 comprises a torch fixing plate 121 connected with the straight handle torch 111, a corner support 122 supporting the torch fixing plate 121, a positioning lock nut 123 connecting the torch fixing plate 121 and the corner support 122, a rotating positioning handle 124 adjusting the torch fixing plate 121 and the corner support 122, and an adapter support 125 connected with the corner support 122; the torch fixing plate 121 is rotationally connected with the corner support 122 through the positioning lock nut 123, and the rotating positioning handle 124 can drive the torch fixing plate 121 to rotate on the corner support 122 with the positioning lock nut 123 as the axis relative to the corner support 122; after the relative angle of the torch fixing plate 121 and the corner support 122 is adjusted, the rotating positioning handle 124 can lock and fix the torch fixing plate 121 and the corner support 122, and keep the stability of the relative position of the torch fixing plate 121 and the corner support 122.

[0066] Specifically, referring to Figure 4 and Figure 5 As shown, the corner support 122 is provided with a rotating positioning hole 1221 and an adjusting arc-shaped hole 1222, and the torch fixing plate 121 is provided with a positioning stud 1211 and a rotating fixing stud 1212; the positioning stud 1211 is arranged in the rotating positioning hole 1221 and connected with the corner support 122 through the positioning lock nut 123, and the positioning stud 1211 rotates in the rotating positioning hole 1221 to realize the rotation of the torch fixing plate 121 relative to the corner support 122; the rotating fixing stud 1212 is arranged in the adjusting arc-shaped hole 1222 and connected with the corner support 122 through the rotating positioning handle 124, and the rotating fixing stud 1212 slides in the adjusting arc-shaped hole 1222 along the extension direction of the adjusting arc-shaped hole 1222, and the position of the rotating fixing stud 1212 is limited by the adjusting arc-shaped hole 1222, so as to limit the rotation angle of the torch fixing plate 121 relative to the corner support 122.

[0067] Specifically, referring to Figure 6As shown, the straight torch 111 of the torch assembly 11 is first installed on the torch fixing plate 121, and the specific adjustment process of the opposite angle of the torch fixing plate 121 and the corner support 122 is as follows: first, loosen the rotating positioning handle 124, and drive the torch fixing plate 121 to rotate relative to the corner support 122 in the clockwise (or counterclockwise) direction through the rotating positioning handle 124, so as to adjust the angle of the straight torch 111, and finally, after adjusting the angle of the straight torch 111, tighten the rotating positioning handle 124 to realize the connection between the torch fixing plate 121 and the corner support 122;

[0068] Specifically, the position of the rotating fixing stud 1212 is limited by the adjusting arc-shaped hole 1222, in this embodiment, the straight torch 111 can be in the central position and rotate 0-35° in the clockwise (or counterclockwise) direction, and in other embodiments, the arc of the adjusting arc-shaped hole 1222 can be changed to limit different rotation angles.

[0069] Referring to Figure 7 As shown, the torch swing assembly 13 comprises a ball screw driving device 131 and a sliding table 132, the output end of the ball screw driving device 131 is connected with the adapter support 125, the ball screw driving device 131 drives the torch fixing plate 121 to reciprocate on the sliding table 132 through the adapter support 122, so as to drive the straight torch 111 to reciprocate, and realize the small-amplitude ordered swing of the welding wire in the molten state, so as to meet the welding action requirement and fully guarantee the weld forming quality.

[0070] Referring to Figure 8 and Figure 9As shown, the ball screw driving device 131 comprises a ball screw 1311, a nut fixing seat 1312, a first bearing seat 1313, a second bearing seat 1314, a driving source 1315, a driving wheel 1316 and a driven wheel 1317; wherein: the ball screw 1311 is provided with external threads, the nut fixing seat 1312 is sleeved on the ball screw 1311 and is threadedly connected with the ball screw 1311, the nut fixing seat 1312 is connected with the ball screw 1311 through a spacer sleeve and nut fixing bolts; the first bearing seat 1313 and the second bearing seat 1314 are respectively supported at two ends of the ball screw 1311, deep groove ball bearings supporting the ball screw are arranged in the first bearing seat 1313 and the second bearing seat 1314, the deep groove ball bearings support the ball screw 1311 and can drive the ball screw 1311 to rotate relative to the first bearing seat 1313 and the second bearing seat 1314; the driving source 1315 is a driving speed reducer (bias type motor), the driving source 1315 is installed and fixed on the sliding table 132 by a speed reducer fixing frame and a speed reducer fixing flange; the driving wheel 1316 is arranged at an output end of the driving source 1315, the driven wheel 1317 is connected with the ball screw 1311, and the driven wheel 1317 is connected with the driving wheel 1316 through a transmission belt 1318; the ball screw driving device 131 converts the rotary motion of the driving source 1315 into the linear motion of the nut fixing seat 1312, reciprocating motion of the nut fixing seat 1312 is realized by controlling the forward and reverse rotation of the driving source 1315, the nut fixing seat 1312 is connected with the adapter bracket 125, so as to drive the straight handle welding torch 111 to reciprocate.

[0071] Specifically, since the transmission belt 1318 has a certain ductility, the transmission belt 1318 will be loose during long-term use. In order to keep the transmission belt 1318 in a tensioned state, a tightening screw 1319 is further arranged between the driving source 1315 and the second bearing seat 1314, the distance between the driving source 1315 and the second bearing seat 1314 is adjusted through the tightening screw 1319, so as to adjust the distance between the driving wheel 1316 and the driven wheel 1317, when the transmission belt 1318 is lengthened, the distance between the driving wheel 1316 and the driven wheel 1317 is adjusted, so as to ensure that the transmission belt 1318 can be tightly sleeved outside the driving wheel 1316 and the driven wheel 1317.

[0072] Referring to Figure 10As shown, the sliding table 132 comprises a fixed flange plate 1321, sliding rails 1322, sliding blocks 1323 and a belt protection cover 1324. Two parallel sliding rails 1322 are arranged on the fixed flange plate 1321, and a sliding block 1323 is arranged on each sliding rail 1322. The sliding blocks 1323 slide on the sliding rails 1322 along the extension direction of the sliding rails 1322, and are connected with the nut fixing seat 1312. The belt protection cover 1324 is connected with the fixed flange plate 1321, and covers the driving wheel 1316, the driven wheel 1317 and the transmission belt 1319.

[0073] With reference to Figure 11 As shown, the welding torch vertical angle adjusting assembly 14 comprises a support shaft 141 connected with the sliding table 132, an angle adjusting bracket 142 connected with the support shaft 141, and a loosening prevention fastening handle 143 and an angle adjusting device 144 connected at both ends of the support shaft 141. The angle adjusting device 144 is arranged on the angle adjusting bracket 142, and drives the support shaft 141 to rotate relative to the angle adjusting bracket 142, so as to adjust the vertical adjusting angle of the welding torch assembly 11. After the vertical adjusting angle of the welding torch assembly 11 is adjusted, the position of the support shaft 141 is fixed through the loosening prevention fastening handle 143.

[0074] With reference to Figure 12As shown, the end of the support shaft 141 connected with the anti-loosening fastening handle 143 is provided with a threaded structure, the anti-loosening fastening handle 143 is rotatably connected on the support shaft 141 through the threaded structure, and the end of the support shaft 141 connected with the angle adjusting device 144 is provided with an anti-movement spacer sleeve 145 and a support shaft connecting key 146; the angle adjusting device 144 comprises an adjusting rotating block 1441, a screw nut 1442, an angle adjusting screw 1443, a screw positioning block 1444 and a screw rotating handle 1445, wherein: the adjusting rotating block 1441 is arranged on the support shaft 141, the adjusting rotating block 1441 is connected with the support shaft connecting key 146, the screw nut 1442 is connected with the adjusting rotating block 1441 through a positioning wire column 147, the angle adjusting screw 1443 is arranged in the screw nut 1442 and is threadedly connected with the screw nut 1442, in order to support and fix the angle adjusting screw 1443, a screw positioning block 1444 is further arranged at the end of the angle adjusting screw 1443, the screw positioning block 1444 is arranged on the angle adjusting support 142 and is used for supporting the angle adjusting screw 1443, and the screw rotating handle 1445 is arranged at the end of the angle adjusting screw 1443 and is connected with the angle adjusting screw 1443, so as to facilitate the rotation of the angle adjusting screw 1443; the angle adjusting device 144 can convert the rotating force of the angle adjusting screw 1443 into the swinging force of the adjusting rotating block 1441, so as to realize the rotation of the support shaft 141 and the angle adjustment of the welding torch assembly 11.

[0075] Referring to Figure 13 and Figure 14 As shown, the welding torch vertical angle adjusting assembly 14 can control the welding torch assembly 11 to be in a horizontal state or to rotate at a certain angle with the support shaft 141 as the center.

[0076] Specifically, a scale disc 1446 is further arranged on the outer ring of the adjusting rotating block 1441, a pointer 1447 is further arranged on the adjusting rotating block 1441, the relative rotation angle of the support shaft 141 can be displayed through the cooperation of the pointer 1447 and the scale disc 1446, and when the welding torch assembly is in a horizontal state, the pointer 1447 points to the position of 90° of the scale disc 1446.

[0077] Embodiment 2

[0078] Referring to Figure 15 and Figure 16As shown, on the basis of the above embodiment, the embodiment discloses a track type welding robot, comprising the welding execution mechanism 1 of the above embodiment 1, further comprising: a shell 2, a track mechanism 3, a walking mechanism 4, a walking driving mechanism 5, a lifting mechanism 6 and a reinforcing rib plate 7, the walking mechanism 4 is connected with the shell 2, the track mechanism 3 provides a horizontal moving platform for the walking mechanism 4, the walking mechanism 4 can move on the track mechanism 3, the walking driving mechanism 5 and the lifting mechanism 6 are arranged in the shell 2, the walking driving mechanism 5 provides walking driving force for the walking mechanism 4, the lifting mechanism 6 provides lifting force for the welding execution mechanism 1 to move relative to the shell 2, and the reinforcing rib plate 7 is used for connecting the shell 2, the walking driving mechanism 4 and the lifting mechanism 5.

[0079] The track type welding robot of the embodiment is provided with the above welding execution mechanism 1, can realize the function of the welding execution mechanism, and is further provided with the track mechanism 3, the walking mechanism 4, the walking driving mechanism 5 and the lifting mechanism 6, can drive the welding execution mechanism 1 to adjust the welding position in the horizontal direction and the vertical direction, and can realize the functional requirements when performing the flat angle welding of the structural member in combination with different working condition requirements.

[0080] Referring to Figure 17 As shown, the shell 2 comprises a shell body 21 and an air pipe support frame 22, the welding execution mechanism 1 is connected with the shell body 21, the air pipe support frame 22 is arranged on the shell body 21, and the air pipe support frame 22 is used for supporting the welding wire gas delivery pipe 112.

[0081] Referring to Figure 18 As shown, the shell body 21 comprises a shell support frame 211, a shell left cover plate 212 and a shell right cover plate 213 arranged on both sides of the shell support frame 211, the shell support frame 211, the shell left cover plate 212 and the shell right cover plate 213 are collectively encapsulated to form the shell body 21, a handle 214 and a plug 215 are further arranged on the shell support frame 211, the handle 214 is arranged to facilitate carrying and moving the welding robot, and the plug 215 can be electrically connected with the welding wire.

[0082] Referring to Figure 19 As shown, the air pipe support frame 22 comprises a vertical rod 221, a support frame fixed connection plate 222 and an air pipe fixed clamp 223 are arranged on both sides of the vertical rod 221 respectively, the support frame fixed connection plate 222 is connected with the shell support frame 211, and the air pipe fixed clamp 223 can clamp the welding wire gas delivery pipe 112.

[0083] Referring to Figure 20As shown, the track mechanism 3 comprises a track support 31, a permanent magnet block 32 and a driving rack 33. The track support 31 provides horizontal movement space for the welding robot of the embodiment. The permanent magnet block 32 is arranged below the track support 31 and is used to support the track support 31. The permanent magnet block 32 can quickly adsorb and install the track support 31. The driving rack 33 is arranged on the side of the track support 31 along the extension direction of the track support 31. The output end of the walking driving mechanism 5 is matched with the driving rack 33. The driving rack 33 changes the rotating force output by the walking driving mechanism 5 into a force for driving the walking mechanism 4 to move along the track mechanism 3.

[0084] Referring to Figure 21 and Figure 22 As shown, the walking mechanism 4 comprises a roller fixing frame 41, a first roller assembly 42, a second roller assembly 43, a guide positioning seat 44 and a tension screw 45. The roller fixing frame 41 is connected with the shell 2 and is used to support the shell 2. The shell 2 is arranged on the roller fixing frame 41. The first roller assembly 42 and the second roller assembly 43 are arranged on the roller fixing frame 41. The first roller assembly 42 and the second roller assembly 43 are connected with the track support 31. The first roller assembly 42 and the second roller assembly 43 can be respectively clamped on the two sides of the track support 31. The first roller assembly 42 and the second roller assembly 43 are both "I-shaped" wheel assembly structures and have annular grooves. The track support 31 is clamped in the annular grooves. The guide positioning seat 44 is arranged on the roller fixing frame 41. In this embodiment, the walking driving mechanism 5 is arranged on the roller fixing frame 41. The position of the walking driving mechanism 5 can be limited by the guide positioning seat 44, which facilitates the installation of the walking driving mechanism 5. The tension screw 45 is arranged on the roller fixing frame 41. When the walking driving mechanism 5 is placed on the roller fixing frame 41, the walking driving mechanism 5 is locked and connected by the tension screw 45.

[0085] Specifically, a guard plate 46 is arranged on the outer periphery of the roller fixing frame 41. The guard plate 46 is used to shield the first roller assembly 42 and the second roller assembly 43. When the first roller assembly 42 and the second roller assembly 43 move along the track support 31, the guard plate 46 removes the sundries on the track support 31, preventing the sundries from being clamped into the first roller assembly 42 and the second roller assembly 43 and affecting the rotation of the first roller assembly 42 and the second roller assembly 43.

[0086] Specifically, referring to Figure 23 andFigure 24 As shown in the figure, the first roller assembly 42 and the second roller assembly 43 each include a roller 421, a roller shaft 422 passing through the roller 421, a roller shaft deep groove ball bearing 423 supporting the roller shaft 422, a roller assembly fastening nut 424 and a nylon lock nut 425 for blocking both sides of the roller shaft 422.

[0087] Specifically, the first roller assembly 42 and the second roller assembly 43 are used to position and guide the welding execution mechanism 1, so that the welding execution mechanism 1 can only move linearly along the track, but cannot move laterally or in any uncontrolled state, thereby further ensuring the welding positioning accuracy and the weld forming quality.

[0088] Specifically, in this embodiment, the roller shaft 422 in the first roller assembly 42 is a straight handle roller shaft 4221, and the roller shaft 422 in the second roller assembly 43 is a crank roller shaft 4222. Referring to Figure 25 As shown in the figure, the crank roller shaft 4222 has the "eccentric shaft feature" to adjust the distance between the roller 421 and the track bracket 31, so that the arc surface of the roller 421 can always be closely attached to the attachment surface of the track bracket 311 without any gap, and is fixed by the anti-rotation locking tap 426 at the same time. This avoids the loosening of the roller assembly fastening nut 424 due to external interference, which causes the radial rotation of the crank roller shaft 4222 and eventually leads to the gap between the arc surface of the roller 421 and the attachment surface of the track bracket 31, which cannot be closely attached (this gap will cause the walking mechanism 4 to swing and be unbalanced during operation along the track), thereby affecting the normal welding and weld forming quality of the welding execution mechanism 1.

[0089] Specifically, referring to Figure 26 As shown in the figure, the anti-rotation locking tap 426 includes a cone 4261, a screw column 4262, and an internal hexagonal counterbore 4263 formed on the screw column 4262. Rotating the screw column 4262 can insert the cone 4261 into the crank roller shaft 4222, and the internal hexagonal counterbore 4263 can facilitate the rotation of the screw column 4262.

[0090] Specifically, referring to Figure 27 As shown in the figure, the guide positioning seat 44 includes a positioning seat body 441, a positioning seat fixing step hole 442 is formed on the positioning seat body 441, which is used to fix the positioning seat body 441 on the roller fixing frame 41, and a guide wedge surface groove 443 is also provided on the positioning seat body 441, which is used to position the walking driving mechanism 5 along the guide wedge surface groove 443.

[0091] Referring to Figure 28 and Figure 29 As shown in the figure, the walking driving mechanism 5 comprises a fixed connecting plate 51, a walking driving source 52, a cylindrical gear 53, a gear positioning seat 54 and a guiding positioning wedge 55; the fixed connecting plate 51 is arranged on the walking mechanism 4 and connected with the roller fixed frame 41; the walking driving source 52 is arranged in the fixed connecting plate 51 and provides power for the walking driving mechanism 5; the cylindrical gear 53 is connected with the output end of the walking driving source 52 through a motor connecting key 56 and driven by the walking driving source 52 to rotate axially; the cylindrical gear 53 is engaged with the driving rack 33; since the position of the driving rack 33 is fixed, when the cylindrical gear 53 rotates in engagement with the driving rack 33, the walking driving mechanism 5 can drive the walking mechanism 4 to move along the extension direction of the driving rack 33; the gear positioning seat 54 is arranged on the fixed connecting plate 51 and supports the cylindrical gear 53 through a gear positioning bearing 57; the guiding positioning wedge 55 is arranged on the fixed connecting plate 51 and cooperates with the tensioning screw 45, which can be locked on the guiding positioning wedge 55.

[0092] Referring to Figure 30 As shown in the figure, the lifting mechanism 6 comprises a lifting slide 61, a lifting driving device 62, an executing device connecting block 63 and a sealing plate 64; the lifting slide 61 is arranged on the fixed connecting plate 51 and arranged perpendicularly to the fixed connecting plate 51, so as to limit the direction of the running power provided by the lifting mechanism 6 to be perpendicular to the direction of the running power provided by the walking driving mechanism 5; the lifting driving device 62 is arranged on the lifting slide 61 and drives the executing device connecting block 63 to move on the lifting slide 61; the executing device connecting block 63 is connected with the welding executing mechanism 1; the sealing plate 64 is arranged between the lifting slide 61 and the executing device connecting block 63.

[0093] The lifting slide 61 and the lifting driving device 62 are similar in structure to the slide 132 and the ball screw driving device 131 in the welding swing assembly 13 and will not be described here in detail, as long as the executing device connecting block 63 can be driven by the lifting driving device 62 to move on the lifting slide 61.

[0094] Referring to Figure 31 As shown in the figure, the executing device connecting block 63 comprises a connecting block body 631, on which a plurality of connecting block mounting holes 632 are arranged.

[0095] Referring to Figure 32 As shown in the figure, the sealing plate 64 separates the welding execution mechanism 1 from the lifting mechanism 6, preventing welding slag from entering the lifting mechanism 6 and the walking driving mechanism 5, and affecting the operation of the lifting mechanism 6 and the walking driving mechanism 5. Specifically, the sealing plate 64 includes a folded plate 641, a sealing plate fixing hole 642 is formed on the folded plate 641, the folded plate 641 is fixed on the execution device connecting block 63 through the sealing plate fixing hole 642, and a measuring claw 643 is further arranged on the edge of the folded plate 641. The side of the shell 2 is provided with a scale 216, and the relative height of the welding execution mechanism 1 and the shell 2 is measured and controlled under the cooperation of the measuring claw 643 and the scale 216.

[0096] Referring to Figure 33 As shown in the figure, the specific operation steps of the rail type welding robot of the embodiment are as follows:

[0097] 1) The rail type welding robot is arranged at the position of the structure to be welded, and the relative position degree and parallelism of the rail mechanism 2 and the combined joint to be welded are adjusted;

[0098] 2) The relative angle of the straight handle welding torch 111 and the combined joint to be welded is adjusted through the welding torch transverse angle adjusting assembly 12 and the welding torch longitudinal angle adjusting assembly 14, and the relative distance of the straight handle welding torch 111 and the combined joint to be welded is adjusted through the lifting mechanism 6;

[0099] 3) Turn on the power supply; connect the signal control wire; turn on the carbon dioxide cylinder 8; turn on the electric welding machine 9; turn on the wire feeder 10;

[0100] 4) Set the welding current, voltage and wire feeding speed through the controller; set the horizontal straight walking speed of the walking driving mechanism 5; set the swing speed and swing range of the welding torch swing assembly 13;

[0101] 5) Start the welding execution mechanism and the electric welding machine and the wire feeder, and open the carbon dioxide gas;

[0102] 6) Start welding the target combined joint of the structure.

[0103] Referring to Figure 34 As shown in the figure, the rail type welding robot of the embodiment moves on the rail mechanism 3 through the walking mechanism 4, and drives the welding torch assembly 11 to make short-distance reciprocating straight line motion through the welding torch swing assembly 13 of the welding execution mechanism 1. Under the common driving of the above two motions, the moving path formed by welding is approximately sawtooth-shaped, and the sawtooth-shaped walking path can meet the welding requirement of the fillet weld of the structure.

[0104] Obviously, the above embodiments are merely example for clearly illustrating, and are not limitation to the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments are not required to be enumerated, and the obvious changes or variations derived from the above are still within the protection scope of the present application.

Claims

1. A welding actuator characterized by, The welding torch assembly comprises a straight handle welding torch and a welding wire gas delivery pipe. The welding torch transverse angle adjusting assembly comprises a welding torch fixing plate connected with the straight handle welding torch, a corner support supporting the welding torch fixing plate, a positioning lock nut connecting the welding torch fixing plate and the corner support, a rotary positioning handle adjusting the welding torch fixing plate and the corner support, and an adapter support connected with the corner support; the corner support is provided with a rotary positioning hole and an adjusting arc-shaped hole, the welding torch fixing plate is provided with a positioning stud and a rotary fixing stud, the positioning stud is arranged in the rotary positioning hole and is locked and connected through the positioning lock nut, and the rotary fixing stud is arranged in the adjusting arc-shaped hole and is locked and connected through the rotary positioning handle. The welding torch swing assembly comprises a ball screw driving device and a sliding table, the output end of the ball screw driving device is connected with the adapter support, the ball screw driving device drives the welding torch fixing plate to reciprocate on the sliding table through the adapter support, the ball screw driving device comprises a ball screw, a nut fixing seat which is sleeved on the ball screw and is threadedly connected with the ball screw, first and second bearing seats which are respectively supported on the two ends of the ball screw, a driving source, a driving wheel which is arranged on the output end of the driving source, and a driven wheel which is connected with the ball screw and is connected with the driving wheel through a transmission belt. The welding torch vertical angle adjusting assembly comprises a supporting shaft connected with the sliding table, an angle adjusting support connected with the supporting shaft, and a lock-tight fastening handle and an angle adjusting device connected at the two ends of the supporting shaft, the angle adjusting device is arranged on the angle adjusting support, and the angle adjusting device drives the supporting shaft to rotate relative to the angle adjusting support. The sliding table comprises a fixed flange plate, a sliding rail arranged on the fixed flange plate, a sliding block which slides on the sliding rail in the extension direction of the sliding rail and is connected with the nut fixing seat, and a belt protection cover which is connected with the fixed flange plate and covers the driving wheel, the driven wheel and the transmission belt.

2. The welding effector of claim 1, wherein: The angle adjusting device comprises an adjusting rotating block which is connected with the supporting shaft, a screw nut which is connected with the adjusting rotating block, an angle adjusting screw rod which is threadedly connected with the screw nut and is arranged in the screw nut, a screw rod positioning block which is arranged on the angle adjusting support and is used for supporting the angle adjusting screw rod, and a screw rod rotary handle which is arranged at the end of the angle adjusting screw rod. The welding execution mechanism comprises the welding torch assembly, a shell, a track mechanism, a walking mechanism, a walking driving mechanism, and a lifting mechanism, the welding execution mechanism is arranged on the shell, the track mechanism provides a horizontal moving platform for the shell, the walking mechanism is arranged on the track mechanism, is connected with the shell and drives the shell to move on the track mechanism, the walking driving mechanism is arranged in the shell and provides a walking driving force for the walking mechanism, and the lifting mechanism is arranged on the shell and provides a lifting force for the welding execution mechanism to move relative to the shell. ​ ​ ​ 3. The welding effector of claim 1, wherein: ​ ​ ​ ​ ​ ​ 4. A rail-mounted welding robot, characterized by: ​ ​ ​ ​ ​ ​ The reinforcing plate connects the shell, the walking driving mechanism and the lifting mechanism.

5. The rail-mounted welding robot of claim 4, wherein: The track mechanism comprises: a track support; a permanent magnet block arranged below the track support for erecting and mounting the track support; a driving rack arranged on the side of the track support along the extension direction of the track support.

6. The rail-mounted welding robot of claim 5, wherein: The walking mechanism comprises: a roller fixing frame connected with the shell and supporting the shell; a first roller assembly and a second roller assembly arranged on the roller fixing frame, the first roller assembly and the second roller assembly being capable of being clamped on the two sides of the track support, respectively; a guide positioning seat arranged on the roller fixing frame for limiting the position of the walking driving mechanism; a tension screw arranged on the roller fixing frame for locking the walking driving mechanism.

7. The rail-mounted welding robot of claim 6, wherein: The walking driving mechanism comprises: a fixed connecting plate connected with the roller fixing frame; a walking driving source penetrating through the fixed connecting plate; a cylindrical gear connected with the output end of the walking driving source and axially rotated by the walking driving source, the cylindrical gear being engaged with the driving rack; a gear positioning seat arranged on the fixed connecting plate for supporting the cylindrical gear; a guide positioning wedge-shaped block arranged on the fixed connecting plate and matched with the tension screw.

8. The rail-mounted welding robot of claim 7, wherein: The lifting mechanism comprises: a lifting slide arranged on the fixed connecting plate and arranged perpendicularly to the fixed connecting plate; a lifting driving device arranged on the lifting slide; an execution device connecting block connected with the welding execution mechanism and moved on the lifting slide by the lifting driving device; a sealing plate arranged between the lifting slide and the execution device connecting block.

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