A spot welding robot and its welding method

Abstract

This invention provides a spot welding robot and its welding method, comprising the following steps: Step 1, adjusting the welding head to a position close to the welding point using a swing arm and a drive arm; Step 2, feeding the welding wire to the welding head via a wire tensioning mechanism; Step 3, the welding head, having reached the welding position, performs spot welding on the workpiece; During the process of the welding wire passing through the wire tensioning mechanism, a first electromagnet pushes a first wheel, which in turn holds the welding wire in place, increasing the current passing through the first electromagnet to enhance its magnetic repulsion and maintain tension on the welding wire. This invention can effectively tension the welding wire, ensuring its stable entry into the welding head and increasing the stability of the spot welding.

Description

Technical Field

[0001] This invention relates to the technical field of industrial robots, specifically to a spot welding robot and its welding method. Background Technology

[0002] Resistance spot welding is a type of resistance welding that uses resistance heat to weld workpieces by applying electrode pressure to the workpiece with spot welding electrodes and passing an electric current through it.

[0003] According to the articulated welding robot provided in patent application CN202021745219.1, the welding robot includes a base and a welding torch. A welding wire box is mounted on the base, and a fixing rod is fixed inside the welding wire box. A welding wire spool is fitted over the fixing rod, and the welding wire spool includes a winding section and two flanges. A connecting rod is mounted on the flanges, and a locking pawl is rotatably connected to the connecting rod. A locking torsion spring is fitted over the connecting rod, and a locking ring is fitted on the outer side of the flanges. The locking ring is fixed inside the welding wire box, and an annular toothed groove is provided on the upper surface of the locking ring. The end of the locking pawl furthest from the connecting rod engages with one of the toothed grooves. A wire feeding box is mounted on the drive arm, and a tensioning mechanism and a wire feeding mechanism are provided inside the wire feeding box. This invention can shape the welding wire, achieving stable and uniform wire feeding in the welding robot. It can automatically adjust the length of the welding wire extending from the welding torch, avoiding wire blockage or breakage, ensuring a stable welding current, forming a uniform weld, and thus guaranteeing the welding effect.

[0004] The aforementioned welding robot can shape the welding wire, enabling stable and uniform wire feeding. However, traditional welding robots often maintain the state of the welding wire through a wire tube. The welding wire, lacking tension, is prone to not entering the welding head stably for use, thus affecting the robot's spot welding process. Summary of the Invention

[0005] This invention provides a spot welding robot and its welding method to solve the technical problems mentioned in the background section.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] A spot welding robot welding method includes the following steps:

[0008] Step 1: Adjust the welding head to a position closer to the welding point using the swing arm and drive arm;

[0009] Step two: The welding wire passes through the welding wire tensioning mechanism, thereby supplying wire to the welding head;

[0010] Step 3: The welding head that has reached the welding position performs spot welding on the workpiece;

[0011] During the process of the welding wire passing through the welding wire tensioning mechanism, the first electromagnet pushes the first wheel body, which in turn presses against the welding wire, increasing the current passing through the first electromagnet to enhance its magnetic repulsion ability and maintain the tension on the welding wire.

[0012] Furthermore, as the first wheel presses against the welding wire, the second wheel moves up and down;

[0013] As the second wheel moves upward, the protective gas ejected through the vent holes on the second wheel protects the welding wire.

[0014] When the second wheel moves down, it is positioned on both sides of the welding wire along with the first wheel to clamp the welding wire, reducing its movement and improving the tensioning effect.

[0015] According to the above technical solution of a spot welding robot welding method, a spot welding robot will also be provided, including a base, a swing arm rotatably connected to the top of the base, a drive arm rotatably connected to the end of the swing arm away from the base, a welding head connected to the end of the drive arm away from the swing arm, and a welding wire tensioning mechanism connected to the upper surface of the drive arm.

[0016] The welding wire tensioning mechanism includes a tensioning box mounted on the upper surface of the drive arm, a magnetic repulsion telescopic component mounted inside the tensioning box, and a tensioning wheel connected to the actuating end of the magnetic repulsion telescopic component.

[0017] The magnetic repulsion telescopic assembly includes two current limiters installed at the bottom of the tension box, and a sliding rod disposed between the two current limiters and slidably connected to the current limiters, with one end of the sliding rod connected to the tensioning wheel.

[0018] Furthermore, the current limiter includes a resistance plate installed at the bottom of the tension box and a conductive slider slidably connected to the resistance plate. The conductive slider is installed on both sides of the sliding rod. In this invention, the current magnitude of the first electromagnet forming a circuit with the conductive slider and the resistance plate is changed by sliding the conductive slider on the resistance plate.

[0019] Furthermore, the sliding rod includes a rod body installed at the bottom end of the tensioning wheel, and a first permanent magnet and a first electromagnet sleeved on the outside of the rod body and arranged sequentially from top to bottom. One end of the rod body is connected to the conductive slider, and the first electromagnet is installed between the two resistance plates. In this invention, the thrust on the rod body and the tensioning wheel on it is the same to maintain the tension of the welding wire and prevent insufficient thrust on the rod body during the rising process of the welding wire, which would affect the tensioning effect of the welding wire.

[0020] Furthermore, the tensioning wheel includes a rotating frame mounted on the end of the rod away from the first permanent magnet, and a first wheel body connected inside the rotating frame via a rotating shaft. In this invention, the rotating frame provides support for the first wheel body, the first wheel body abuts against the welding wire, and the first wheel body rotates with the rotation of the welding wire to provide support for the welding wire.

[0021] Furthermore, a second wheel is slidably connected to one end of the rotating wheel frame. The second wheel is connected to the rotating wheel frame via a magnetic pusher. In this invention, when the second wheel moves upward, protective gas is ejected through the exhaust hole provided on the second wheel to protect the welding wire.

[0022] Furthermore, the magnetic push component includes a slide plate disposed on both sides of the rotating wheel frame, a slider slidably connected to the slide plate, and a second permanent magnet mounted on the lower surface of the slider. The bottom end of the second permanent magnet is provided with a second electromagnet connected inside the slide plate. The slider is connected to the second wheel body through a rotating shaft. In this invention, since the second electromagnet forms a circuit with the conductive slider and the resistance plate, when the first wheel body moves upward, the magnetic repulsion of the second electromagnet weakens, and the second wheel body moves downward, so that the second wheel body cooperates with the first wheel body to achieve tension.

[0023] Furthermore, an air pump is installed inside the tensioning box, and the input end of the air pump is connected to the second wheel body through a hose. In this invention, the air pump guides the protective gas through the hose, and the protective gas through the hose enters the interior of the second wheel body.

[0024] Furthermore, the shell of the slide plate is provided with a T-shaped groove, and a blocking block is provided at the bottom of the groove. In this invention, the blocking block seals the opening of the second wheel body to prevent the protective gas from entering the second wheel body, so that the gas discharged from the second wheel body affects the tension of the welding wire.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] Firstly, the present invention can effectively tension the welding wire so that the welding wire enters the welding head stably, thereby increasing the stability of spot welding. Specifically, during the process of the welding wire passing through the welding wire tensioning mechanism, the first electromagnet pushes the first wheel body, which in turn holds the welding wire against the welding wire, increasing the current passing through the first electromagnet to enhance the magnetic repulsion ability of the first electromagnet and maintain the tension on the welding wire.

[0027] Secondly, when the second wheel moves upward, the protective gas sprayed through the exhaust hole provided on the second wheel protects the welding wire; when the second wheel moves downward, the second wheel and the first wheel are respectively positioned on both sides of the welding wire to clamp the welding wire, reducing the movement of the welding wire and improving the tensioning effect of the welding wire.

[0028] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the tensioning box of the present invention;

[0031] Figure 3 for Figure 2 Enlarged view of the structure of area A in the middle;

[0032] Figure 4 This is a cross-sectional view of the skateboard of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the skateboard of the present invention.

[0034] In the diagram: 10, base; 20, swing arm; 30, drive arm; 40, welding head; 50, wire tensioning mechanism; 51, tensioning box; 52, magnetic repulsion telescopic assembly; 521, current limiter; 5211, resistance plate; 5212, conductive slider; 522, sliding rod; 5221, rod body; 5222, first permanent magnet; 5223, first electromagnet; 53, tensioning wheel; 531, rotating wheel frame; 532, first wheel body; 533, second wheel body; 534, magnetic push component; 5341, sliding plate; 5342, slider; 5343, second permanent magnet; 5344, second electromagnet; 5345, T-slot; 5346, block. Detailed Implementation

[0035] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be given below with reference to the accompanying drawings, which illustrate several embodiments of the present invention. However, the present invention can be implemented in different forms and is not limited to the embodiments described in the text. Rather, these embodiments are provided to make the disclosure of the present invention more thorough and complete.

[0036] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0038] For an example, please refer to the appendix. Figure 1-5 A spot welding robot welding method includes the following steps:

[0039] Step 1: Adjust the welding head 40 to a position closer to the welding point using the swing arm 20 and drive arm 30;

[0040] Step 2: The welding wire passes through the welding wire tensioning mechanism 50, thereby supplying wire to the welding head 40;

[0041] Step 3: The welding head 40, which has reached the welding position, performs spot welding on the workpiece;

[0042] During the process of the welding wire passing through the welding wire tensioning mechanism 50, the first electromagnet 5223 pushes the first wheel body 532, and the first wheel body 532 presses against the welding wire, increasing the current passing through the first electromagnet 5223 to enhance the magnetic repulsion ability of the first electromagnet 5223 and maintain the tension on the welding wire.

[0043] It should be noted that in this embodiment, during the process of the first wheel body 532 pressing against the welding wire, the second wheel body 533 moves up and down;

[0044] When the second wheel body 533 moves upward, the protective gas sprayed out through the exhaust hole provided on the second wheel body 533 protects the welding wire.

[0045] When the second wheel 533 moves down, it is positioned on both sides of the welding wire along with the first wheel 532 to clamp the welding wire, reducing its movement and improving the tensioning effect.

[0046] Based on the same inventive concept, this embodiment also provides a spot welding robot, including a base 10, a swing arm 20 rotatably connected to the top of the base 10, a drive arm 30 rotatably connected to the end of the swing arm 20 away from the base 10, a welding head 40 connected to the end of the drive arm 30 away from the swing arm 20, and a welding wire tensioning mechanism 50 connected to the upper surface of the drive arm 30.

[0047] The wire tensioning mechanism 50 includes a tensioning box 51 mounted on the upper surface of the drive arm 30, a magnetic repulsion telescopic component 52 mounted inside the tensioning box 51, and a tensioning wheel 53 connected to the actuating end of the magnetic repulsion telescopic component 52.

[0048] The magnetic repulsion telescopic assembly 52 includes two current limiters 521 installed at the bottom of the tension box 51, and a sliding rod 522 disposed between the two current limiters 521 and slidably connected to the current limiters 521. One end of the sliding rod 522 is connected to the tensioning wheel 53.

[0049] For details, please refer to the appendix. Figure 2 and 3 The current limiter 521 includes a resistance plate 5211 installed inside the bottom of the tension box 51, and a conductive slider 5212 slidably connected to the resistance plate 5211. The conductive slider 5212 is installed on both sides of the sliding rod 522.

[0050] The sliding rod 522 includes a rod body 5221 installed at the bottom end of the tensioning wheel 53, and a first permanent magnet 5222 and a first electromagnet 5223 sleeved on the outside of the rod body 5221 and arranged sequentially from top to bottom. One end of the rod body 5221 is connected to the conductive slider 5212, and the first electromagnet 5223 is installed between the two resistance plates 5211.

[0051] It should be noted that, in this embodiment, the current magnitude of the first electromagnet 5223, which forms a circuit with the conductive slider 5212 and the resistor plate 5211, is changed by sliding the conductive slider 5212 on the resistor plate 5211.

[0052] Furthermore, when the conductive slider 5212 slides on the resistance plate 5211, the current connected to the first electromagnet 5223 is increased to enhance the magnetic repulsion ability of the first electromagnet 5223. As the rod 5221 connected to the first electromagnet 5223 rises with the untensioned welding wire, the thrust on the rod 5221 and the tensioning wheel 53 on it is the same, so as to maintain the tension of the welding wire and prevent the tensioning effect of the welding wire from being affected due to insufficient thrust on the rod 5221 during the rise of the welding wire.

[0053] For details, please refer to the appendix. Figure 2 and 3 The tensioning wheel 53 includes a wheel frame 531 mounted on the end of the rod 5222 away from the first permanent magnet 5221, and a first wheel body 532 connected to the inside of the wheel frame 531 via a rotating shaft;

[0054] One end of the rotating frame 531 is slidably connected to a second wheel body 533, and the second wheel body 533 is connected to the rotating frame 531 through a magnetic push component 534;

[0055] It should be noted that in this embodiment, the first wheel body 532 is supported by the rotating wheel frame 531, the first wheel body 532 abuts against the welding wire, and the first wheel body 532 rotates with the rotation of the welding wire to provide support for the welding wire;

[0056] Furthermore, when the second wheel body 533 moves upward, the protective gas ejected through the exhaust hole provided on the second wheel body 533 protects the welding wire.

[0057] When the second wheel 533 moves down, it is positioned on both sides of the welding wire along with the first wheel 532 to clamp the welding wire, reducing its movement and improving the tensioning effect.

[0058] For details, please refer to the appendix. Figure 2 and 3 The magnetic push component 534 includes a slide plate 5341 disposed on both sides of the wheel frame 531, a slider 5342 slidably connected to the slide plate 5341, and a second permanent magnet 5343 installed on the lower surface of the slider 5342. The bottom end of the second permanent magnet 5343 is provided with a second electromagnet 5344 connected to the inside of the slide plate 5341. The slider 5342 is connected to the second wheel body 533 through a rotating shaft.

[0059] An air pump 511 is installed inside the tensioning box 51, and the input end of the air pump 511 is connected to the second wheel body 533 through a hose.

[0060] The shell of the slide plate 5341 is provided with a T-shaped groove 5345, and a block 5346 is provided at the bottom of the groove of the T-shaped groove 5345.

[0061] It should be noted that in this embodiment, the magnetic repulsion force formed by the second electromagnet 5344 on the second permanent magnet 5343 pushes the slide plate 5341 on the second permanent magnet 5343. The slide plate 5341 drives the second wheel 533 on it to move away from the welding wire so that it can be protected by protective gas. Since the second electromagnet 5344 forms a circuit with the conductive slide plate 5212 and the resistance plate 5211, when the first wheel 532 moves upward, the magnetic repulsion force of the second electromagnet 5344 weakens and the second wheel 533 moves downward, so that the second wheel 533 cooperates with the first wheel 532 to achieve tension.

[0062] Furthermore, the protective gas is guided through the hose by the air pump 511 and then enters the interior of the second wheel body 533.

[0063] Furthermore, the T-slot 5345 accommodates the blocking block 5346 so that when the second wheel body 533 approaches the welding wire, the blocking block 5346 seals the opening of the second wheel body 533, preventing the shielding gas from entering the second wheel body 533, so that the gas discharged from the second wheel body 533 affects the tension of the welding wire.

[0064] The specific operation method of this invention is as follows:

[0065] During the process of the welding wire passing through the welding wire tensioning mechanism 50, the conductive slider 5212 slides on the resistance plate 5211, increasing the current connected to the first electromagnet 5223 to enhance the magnetic repulsion ability of the first electromagnet 5223. This ensures that when the rod 5221 connected to the first electromagnet 5223 rises with the untensioned welding wire, the thrust on the rod 5221 and its tensioning wheel 53 is the same, maintaining the tension on the welding wire and preventing insufficient thrust on the rod 5221 during the wire's ascent, which would affect the tensioning effect.

[0066] When the second wheel body 533 moves upward, the protective gas sprayed out through the exhaust hole provided on the second wheel body 533 protects the welding wire.

[0067] When the second wheel 533 moves down, it is positioned on both sides of the welding wire along with the first wheel 532 to clamp the welding wire, reducing its movement and improving the tensioning effect.

[0068] The present invention has been described by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. A spot welding robot, comprising a base (10), characterized in that, A swing arm (20) is rotatably connected to the top of the base (10). A drive arm (30) is rotatably connected to the end of the swing arm (20) away from the base (10). A welding head (40) is connected to the end of the drive arm (30) away from the swing arm (20). A welding wire tensioning mechanism (50) is connected to the upper surface of the drive arm (30). The wire tensioning mechanism (50) includes a tensioning box (51) mounted on the upper surface of the drive arm (30), a magnetic repulsion telescopic assembly (52) mounted inside the tensioning box (51), and a tensioning wheel (53) connected to the actuating end of the magnetic repulsion telescopic assembly (52). The magnetic repulsion telescopic assembly (52) includes two current limiters (521) installed at the bottom of the tension box (51) and a sliding rod (522) disposed between the two current limiters (521) and slidably connected to the current limiters (521), one end of the sliding rod (522) being connected to the tension wheel (53); The current limiter (521) includes a resistance plate (5211) installed at the bottom of the tension box (51) and a conductive slider (5212) slidably connected to the resistance plate (5211). The conductive slider (5212) is installed on both sides of the sliding rod (522). The sliding rod (522) includes a rod body (5221) installed at the bottom end of the tension wheel (53), and a first permanent magnet (5222) and a first electromagnet (5223) sleeved on the outside of the rod body (5221) and arranged sequentially from top to bottom. One end of the rod body (5221) is connected to the conductive slider (5212), and the first electromagnet (5223) is installed between the two resistance plates (5211).

2. The spot welding robot according to claim 1, characterized in that, The tensioning wheel (53) includes a wheel frame (531) mounted on the end of the rod (5221) away from the first permanent magnet (5222), and a first wheel body (532) connected inside the wheel frame (531) by a rotating shaft.

3. A spot welding robot according to claim 2, characterized in that, One end of the wheel frame (531) is slidably connected to a second wheel body (533), and the second wheel body (533) is connected to the wheel frame (531) through a magnetic pusher component (534).

4. A spot welding robot according to claim 3, characterized in that, The magnetic propulsion component (534) includes a slide plate (5341) disposed on both sides of the wheel frame (531), a slider (5342) slidably connected to the slide plate (5341), and a second permanent magnet (5343) installed on the lower surface of the slider (5342). The bottom end of the second permanent magnet (5343) is provided with a second electromagnet (5344) connected to the inside of the slide plate (5341). The slider (5342) is connected to the second wheel body (533) through a rotating shaft.

5. A spot welding robot according to claim 4, characterized in that, An air pump (511) is installed inside the tension box (51), and the input end of the air pump (511) is connected to the second wheel body (533) through a hose.

6. A spot welding robot according to claim 5, characterized in that, The shell of the slide plate (5341) is provided with a T-shaped groove (5345), and a block (5346) is provided at the bottom of the groove body of the T-shaped groove (5345).

7. A spot welding robot welding method, used to implement the spot welding robot according to any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Adjust the welding head (40) to a position closer to the welding point using the swing arm (20) and drive arm (30); Step 2: The welding wire passes through the welding wire tensioning mechanism (50) to supply wire to the welding head (40); Step 3: The welding head (40) that has reached the welding position performs spot welding on the workpiece; During the process of the welding wire passing through the welding wire tensioning mechanism (50), the first electromagnet (5223) pushes the first wheel (532), and the first wheel (532) holds the welding wire, increasing the current passing through the first electromagnet (5223) to enhance the magnetic repulsion ability of the first electromagnet (5223) and maintain the tension on the welding wire.

8. The spot welding robot welding method according to claim 1, characterized in that, As the first wheel (532) presses against the welding wire, the second wheel (533) moves up and down; When the second wheel body (533) moves upward, the protective gas sprayed out through the exhaust hole provided on the second wheel body (533) protects the welding wire; When the second wheel (533) moves down, it is positioned on both sides of the welding wire by the second wheel (533) and the first wheel (532) respectively, to clamp the welding wire, reduce the movement of the welding wire, and improve the effect of tensioning the welding wire.

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