An efficient welding robot

Abstract

The present invention discloses an efficient welding robot, belonging to the field of welding, which includes a rotating seat, a first robotic arm, a second robotic arm, and a third robotic arm. A first mounting plate is fixedly connected to the rotating seat, and a plurality of wire spools are mounted on the mounting shaft. A second mounting plate and a welding clamp are fixedly connected to the first robotic arm. When the wire on one of the wire spools is completely drawn out and the bottom end moves to the welding position of the welding clamp, the welding clamp operates to weld the wires on the two wire spools. The wire on one of the wire spools is transported by a wire feeding mechanism to the welding head on the third robotic arm for welding use, and the wire on the other wire spool passes through the hole on the second mounting plate and the end is located in the middle of the welding clamp. After the two wires are welded together, the wire feeding mechanism starts again, so that the wire on the other wire spool is collected and used, thus eliminating the need to stop the machine for a long time to replace the wire and improving the welding efficiency of the welding robot.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and particularly to an efficient welding robot. Background Art

[0002] Welding is a widely used process technology, especially playing an important role in the manufacturing industry. In order to improve the welding efficiency and welding quality, the welding robot technology has been continuously developed. Among them, the wire feeding and connection technology is one of the key technologies in welding robots. Traditional welding robots usually need to replace the welding wire regularly, which not only affects the welding efficiency but also increases the workload of workers.

[0003] In existing welding robots, during the use of the welding wire, when one welding wire is used up, it is necessary to stop the machine to replace the welding wire, which greatly affects the welding efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide an efficient welding robot capable of automatically replacing the welding wire, which solves the problem that in existing welding robots, during the use of the welding wire, when one welding wire is used up, it is necessary to stop the machine to replace the welding wire, affecting the welding efficiency.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An efficient welding robot includes a rotating base, a first robotic arm connected to the rotating base, a second robotic arm connected to the first robotic arm, and a third robotic arm connected to the second robotic arm. A wire feeding mechanism is provided on the second robotic arm. A first mounting plate is fixedly connected to the rotating base. A mounting shaft is rotatably connected to the first mounting plate. A plurality of welding wire storage wheels are mounted on the mounting shaft. The welding wire on the welding wire storage disc is connected to the wire feeding mechanism. A second mounting plate and a welding clamp are fixedly connected to the first robotic arm. The welding clamp is attached to the upper surface of the second mounting plate. A hole matching the welding wire is provided on the second mounting plate. The welding wires of two of the plurality of welding wire storage wheels pass through the hole on the second mounting plate. The welding wire on one of the welding wire storage wheels passes through the welding part of the welding clamp and is conveyed and used by the wire feeding mechanism. The end of the welding wire on the other welding wire storage disc is at the welding part of the welding clamp. After the welding wire on one of the welding wire storage wheels is extracted completely and the bottom end moves to the welding position of the welding clamp, the welding clamp operates to weld the welding wires on the two welding wire storage wheels.

[0006] Preferably, a sleeve is fixedly connected to the upper surface of the second mounting plate. The end of the welding wire on the unused welding wire storage wheel is inserted into the sleeve and elastically coated by the sleeve. When the welding clamp is closed, the welding wire in the sleeve can be pulled out of the sleeve.

[0007] Preferably, the installation shaft is driven to rotate by the wire feeding mechanism. Electric chucks are arranged on the installation shaft and cooperate with a plurality of the wire storage wheels. When the electric chucks slide radially, they abut against the inner walls of the corresponding wire storage wheels, so that the corresponding wire storage wheels rotate synchronously with the installation shaft.

[0008] Preferably, the wire feeding mechanism includes an installation cylinder. A first wire feeding wheel and a second wire feeding wheel are rotatably connected inside the installation cylinder. The welding wire passes between the first wire feeding wheel and the second wire feeding wheel. A wire feeding pipe is fixedly connected to the installation cylinder, and the welding wire passes through the wire feeding pipe.

[0009] Preferably, a driving wheel is coaxially and fixedly connected to the first wire feeding wheel. An annular groove is formed at the end of the installation shaft. A belt is connected in a transmission manner between the driving wheel and the annular groove.

[0010] Preferably, a plurality of expansion blocks arranged in a circumferential array are slidably connected to the installation shaft in the radial direction at the annular groove. When the expansion blocks move radially outwards, the linear velocity of the rotation of the driving wheel is higher than that of the installation shaft. When the expansion blocks move radially inwards, the rotation speed of the driving wheel is lower than that of the installation shaft.

[0011] Preferably, a piston cylinder is fixedly connected to the upper surface of the second mounting plate. A piston rod is slidably connected inside the piston cylinder. The piston rod is fixedly connected to the welding pliers. An installation block is fixedly connected to the first mounting plate. A sliding hole is formed in the installation block. A sliding rod is slidably connected in the sliding hole. A first pipeline is communicated between the piston cylinder and the sliding hole. A second pipeline is communicated with the piston cylinder. A third pipeline is communicated with the sliding hole. Check valves are arranged on both the first pipeline and the second pipeline. A solenoid valve is arranged on the third pipeline. A wedge block is fixedly connected to the end of the sliding rod. The wedge block is inserted into the installation shaft, and the wedge block is magnetically attracted to a plurality of the expansion blocks. When the wedge block slides into the installation shaft, it can push the plurality of expansion blocks to expand outwards;

[0012] When the welding pliers are closed, the piston rod is pulled so that the medium in the sliding hole is drawn into the piston cylinder, so that the wedge block moves away from the installation shaft, causing the plurality of expansion blocks to contract.

[0013] Preferably, a rectangular plate is fixedly connected to the side wall of the first robotic arm. A rectangular block is slidably connected to the rectangular plate. Springs are fixedly connected to both sides of the rectangular block. Both springs are fixedly connected to the rectangular plate. An expansion wheel is rotatably connected to the rectangular block. The expansion wheel is connected in a transmission manner with the belt.

[0014] Preferably, two guide rods are fixedly connected to the installation cylinder. An N-shaped frame is slidably connected to the guide rods. A tension spring is sleeved on the guide rods. Two ends of the tension spring are fixedly connected to the N-shaped frame and the installation cylinder respectively. A shaft of the second wire feeding wheel passes through the installation cylinder and is rotatably connected to the N-shaped frame. A long circular hole matching with the shaft of the second wire feeding wheel is formed in the installation cylinder. A displacement sensor for detecting the position of the guide rod is arranged on the N-shaped frame. When the displacement sensor detects that the N-shaped frame and the guide rod move relatively, a solenoid valve on the third pipeline is opened to release the negative pressure in the sliding hole.

[0015] The sliding rod and the hole wall of the sliding hole are magnetically repulsive. After the negative pressure in the sliding hole is released, the sliding rod slides in the direction towards the outside of the sliding hole.

[0016] Preferably, a three-way pipe is connected between the installation cylinder and the third robotic arm. One end of the three-way pipe away from the installation cylinder and the third robotic arm is communicated with an external protection gas source. An electromagnetic three-way valve is arranged on the three-way pipe. The electromagnetic three-way valve can switch the transmission of the external protection gas source into the installation cylinder or into a welding head on the third robotic arm.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. The welding wire on one of the welding wire storage wheels of the present invention is conveyed by a wire feeding mechanism to the welding head on the third robotic arm for welding use. The welding wire on the other welding wire storage wheel passes through the hole on the second mounting plate and the end part is located in the middle of the welding pliers. When the welding wire on the welding wire storage wheel in the use state is used up, the wire feeding mechanism continues to extract the welding wire. When the current welding wire is conveyed to its bottom end and is also located in the middle of the welding pliers, the wire feeding mechanism stops and the welding pliers start to weld the two welding wires together. The hole on the second mounting plate positions the two welding wires so that the two welding wires can contact each other. Thus, when the welding pliers operate, the two welding wires can be welded together. After the two welding wires are welded together, the wire feeding mechanism starts again to make the welding wire on the other welding wire storage wheel be taken for use. Therefore, it is not necessary to stop the machine for a long time to replace the welding wire, and the welding efficiency of the welding robot is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of the present invention Figure 1 ;

[0020] Figure 2 is a schematic diagram of the overall structure of the present invention Figure 2 ;

[0021] Figure 3 For the present invention Figure 2 is a schematic diagram of the structure of part A;

[0022] Figure 4 is a schematic structural diagram of the first mounting plate of the present invention;

[0023] Figure 5 is a schematic structural diagram of the mounting shaft of the present invention;

[0024] Figure 6 is a schematic structural diagram of the expansion block of the present invention;

[0025] Figure 7 is a schematic structural diagram of the wedge block of the present invention;

[0026] Figure 8 is a schematic structural diagram of the expansion wheel of the present invention;

[0027] Figure 9 is a schematic structural diagram of the wire feeding mechanism of the present invention.

[0028] In the figure: 1, rotating seat; 11, first robotic arm; 12, second robotic arm; 13, third robotic arm; 2, first mounting plate; 21, mounting seat; 22, mounting shaft; 23, electric chuck; 24, electric slider; 3, second mounting plate; 31, welding pliers; 32, sleeve; 33, piston cylinder; 34, piston rod; 35, first pipe; 36, second pipe; 4, mounting block; 41, sliding hole; 42, third pipe; 43, sliding rod; 44, wedge block; 45, expansion block; 46, annular groove; 5, belt; 51, driving wheel; 52, rectangular plate; 53, expansion wheel; 54, rectangular block; 55, spring; 6, mounting cylinder; 61, first wire feeding wheel; 62, second wire feeding wheel; 63, N-shaped frame; 64, guide rod; 65, tension spring; 66, wire feeding pipe; 7, three-way pipe; 71, electromagnetic three-way valve. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] Embodiment

[0031] Refer to Figures 1 - 9, the present invention provides a technical solution: an efficient welding robot, including a rotating base 1, a first robotic arm 11 connected to the rotating base 1, a second robotic arm 12 connected to the first robotic arm 11, and a third robotic arm 13 connected to the second robotic arm 12. A wire feeding mechanism is provided on the second robotic arm 12. A first mounting plate 2 is fixedly connected to the rotating base 1. A mounting shaft 22 is rotatably connected to the first mounting plate 2. A plurality of wire spools are mounted on the mounting shaft 22. The wire on the wire spool is connected to the wire feeding mechanism. A second mounting plate 3 and a welding clamp 31 are fixedly connected to the first robotic arm 11. The welding clamp 31 is attached to the upper surface of the second mounting plate 3. A hole for cooperating with the wire is formed in the second mounting plate 3. The wire of two of the plurality of wire spools passes through the hole in the second mounting plate 3. The wire on one of the wire spools passes through the welding part of the welding clamp 31 and is conveyed and used by the wire feeding mechanism. The end of the wire on the other wire spool is located at the welding part of the welding clamp 31. After the wire on one of the wire spools is extracted completely and the bottom end moves to the welding position of the welding clamp 31, the welding clamp 31 operates to weld the wires on the two wire spools together.

[0032] In the use state, the wire on one of the wire spools is conveyed by the wire feeding mechanism to the welding head on the third robotic arm 13 for welding use. The wire on the other wire spool passes through the hole in the second mounting plate 3 and the end is located in the middle of the welding clamp 31. When the wire on the wire spool in the use state is used up, the wire feeding mechanism continues to extract the wire. When the current wire is conveyed to its bottom end and is also located in the middle of the welding clamp 31, the wire feeding mechanism stops and the welding clamp 31 starts to weld the two wires together. The hole in the second mounting plate 3 positions the two wires so that the two wires can contact each other. Thus, when the welding clamp 31 operates, the two wires can be welded together. After the two wires are welded together, the wire feeding mechanism starts again, so that the wire on the other wire spool is collected and used, thereby eliminating the need to stop the machine for a long time to replace the wire and improving the welding efficiency of the welding robot.

[0033] A sleeve 32 is fixedly connected to the upper surface of the second mounting plate 3. The end of the wire on the unused wire spool is inserted into the sleeve 32 and is elastically covered by the sleeve 32. When the welding clamp 31 is closed, the wire in the sleeve 32 can be pulled out of the sleeve 32.

[0034] The unused head of the welding wire passes through the hole in the second mounting plate 3 and is inserted into the sleeve 32. The sleeve 32 is a flexible hose, and the welding wire inserted into the sleeve 32 can be elastically coated by the sleeve 32, so that the welding wire will not slide out to the lower part of the second mounting plate 3 due to gravity. The sleeve 32 bypasses from the upper part of the welding pliers 31. When the welding pliers 31 are closed, the two welding wires are squeezed, so that the welding wire in the sleeve 32 is pulled out. Then the sleeve 32 elastically tilts upwards away from the welding position of the welding pliers 31, preventing the welding pliers 31 from being blocked when they are closed.

[0035] The mounting shaft 22 is driven to rotate by the wire feeding mechanism. Electric chucks 23 cooperating with a plurality of wire storage wheels are arranged on the mounting shaft 22. When the electric chucks 23 slide radially, they abut against the inner wall of the corresponding wire storage wheel, so that the corresponding wire storage wheel rotates synchronously with the mounting shaft 22.

[0036] A mounting seat 21 is fixedly connected to the first mounting plate 2. The mounting shaft 22 rotates on the mounting seat 21. When the wire feeding mechanism operates, the mounting shaft 22 is synchronously driven to rotate. The electric chuck 23 on the mounting shaft 22 abuts against the inner wall of the wire storage wheel in the working state, so that this wire storage wheel rotates synchronously with the mounting shaft 22, thereby avoiding the wire from breaking due to excessive tension. The electric chuck 23 corresponding to the unused wire storage wheel does not abut against the inner wall of the wire storage wheel, thus avoiding the release of the wire. Moreover, electric sliders 24 corresponding to a plurality of wire storage wheels slide vertically on the first mounting plate 2. The electric sliders 24 corresponding to the wire storage wheels not in the working state move upwards to abut against the corresponding wire storage wheels, so that the corresponding wire storage wheels will not be driven to rotate due to the friction force between them and the mounting shaft 22, thereby preventing the unused wire from being released.

[0037] The wire feeding mechanism includes a mounting cylinder 6. A first wire feeding wheel 61 and a second wire feeding wheel 62 are rotatably connected in the mounting cylinder 6. The welding wire passes between the first wire feeding wheel 61 and the second wire feeding wheel 62. A wire feeding pipe 66 is fixedly connected to the mounting cylinder 6. The welding wire passes through the wire feeding pipe 66.

[0038] The first wire feeding wheel 61 is driven to rotate by a motor. The first wire feeding wheel 61 contacts the second wire feeding wheel 62, so that the second wire feeding wheel 62 can be driven to rotate by the first wire feeding wheel 61, thereby completing wire feeding. The wire feeding pipe 66 communicates with the mounting cylinder 6 and the welding head, ensuring the directional feeding of the welding wire and protecting the welding wire at the same time.

[0039] A driving wheel 51 is coaxially and fixedly connected to the first wire feeding wheel 61. An annular groove 46 is formed at the end of the mounting shaft 22. A belt 5 is connected between the driving wheel 51 and the annular groove 46 for transmission.

[0040] When the first wire feeding wheel 61 rotates, it drives the driving wheel 51 to rotate synchronously. In the initial state, the driving wheel 51 can drive the mounting shaft 22 to rotate at the same speed through the belt 5, thereby ensuring that the welding wire will not be over-tightened or slackened at this time, and maintaining the conveying effect of the welding wire.

[0041] A plurality of expansion blocks 45 arranged in a circular array are radially slidably connected to the mounting shaft 22 at the annular groove 46. When the expansion blocks 45 move radially outward, the linear velocity of the driving wheel 51 is higher than that of the mounting shaft 22. When the expansion blocks 45 move radially inward, the rotational speed of the driving wheel 51 is lower than that of the mounting shaft 22.

[0042] When two welding wires are welded and the welding position does not pass through the mounting cylinder 6, the expansion blocks 45 move radially inward. At this time, the depth of the annular groove 46 on the mounting shaft 22 increases, so that the rotational linear velocity at the annular groove 46 increases. When the driving wheel 51 drives the mounting shaft 22 to rotate at this time, the rotational speed of the mounting shaft 22 is higher than that of the driving wheel 51, that is, the release speed of the welding wire at this time is higher than the conveying speed of the wire feeding mechanism. Therefore, the welding wire is not tightened at this time, and thus the welded position is prevented from being torn open by tension.

[0043] A piston cylinder 33 is fixedly connected to the upper surface of the second mounting plate 3. A piston rod 34 is slidably connected in the piston cylinder 33. The piston rod 34 is fixedly connected to the welding pliers 31. An installation block 4 is fixedly connected to the first mounting plate 2. A sliding hole 41 is opened in the installation block 4. A sliding rod 43 is slidably connected in the sliding hole 41. A first pipeline 35 is communicated between the piston cylinder 33 and the sliding hole 41. A second pipeline 36 is communicated with the piston cylinder 33. A third pipeline 42 is communicated with the sliding hole 41. One-way valves are arranged on both the first pipeline 35 and the second pipeline 36. An electromagnetic valve is arranged on the third pipeline 42. The end of the sliding rod 43 is fixedly connected with a wedge block 44. The wedge block 44 is inserted into the mounting shaft 22, and the wedge block 44 is magnetically attracted to a plurality of expansion blocks 45. When the wedge block 44 slides into the mounting shaft 22, it can push the plurality of expansion blocks 45 to expand; when the welding pliers 31 are closed, the piston rod 34 is pulled so that the medium in the sliding hole 41 is extracted into the piston cylinder 33, so that the wedge block 44 moves away from the mounting shaft 22, causing the plurality of expansion blocks 45 to contract.

[0044] When the welding pliers 31 are closed, it drives the piston rod 34 to slide out of the piston cylinder 33. At this time, the piston cylinder 33 extracts the medium in the sliding hole 41 through the first pipeline 35. At this time, a negative pressure is generated in the sliding hole 41, so that the sliding rod 43 slides into the sliding hole 41, causing the wedge block 44 to move away from the plurality of expansion blocks 45, so that the expansion blocks 45 move radially inward. The setting of the one-way valve enables the piston cylinder 33 to only extract the medium in the sliding hole 41, and the medium in the piston cylinder 33 is discharged through the second pipeline 36. After the welding position of the welding wire passes through the mounting cylinder 6, the electromagnetic valve is opened, and at this time, the negative pressure in the sliding hole 41 is released.

[0045] A rectangular plate 52 is fixedly connected to the side wall of the first robotic arm 11. A rectangular block 54 is slidably connected to the rectangular plate 52. Springs 55 are fixedly connected to both sides of the rectangular block 54, and both springs 55 are fixedly connected to the rectangular plate 52. An expansion wheel 53 is rotatably connected to the rectangular block 54, and the expansion wheel 53 is drivingly connected to the belt 5.

[0046] By adjusting the elastic force of the two springs 55, the rectangular block 54 can drive the expansion wheel 53 to push the belt 5 to be tightened, so that the belt 5 can always be in a tightened state when the expansion block 45 moves and the first robotic arm 11 and the second robotic arm 12 swing relative to each other, ensuring the transmission effect of the belt 5.

[0047] Two guide rods 64 are fixedly connected to the mounting cylinder 6. An N-shaped frame 63 is slidably connected to the guide rods 64. A tension spring 65 is sleeved on the guide rods 64. The two ends of the tension spring 65 are respectively fixedly connected to the N-shaped frame 63 and the mounting cylinder 6. The shaft of the second wire feeding wheel 62 passes through the mounting cylinder 6 and is rotatably connected to the N-shaped frame 63. A long circular hole matching the shaft of the second wire feeding wheel 62 is provided on the mounting cylinder 6. A displacement sensor for detecting the position of the guide rod 64 is arranged on the N-shaped frame 63. When the displacement sensor detects the relative movement between the N-shaped frame 63 and the guide rod 64, the solenoid valve on the third pipe 42 is opened to release the negative pressure in the sliding hole 41; the sliding rod 43 and the hole wall of the sliding hole 41 are magnetically repulsive. After the negative pressure in the sliding hole 41 is released, the sliding rod 43 slides in the direction away from the outside of the sliding hole 41.

[0048] When the welding parts of the two welding wires pass between the first wire feeding wheel 61 and the second wire feeding wheel 62, since the protrusion at the welding position can push the second wire feeding wheel 62 away from the first wire feeding wheel 61, the setting of the tension spring 65 enables the second wire feeding wheel 62 to reset after the welding position passes between the first wire feeding wheel 61 and the second wire feeding wheel 62. At this time, the displacement sensor on the N-shaped frame 63 can detect the relative sliding with the guide rod 64. Thus, the displacement sensor transmits this detection result to the controller, and the controller controls the solenoid valve to open, so that the negative pressure in the sliding hole 41 is released. Subsequently, under the action of magnetic repulsion, the wedge block 44 resets, and the rotation speed of the mounting shaft 22 is restored.

[0049] A tee pipe 7 is connected between the mounting cylinder 6 and the third robotic arm 13. One end of the tee pipe 7 away from the mounting cylinder 6 and the third robotic arm 13 is communicated with an external protective gas source. An electromagnetic tee valve 71 is arranged on the tee pipe 7, and the electromagnetic tee valve 71 can switch the transmission of the external protective gas source into the mounting cylinder 6 or into the welding head on the third robotic arm 13.

[0050] Under normal conditions, the external protective gas source is transmitted to the welding head through the three-way pipe 7 to provide protection for welding. When the electromagnetic three-way valve 71 is controlled so that the external protective gas source is transmitted into the mounting cylinder 6, the external gas source blows air into the mounting cylinder 6, and the air flow is discharged through the wire feeding pipe 66, so that the wire feeding mechanism is cleaned. The start of the electromagnetic three-way valve 71 can be controlled according to the welding state of the welding robot. When the welding robot is not in the welding state, the air flow cleans the wire feeding mechanism.

[0051] Working principle: In the working state of this high-efficiency welding robot, the welding wire on one of the welding wire storage wheels is conveyed by the wire feeding mechanism to the welding head on the third robotic arm 13 for welding use. The welding wire on the other welding wire storage wheel passes through the hole on the second mounting plate 3 and the end is located in the middle of the welding clamp 31. When the welding wire on the welding wire storage wheel in use is used up, the wire feeding mechanism continues to extract the welding wire. When the welding wire is conveyed to its bottom end and is also located in the middle of the welding clamp 31, the wire feeding mechanism stops and the welding clamp 31 starts to weld the two welding wires together. The hole on the second mounting plate 3 positions the two welding wires so that the two welding wires can contact each other. Thus, when the welding clamp 31 operates, the two welding wires can be welded together. After the two welding wires are welded together, the wire feeding mechanism starts again, so that the welding wire on the other welding wire storage wheel is taken for use, thus eliminating the need to stop for a long time to replace the welding wire and improving the welding efficiency of the welding robot.

[0052] The head of the unused welding wire passes through the hole on the second mounting plate 3 and is inserted into the sleeve 32. The sleeve 32 is a flexible tube. The welding wire inserted into the sleeve 32 can be elastically coated by the sleeve 32, so that the welding wire will not slide out of the lower part of the second mounting plate 3 due to gravity. The sleeve 32 bypasses from the upper part of the welding clamp 31. When the welding clamp 31 closes, it squeezes the two welding wires, so that the welding wire in the sleeve 32 is pulled out. Subsequently, the sleeve 32 elastically tilts upwards away from the welding position of the welding clamp 31 to prevent the welding clamp 31 from being blocked when it closes.

[0053] A mounting seat 21 is fixedly connected to the first mounting plate 2. The mounting shaft 22 rotates on the mounting seat 21. When the wire feeding mechanism operates, it synchronously drives the mounting shaft 22 to rotate. The electric chuck 23 on the mounting shaft 22 abuts against the inner wall of the welding wire storage wheel in the working state, so that this welding wire storage wheel rotates synchronously with the mounting shaft 22, thereby avoiding the welding wire from breaking due to excessive tension. The electric chuck 23 corresponding to the unused welding wire storage wheel does not abut against the inner wall of the welding wire storage wheel, thus avoiding the release of the welding wire. Moreover, an electric slider 24 corresponding to multiple welding wire storage wheels is vertically slidable on the first mounting plate 2. The electric slider 24 corresponding to the unused welding wire storage wheel moves upwards to abut against the corresponding welding wire storage wheel, so that the corresponding welding wire storage wheel will not be driven to rotate due to the friction between it and the mounting shaft 22, thus preventing the unused welding wire from being released.

[0054] The first wire feeding wheel 61 is driven by a motor to rotate. The first wire feeding wheel 61 contacts the second wire feeding wheel 62, so that the second wire feeding wheel 62 can be driven by the first wire feeding wheel 61 to rotate, thus completing wire feeding. The wire feeding tube 66 is connected to the installation cylinder 6 and the welding head, ensuring the directional transportation of the welding wire and protecting the welding wire at the same time.

[0055] When the first wire feeding wheel 61 rotates, it drives the driving wheel 51 to rotate synchronously. In the initial state, the driving wheel 51 can drive the installation shaft 22 to rotate at the same speed through the belt 5, thereby ensuring that the welding wire at this time will not be over-tightened or loose, and maintaining the wire feeding effect.

[0056] When two welding wires are welded and the welding position does not pass through the installation cylinder 6, the expansion blocks 45 move radially inwards. At this time, the depth of the annular groove 46 on the installation shaft 22 increases, so that the rotational linear velocity at the annular groove 46 increases. When the driving wheel 51 drives the installation shaft 22 to rotate at this time, the rotational speed of the installation shaft 22 is higher than that of the driving wheel 51, that is, the release speed of the welding wire at this time is higher than the transportation speed of the wire feeding mechanism, so that the welding wire at this time is not tightened, thereby avoiding the welding position being torn open by tension.

[0057] When the welding pliers 31 are closed, they drive the piston rod 34 to slide outwards of the piston cylinder 33. At this time, the piston cylinder 33 extracts the medium in the sliding hole 41 through the first pipeline 35. At this time, a negative pressure is generated in the sliding hole 41, so that the sliding rod 43 slides into the sliding hole 41, making the wedge block 44 away from the plurality of expansion blocks 45, so that the expansion blocks 45 move radially inwards. The setting of the one-way valve enables the piston cylinder 33 to only extract the medium in the sliding hole 41, while the medium in the piston cylinder 33 is discharged through the second pipeline 36. After the welding position of the welding wire passes through the installation cylinder 6, the solenoid valve is opened. At this time, the negative pressure in the sliding hole 41 is released.

[0058] By adjusting the elastic force of the two springs 55, the rectangular block 54 can drive the expansion wheel 53 to push the belt 5 to be tightened, so that the belt 5 can always be in a tightened state when the expansion blocks 45 move and the first robotic arm 11 and the second robotic arm 12 swing relative to each other, ensuring the transmission effect of the belt 5.

[0059] When the welding part of the two welding wires passes between the first wire feeding wheel 61 and the second wire feeding wheel 62, since the protrusion at the welding position can push the second wire feeding wheel 62 away from the first wire feeding wheel 61, the setting of the tension spring 65 enables the second wire feeding wheel 62 to reset after the welding position passes between the first wire feeding wheel 61 and the second wire feeding wheel 62. At this time, the displacement sensor on the N-shaped frame 63 can detect the relative sliding with the guide rod 64, so that the displacement sensor transmits this detection result to the controller. The controller then controls the solenoid valve to open, so that the negative pressure in the sliding hole 41 is released. Subsequently, under the action of magnetic repulsion, the wedge block 44 resets, so that the rotational speed of the installation shaft 22 is restored.

[0060] Under normal conditions, the external protective gas source is transmitted to the welding head through the three-way pipe 7 to provide protection for welding. When the electromagnetic three-way valve 71 is controlled to enable the external protective gas source to be transmitted into the mounting cylinder 6, the external gas source blows air into the mounting cylinder 6, and the air flow is discharged through the wire feeding pipe 66, so that the wire feeding mechanism is cleaned. The start of the electromagnetic three-way valve 71 can be controlled according to the welding state of the welding robot. When the welding robot is not in the welding state, the air flow cleans the wire feeding mechanism.

[0061] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A welding robot, comprising a rotating base (1), a first mechanical arm (11) connected to the rotating base (1), a second mechanical arm (12) connected to the first mechanical arm (11), and a third mechanical arm (13) connected to the second mechanical arm (12), characterized in that: The second mechanical arm (12) is provided with a wire feeding mechanism, the rotating seat (1) is fixedly connected to a first mounting plate (2), the first mounting plate (2) is rotatably connected to a mounting shaft (22), a plurality of welding wire storage wheels are mounted on the mounting shaft (22), the welding wires on the welding wire storage wheels are connected to the wire feeding mechanism, the first mechanical arm (11) is fixedly connected to a second mounting plate (3) and a welding clamp (31), the welding clamp (31) is attached to the upper surface of the second mounting plate (3), and the second mounting plate (3) is provided with a welding wire receiving wheel. The welding wire on two of the plurality of welding wire storage wheels passes through the holes on the second mounting plate (3), the welding wire on one of the welding wire storage wheels passes through the welding position of the welding clamp (31) and is transported by the wire feeding mechanism for use, and the end of the welding wire on the other welding wire storage wheel is located at the welding position of the welding clamp (31), and after the welding wire on one of the welding wire storage wheels is completely extracted and the bottom end moves to the welding position of the welding clamp (31), the welding clamp (31) operates and welds the welding wires on the two welding wire storage wheels; The wire feeding mechanism comprises a mounting cylinder (6), a first wire feeding wheel (61) and a second wire feeding wheel (62) being rotatably connected inside the mounting cylinder (6), the welding wire passing through between the first wire feeding wheel (61) and the second wire feeding wheel (62), a wire feeding tube (66) being fixedly connected to the mounting cylinder (6), the welding wire passing through the wire feeding tube (66); A driving wheel (51) is coaxially fixedly connected to the first wire feeding wheel (61), an annular groove (46) is formed at the end of the mounting shaft (22), and a belt (5) is transmission-connected between the driving wheel (51) and the annular groove (46); A plurality of expansion blocks (45) arranged in an annular array are radially slidably connected to the mounting shaft (22) at the annular groove (46); when the expansion blocks (45) move radially outward, the linear speed of rotation of the driving wheel (51) is higher than that of the mounting shaft (22); and when the expansion blocks (45) move radially inward, the rotation speed of the driving wheel (51) is lower than that of the mounting shaft (22); A piston cylinder (33) is fixedly connected to the upper surface of the second mounting plate (3), a piston rod (34) is slidably connected inside the piston cylinder (33), and the piston rod (34) is fixedly connected to the welding clamp (31). A mounting block (4) is fixedly connected to the first mounting plate (2), a sliding hole (41) is formed inside the mounting block (4), and a sliding rod (43) is slidably connected inside the sliding hole (41). A first pipe (35) is connected between the piston cylinder (33) and the sliding hole (41), and a second pipe (35) is connected to the piston cylinder (33). A third pipeline (42) is connected to the sliding hole (41), a one-way valve is provided on each of the first pipeline (35) and the second pipeline (36), a solenoid valve is provided on the third pipeline (42), a wedge block (44) is fixedly connected to the end of the sliding rod (43), the wedge block (44) is inserted into the installation shaft (22), and the wedge block (44) and the plurality of expansion blocks (45) are magnetically attracted to each other, and when the wedge block (44) slides into the installation shaft (22), it can push the plurality of expansion blocks (45) to expand outwards; When the welding clamp (31) is closed, the piston rod (34) is pulled so that the medium in the sliding hole (41) is drawn into the piston cylinder (33), so that the wedge block (44) moves away from the mounting shaft (22) so that the plurality of expansion blocks (45) contract.

2. The welding robot according to claim 1, characterized in that: A sleeve (32) is fixedly connected to the upper surface of the second mounting plate (3); the end of the welding wire on the unused welding wire storage wheel is inserted into the sleeve (32) and elastically covered by the sleeve (32); and when the welding pliers (31) are combined, the welding wire in the sleeve (32) can be pulled out of the sleeve (32).

3. The welding robot according to claim 2, characterized in that: The installation shaft (22) is driven to rotate by the wire feeding mechanism, and an electric clamping block (23) is provided on the installation shaft (22) and cooperates with the plurality of welding wire storage wheels. When the electric clamping block (23) slides radially, it abuts against the inner wall of the corresponding welding wire storage wheel, so that the corresponding welding wire storage wheel rotates synchronously with the installation shaft (22).

4. The welding robot according to claim 3, characterized in that: A rectangular plate (52) is fixedly connected to the side wall of the first mechanical arm (11), a rectangular block (54) is slidably connected to the rectangular plate (52), springs (55) are fixedly connected to both sides of the rectangular block (54), both springs (55) are fixedly connected to the rectangular plate (52), an expansion wheel (53) is rotatably connected to the rectangular block (54), and the expansion wheel (53) is transmission-connected to the belt (5).

5. The welding robot according to claim 4, characterized in that: Two guide rods (64) are fixedly connected to the mounting cylinder (6), an N-shaped frame (63) is slidably connected to the guide rod (64), a tension spring (65) is sleeved on the guide rod (64), two ends of the tension spring (65) are respectively fixedly connected to the N-shaped frame (63) and the mounting cylinder (6), the shaft of the second wire feeding wheel (62) passes through the mounting cylinder (6) and is rotatably connected to the N-shaped frame (63), the mounting cylinder (6) is provided with an oblong hole that matches the shaft of the second wire feeding wheel (62), the N-shaped frame (63) is provided with a displacement sensor for detecting the position of the guide rod (64), and when the displacement sensor detects that the N-shaped frame (63) and the guide rod (64) move relative to each other, the solenoid valve on the third pipeline (42) is opened to release the negative pressure in the sliding hole (41); The sliding rod (43) and the hole wall of the sliding hole (41) are magnetically repelled from each other, and after the negative pressure in the sliding hole (41) is released, the sliding rod (43) slides toward the outside of the sliding hole (41).

6. The welding robot according to claim 5, characterized in that: A three-way pipe (7) is connected between the installation tube (6) and the third robotic arm (13). The three-way pipe (7) is away from the installation tube (6) and the third robotic arm (13), and one end of the three-way pipe (7) is connected to an external protective gas source. An electromagnetic three-way valve (71) is provided on the three-way pipe (7). The electromagnetic three-way valve (71) can switch the external protective gas source to be transmitted to the installation tube (6) or to the welding head on the third robotic arm (13).

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