A welding robot end having a gas protection function

Abstract

The application discloses a welding robot end with a gas protection function, which comprises an L-shaped flange plate, a gun barrel clamp and a connecting plate installed on the L-shaped flange plate, a horizontal trapezoidal slide way on one side of the connecting plate and a welding gun clamp fixing block on the other side, a horizontal displacement block installed on the horizontal trapezoidal slide way, a longitudinal displacement block installed on the horizontal displacement block, a connecting block fixedly connected with the longitudinal displacement block, an angle adjusting block installed on the connecting block, a wire outlet guide pipe and a connecting rod installed on the angle adjusting block, a wedge-shaped gas cover installed on the connecting rod, long damping swing rods symmetrically installed below the connecting plate, damping swing blocks installed on the long damping swing rods, short damping swing rods installed on the damping swing blocks and rectangular gas covers installed on the short damping swing rods, and gas cover inner pipes installed in the rectangular gas covers. The welding robot end can accurately position the welding gun and the welding wire outlet position, has the function of forming a follow-up uniform protection gas flow field, and improves the welding quality.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, specifically a welding robot end effector with gas protection function. Background Technology

[0002] Welding robots are industrial robots used for welding, widely applied in industrial automation to reduce worker workload and improve product quality. Gas shielded welding (GSW) refers to a welding method protected by carbon dioxide or argon gas, using welding wire instead of welding rods. Carbon dioxide welding is highly efficient, while argon shielded welding is mainly used for welding materials such as aluminum, titanium, and stainless steel. The full name of carbon dioxide shielded welding is carbon dioxide gas shielded arc welding.

[0003] Existing welding robots mainly use threaded motion to achieve angle changes. Insufficient friction during operation can cause angle adjustments to the angle adjustment mechanism, leading to inaccurate positioning of the device during movement and resulting in inaccurate welding position and length. Furthermore, existing welding robots lack a shielding gas device at the end effector, resulting in significant oxidation during welding. Generally, shielding gas is supplied to the welding point via the welding torch itself or by adding an external shielding gas hood. However, ordinary gas hoods result in uneven argon gas output and inadequate protection for uncooled welds, leading to noticeable oxidation and affecting the final quality.

[0004] Therefore, it is of great significance to design a welding robot end effector that is accurate in positioning and can suppress weld oxidation. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a welding robot end effector with gas protection function, which is precisely positioned and can generate a protective gas flow field that covers the weld seam as the welding torch moves. This solves the problems in existing technologies where welding robots are not accurately positioned during movement, easily leading to inaccurate welding orientation and length, and lack of weld seam protection, resulting in obvious oxidation of the weld seam.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A welding robot end effector with gas protection function includes an L-shaped flange, a connecting plate, a barrel clamp, a lateral displacement block, a longitudinal displacement block, a lateral adjustment rod, a longitudinal adjustment rod, an angle adjustment rod, a wedge-shaped gas cover, and a rectangular gas cover. A barrel clamp is installed on one side of the L-shaped flange. A connecting plate is installed at the bottom of the L-shaped flange. One side of the connecting plate has a transverse trapezoidal groove, and the other side has a welding torch clamp fixing block. A welding torch clamp movable block is installed on the welding torch clamp fixing block. A transverse displacement block is installed on the transverse trapezoidal groove. A transverse adjusting rod and a longitudinal displacement block are installed on the transverse displacement block. A longitudinal adjusting rod is installed on the longitudinal displacement block. A gear is installed on the longitudinal adjusting rod. The gear meshes with a rack. The rack is installed on the longitudinal displacement block. A connecting block is installed on the longitudinal displacement block. An angle adjusting rod is installed on the connecting block. A first gear sleeve is installed on the angle adjusting rod. The first gear sleeve meshes with a second gear sleeve. The second gear sleeve is installed on a connecting rod. An angle adjusting block is installed on the connecting rod. A welding wire outlet guide and a connecting rod are installed on the angle adjusting block. A wedge-shaped gas hood is installed on the connecting rod. A wedge-shaped gas hood interface is installed on the wedge-shaped gas hood interface. A first gas supply pipe is installed on the wedge-shaped gas hood interface. Two long damping swing rods are symmetrically installed below the connecting plate. A damping swing block is installed on each long damping swing rod. A short damping swing rod is installed on the damping swing block. The short damping swing rod is connected to a rectangular air cover. An air baffle slide is installed on the rectangular air cover. An air baffle is installed in the air baffle slide. The air baffle can be pulled open or retracted laterally along the air baffle slide. Two rectangular air hoods are configured with an air mesh on their opposite sides. The inner tube of the rectangular air hood is connected to the rectangular air hood interface, and a second air supply pipe is installed on the rectangular air hood interface.

[0007] Furthermore, the upper part of the connecting plate is fixedly connected to the back of the vertical plate of the L-shaped flange by bolts. A transverse trapezoidal groove is provided on the back of the middle part of the connecting plate. A support block for fixing the transverse adjusting rod is provided on the upper part of the transverse trapezoidal groove. An extension for installing the long damping swing rod is provided on the lower part of the transverse trapezoidal groove. A welding gun clamp fixing block is provided on one side of the front of the connecting plate. The lateral displacement block is installed on the lateral trapezoidal slide groove. The lateral adjustment rod passes through the through hole of the support block. The lateral adjustment rod is provided with a displacement adjustment block, which is fixedly connected to the upper surface of the lateral displacement block. A lateral knob is provided at one end of the lateral adjustment rod. Rotating the lateral knob can drive the lateral displacement block to move laterally along the lateral trapezoidal slide groove. A lateral damping knob is provided at the other end of the lateral adjustment rod. The lateral damping knob is screwed into the lateral adjustment rod.

[0008] Furthermore, the front of the lateral displacement block is provided with a trapezoidal groove that mates with the lateral trapezoidal slide groove, and a lateral displacement through hole is provided on the outer side of the trapezoidal groove on the lateral displacement block. A cavity is provided in the middle of the back of the lateral displacement block to accommodate the gear. The cavity communicates with the lateral displacement through hole, and vertical trapezoidal slides are provided on both sides of the cavity. A gear is installed inside the cavity. The longitudinal adjusting rod passes through the transverse displacement through hole and the gear. The longitudinal adjusting rod is provided with a protrusion for assembling the gear. A longitudinal knob and a longitudinal damping knob are respectively provided at both ends of the longitudinal adjusting rod. The front of the longitudinal displacement block is provided with a vertical groove that mates with the vertical trapezoidal slide. A rack is installed in the vertical groove. The upper and lower ends of the rack are fixed to the longitudinal displacement block by screws. The two ends of the rack are provided with baffles. The rack and gear mesh with each other in the vertical trapezoidal slide. When the longitudinal knob is rotated, the gear moves accordingly. The vertical movement of the longitudinal displacement block is realized through the meshing of the gear and rack.

[0009] Furthermore, the rack is provided with detachable baffles at both ends.

[0010] Furthermore, connecting rods are installed on both sides of the lower part of the angle adjustment block, and the other ends of the two connecting rods are connected to the air intake side of the wedge-shaped air shroud; the angle adjustment rod, connecting rod, lateral adjustment rod, and longitudinal adjustment rod are parallel to each other in space.

[0011] Furthermore, the gear sleeve is a bushing with teeth. The bushing has teeth and threaded holes. The bushing is fitted onto the angle adjusting rod or connecting rod, so that the bushing and the angle adjusting rod or connecting rod are connected together by screws. The first gear sleeve meshes with the second gear sleeve installed on the connecting rod. When the angle adjusting rod rotates, it drives the first gear sleeve and the second gear sleeve to mesh and rotate, thereby realizing the swinging motion of the angle adjusting block. The gear sleeve is provided with half a circle of teeth.

[0012] Furthermore, the inlet of the wedge-shaped gas hood is equipped with a wedge-shaped gas hood interface, the outlet of the wedge-shaped gas hood is wedge-shaped, a gas diffuser is provided near the inlet, and connecting parts are symmetrically provided on the outside of the shell of the wedge-shaped gas hood on both sides of the inlet, and the connecting parts are connected to the connecting rod.

[0013] Furthermore, the gas diffuser is fixed inside the housing of the wedge-shaped gas shroud on one hand, and blocks the air inlet on the other hand. The part blocking the air inlet is provided with a circular through hole, the size of which is smaller than the size of the air inlet. There is a certain distance between the part blocking the air inlet and the air inlet. The side of the gas diffuser is provided with a hollow structure.

[0014] Furthermore, the rectangular air hood has a double-layer structure, with an inner air hood tube and an inner air mesh. One side of the outer wall of the rectangular air hood is a sealed wall surface, and the other side is provided with an outer air mesh. An opening is provided on the inner air hood tube along the axial direction, with the opening facing the sealed wall surface. The inner air hood tube is connected to the second air supply pipe through the rectangular air hood interface. Sliding grooves for installing the inner gas mesh are provided on both sides of the opening of the inner tube of the gas hood. The upper and lower parts of the inner gas mesh contact the upper and lower inner walls of the rectangular gas hood respectively. A notch is provided on the inner gas mesh corresponding to the opening position of the inner tube of the gas hood so that the inner gas mesh can be positioned and fixed with the inner tube of the gas hood. The outer gas meshes of the two rectangular gas hoods are arranged opposite each other, and the two rectangular gas hoods are located on both sides of the weld to be welded.

[0015] Furthermore, the connections between the long damping swing arm, the damping swing block, the short damping swing arm, and the rectangular air cover are all damped.

[0016] Compared with the prior art, the beneficial effects of the present invention are: The present invention provides a wedge-shaped gas hood, a rectangular gas hood, and a baffle plate, which can concentrate the protective gas in the weld and make the gas output more uniform by impacting the wall surface, thus achieving the effect of preventing oxidation.

[0017] This invention uses lateral, longitudinal, and angular adjustments to position the welding wire exit. By integrating the fixing and anti-oxidation parts into one unit, it can accurately position the welding torch and the wire exit, and has the function of forming a uniform protective gas flow field to improve welding quality.

[0018] Furthermore, compared to traditional localized spot injection of protective gas, the protective gas provided by this invention has a wider coverage range and better weld seam coverage. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the left front side structure of an embodiment of the end effector of a welding robot with gas protection function according to the present invention; Figure 2 This is a schematic diagram of the left rear side structure of an embodiment of the end effector of a welding robot with gas protection function according to the present invention; Figure 3 This is a partial structural schematic diagram of the connecting plate 4 of the present invention; Figure 4 This is a three-dimensional structural schematic diagram of the lateral displacement block 21 of the present invention; Figure 5 This is a schematic diagram of the gear and rack meshing part in this invention; Figure 6 This is a schematic diagram of the rack structure in this invention; Figure 7This is a side view of one embodiment of the end effector of a welding robot with gas protection function according to the present invention. Figure 8 This is a partially enlarged structural diagram of the two gear sleeves of the present invention when they mesh with each other; Figure 9 This is a schematic diagram of the structure of the first gear sleeve 32 of the present invention; Figure 10 This is a schematic diagram showing the meshing of the two gear sleeves of the present invention; Figure 11 This is a schematic diagram of the overall structure of the angle adjustment rod 41 in this invention; Figure 12 This is a longitudinal cross-sectional view of the wedge-shaped air hood in this invention. Figure 13 This is a schematic diagram of the transverse cross-sectional structure of the wedge-shaped air hood in this invention; Figure 14 This is a schematic diagram of the installation structure of the rectangular air cover and the air baffle in this invention; Figure 15 This is a schematic diagram of the internal structure of the rectangular air hood in this invention; Figure 16 This is a schematic diagram showing the relative installation positions of the connecting rod portion of the present invention; Figure 17 This is a schematic diagram of the gear mounting structure on the longitudinal adjusting rod 40 in this invention; Figure 18 This is a schematic diagram of the welding torch structure; In the diagram: 1-L-shaped flange, 2-barrel clamp, 3-barrel, 4-connecting plate, 5-long damping lever, 6-second gas supply pipe, 7-rectangular gas cover interface, 8-damping swing block, 9-short damping lever, 10-rectangular gas cover, 11-gas baffle, 12-gas baffle slide, 13-welding torch clamp movable block, 14-lateral knob, 15-lateral adjusting rod, 16-displacement adjusting block, 17-lateral damping knob, 18-longitudinal knob, 19-longitudinal displacement block, 20-angle knob, 21-lateral displacement block, 22-angle damping knob, 23-wire outlet guide tube, 24-first gas supply pipe 25-Gas tube, 26-Wedge-shaped gas hood interface, 27-Connecting rod, 28-Wedge-shaped gas hood, 29-Clamping stud, 30-Clamping knob, 31-Rack, 32-Gear, 33-First gear sleeve, 34-Second gear sleeve, 35-Welding torch knob, 36-Gun body, 37-Welding workpiece, 38-Welding torch ceramic head, 39-First gasket, 40-Longitudinal adjustment rod, 41-Angle adjustment rod, 42-Third gas tube, 43-Fourth gasket, 44-Third gasket, 45-Longitudinal damping knob, 46-Second gasket, 47-Connecting block, 48-Angle adjustment block, 49-Connecting rod 2701-Gas diffuser plate, 401-Transverse trapezoidal groove, 402-Support block, 403-Extension, 404-Welding torch clamp fixing block, 1001-Gas hood inner tube, 1002-Inner gas mesh, 1003-Outer gas mesh, 1004-Opening. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0023] The end effector of the welding robot with gas protection function of the present invention, such as Figure 1 As shown, it includes an L-shaped flange 1, a connecting plate 4, a barrel clamp 2, a lateral displacement block 21, a longitudinal displacement block 19, a lateral adjusting rod 15, a longitudinal adjusting rod 40, an angle adjusting rod 41, a wedge-shaped gas cover 27, and a rectangular gas cover 10. The L-shaped flange includes an upper horizontal plate and a vertical plate perpendicular to the horizontal plate. The upper horizontal plate is used to fix the mechanical arm, and the lower part of the vertical plate is connected to the connecting plate 4. A groove for installing the gun barrel is provided on the front of the L-shaped flange. The connecting plate 4 (see Figure 2 and Figure 3 The upper part of the connecting plate is fixedly connected to the back of the vertical plate of the L-shaped flange by bolts. A transverse trapezoidal groove 401 is provided on the back of the middle part of the connecting plate. A support block 402 for fixing the transverse adjustment rod is provided on the upper part of the transverse trapezoidal groove. An extension 403 for installing the long damping swing rod is provided on the lower part of the transverse trapezoidal groove. A welding gun clamp fixing block 404 is provided on one side of the front of the connecting plate. The lateral displacement block 21 is installed on the lateral trapezoidal slide 401. The lateral adjusting rod 15 passes through the through hole of the support block 402. A displacement adjusting block 16 is provided on the lateral adjusting rod 15. The displacement adjusting block 16 is fixedly connected to the upper surface of the lateral displacement block 21. A lateral knob 14 is provided at one end of the lateral adjusting rod 15. Rotating the lateral knob 14 can drive the lateral displacement block 21 to move laterally along the lateral trapezoidal slide. The through hole in the support block 402 is a smooth hole. The displacement adjusting block 16 is provided with a threaded through hole. The displacement adjusting block 16 is engaged with the threaded section of the lateral adjusting rod 15. The threaded movement drives the lateral displacement block 21 to move, realizing the change of lateral displacement. A lateral damping knob 17 is provided at the other end of the lateral adjusting rod 15. The lateral damping knob 17 is screwed into the lateral adjusting rod 15 and is used in conjunction with the first washer 39 to provide damping and achieve a tightening effect. The second washer 46 is located between the support block 402 and the displacement adjusting block 16 to prevent contact wear between the two.

[0024] The lateral displacement block 21 (see Figure 4 The front of the device is provided with a trapezoidal groove 2101 that mates with the transverse trapezoidal slide 401. A transverse displacement through hole 2102 is provided on the outer side of the trapezoidal groove 2101 and a cavity 2103 is provided in the middle of the back of the transverse displacement block for accommodating gears. The cavity communicates with the transverse displacement through hole and vertical trapezoidal slides 2104 are provided on both sides of the cavity. Gear 31 is installed in cavity 2103. The longitudinal adjustment rod 40 passes through transverse displacement through hole 2102 and gear 31. The longitudinal adjustment rod 40 is provided with a protrusion for assembling gear. One end of the longitudinal adjustment rod 40 is provided with longitudinal knob 18. The front of the longitudinal displacement block 19 is provided with a vertical groove that mates with the vertical trapezoidal slide 2104. A rack 30 is installed in the vertical groove. The rack 30 (see Figure 5 The upper and lower ends of the rack 30 are fixed to the longitudinal displacement block by screws. Both ends of the rack 30 are equipped with baffles for limiting movement. For ease of installation, it is preferable that one baffle is detachable. The rack 30 and gear 31 mesh with each other within the vertical trapezoidal slide 2104. When the longitudinal knob 18 is rotated, the gear moves accordingly, and the vertical movement of the longitudinal displacement block is achieved through the meshing of the gear and rack. The transverse damping knob 17 works in conjunction with the third washer 44 to prevent loosening.

[0025] A connecting block 47 is fixedly installed on the back of the longitudinal displacement block 19. An angle adjusting rod 41 is installed on the connecting block 47, and a first gear sleeve 32 is installed on the angle adjusting rod 41. The first gear sleeve 32 meshes with a second gear sleeve 33 (see...). Figure 6The second gear sleeve 33 is mounted on the connecting rod 49, and an angle adjusting block 48 is mounted on the connecting rod 49. A wire guide tube 23 is mounted on the lower middle part of the angle adjusting block 48, and connecting rods 26 are mounted on both sides of the lower part of the angle adjusting block 48. The other ends of the two connecting rods 26 are connected to the air inlet side of the wedge-shaped air cover 27. The angle adjusting rod 41, the connecting rod 49, the transverse adjusting rod 15, and the longitudinal adjusting rod 40 are parallel to each other in space.

[0026] The angle adjustment lever 41 (see Figure 9 The rod is a stepped rod, with an angle adjustment rod 41 connected to an angle knob 20 at one end and a longitudinal damping knob 22 at the other end; The gear sleeve (see) Figure 7 , Figure 8 The bushing is a toothed bushing with teeth and threaded holes. It is fitted onto the angle adjusting rod, and the bushing and rod are connected by screws. A first gear sleeve meshes with a second gear sleeve mounted on a connecting rod. When the angle adjusting rod rotates, it drives the first and second gear sleeves to rotate, thus achieving the oscillating motion of the angle adjusting block 48. The gear sleeves have approximately half a turn of teeth to meet the angle adjustment range requirements of the welding wire.

[0027] The wedge-shaped air hood 27 (see Figure 10 and Figure 11 The air inlet 2702 is equipped with a wedge-shaped gas cover interface 25, and a first gas supply pipe 24 is installed on the wedge-shaped gas cover interface 25. The air outlet 2703 of the wedge-shaped gas cover is wedge-shaped. A gas diffuser 2701 is provided near the air inlet. Connecting parts 2704 are symmetrically provided on the outside of the shell of the wedge-shaped gas cover on both sides of the air inlet. The connecting parts are connected to the connecting rod 26.

[0028] The gas diffuser is fixed to the interior of the wedge-shaped gas shroud on one hand, and blocks the air inlet 2702 on the other. A circular through-hole is provided on the portion blocking the air inlet, the size of which is smaller than the size of the air inlet. There is a certain distance between the portion blocking the air inlet and the air inlet. The gas diffuser has a perforated structure on its side to ensure sufficient gas flow on the side.

[0029] Two long damping swing rods 5 are symmetrically installed on the two extensions 403 of the connecting plate 4. A damping swing block 8 is installed on the long damping swing rod 5, and a short damping swing rod 9 is installed on the damping swing block 8. The short damping swing rod 9 is connected to a rectangular gas cover 10. A baffle plate slide 12 is installed on the upper surface of the two rectangular gas covers 10. A baffle plate 11 is installed in the baffle plate slide 12. The baffle plate 11 can be pulled open or retracted laterally along the baffle plate slide 12. The two rectangular gas covers are mirror images of each other on both sides of the weld to be welded. When the two baffle plates on them are pulled open, they can cover the area above the weld to be welded.

[0030] The rectangular air hood has a double-layer structure (see...). Figure 13 It has an inner tube 1001 and an inner air mesh 1002. One side of the outer wall of the rectangular air cover is a sealed wall, and the other side is provided with an outer air mesh 1003. An opening 1004 is provided on the inner tube of the air cover along the axial direction, and the opening direction is towards the sealed wall. The inner tube 1001 of the air cover is connected to the second air supply pipe 6 through the rectangular air cover interface 7. Sliding grooves for installing the inner air mesh are provided on both sides of the opening of the inner tube of the gas hood. The inner air mesh can be the entire mesh, which contacts the upper and lower inner walls of the rectangular gas hood respectively. At this time, a notch is provided on the inner air mesh corresponding to the opening position of the inner tube of the gas hood so that the inner air mesh can be positioned and fixed with the inner tube 1001 of the gas hood. The outer air meshes of the two rectangular gas hoods are arranged opposite each other, with the outer air meshes facing the welding direction. The two rectangular gas hoods have the same structure and are mirror images of each other.

[0031] When gas is introduced through the second gas supply pipe, it enters the inner tube of the gas hood. As the amount of gas increases, it flows out from the opening of the inner tube of the gas hood and impacts the rectangular gas hood wall. Through the impact, the gas is distributed more evenly within the rectangular gas hood. As the amount of gas gradually increases, it is further homogenized through the inner gas net, so that it is eventually output evenly from the outer gas net.

[0032] The wedge-shaped gas hood has a perforated baffle plate (gas diffuser) inside. The gas outlet of the wedge-shaped gas hood is located in the space between two rectangular gas hoods. The wedge-shaped gas hood is used in conjunction with the two rectangular gas hoods, providing gas supply from three points. While ensuring sufficient gas flow in the middle, the wedge-shaped gas hood allows some gas to collide with the gas diffuser 2701 and be more evenly distributed inside the wedge-shaped gas hood. Finally, it is output from the gas outlet of the wedge-shaped gas hood. The gas outlet is also equipped with a gas mesh, which provides protective gas along the weld direction and provides the gas output from the outer gas mesh of the rectangular gas hood with a velocity along the weld direction, forming a uniform protective gas flow field along the weld.

[0033] Air baffles 11 are installed on the two rectangular air hoods. These baffles can be retracted when not in use. Figure 14 As shown, it can be pulled out during operation to constrain gas movement, making the protective airflow field more stable and concentrated on the part of the gas that needs protection. The wedge-shaped gas hood, the mirror-image rectangular gas hood, and the baffle plate constitute the gas protection structure.

[0034] The gun barrel is installed in the groove on the front of the L-shaped flange 1 and fixed by the gun barrel clamp 2. The welding gun clamp movable block 13 is set at the same height as the welding gun clamp fixing block 404 on the connecting plate 4. The welding gun clamp movable block 13 and the welding gun clamp fixing block 404 are connected together by the clamp stud. The gun barrel passes through the center of the welding gun clamp movable block 13 and the welding gun clamp fixing block 404, and the tightness of the clamp stud 28 can be adjusted by the clamp knob 29 to clamp or loosen the gun body 35. The lower end of the gun barrel is connected to the gun body 35, which is L-shaped. The clamp part clamps the upper part of the L-shape. The welding gun knob 34 is installed on the lower part of the L-shape. The lower part of the gun body 35 is connected to the welding gun nozzle 37 through the welding gun ceramic head 38. The welding gun nozzle 37 is aligned with the weld seam to be welded.

[0035] In this invention, the side where the gun barrel is located is defined as the front, and the side where the connecting plate is located is defined as the back.

[0036] The working principle of the welding robot end effector with gas protection function of this invention is as follows: The weld seam to be welded is located between two rectangular gas hoods. An L-shaped flange 1 is fixed to the robotic arm, and a barrel clamp 2 is installed on the front to fix the barrel 3. A transverse trapezoidal groove 401 is provided on one side of the connecting plate 4 to support the transverse displacement block. The gas outlet of the wedge-shaped gas hood is located in the space between the two rectangular gas hoods. The wedge-shaped gas hood works in conjunction with the two rectangular gas hoods, providing gas supply from three points. While ensuring sufficient gas flow in the middle, the wedge-shaped gas hood allows some gas to impact the gas diffuser 2701 and distribute more evenly inside the wedge-shaped gas hood, finally outputting from the gas outlet of the wedge-shaped gas hood. A gas mesh is also provided at the gas outlet, providing protective gas along the weld seam direction while simultaneously providing velocity along the weld seam for the gas output from the outer gas mesh of the rectangular gas hoods, forming a uniform protective gas flow field along the weld seam. A transverse adjustment rod 15 and a longitudinal displacement block 19 are installed on the transverse displacement block 21 to achieve transverse position adjustment and longitudinal displacement. The longitudinal displacement block is achieved through gears and racks. The vertical movement adjusts the longitudinal displacement of the yarn output. A connecting block 47 is mounted on the longitudinal displacement block 19, and an angle adjusting rod 41 is mounted on the connecting block 47 to adjust the angle. A first gear sleeve 32 is mounted on the angle adjusting rod 41, and the first gear sleeve 32 meshes with a second gear sleeve 33 to achieve angle adjustment. The second gear sleeve 33 is mounted on a connecting rod 49, and an angle adjusting block 48 is mounted on the connecting rod 49. A yarn output guide tube 23 and a connecting rod 26 are mounted on the angle adjusting block 48. A wedge-shaped gas hood 27 is installed on the rod 26 to output protective gas along the weld direction; long damping swing rods 5 are symmetrically installed below the connecting plate 4, damping swing blocks 8 are installed on the long damping swing rods 5, and short damping swing rods 9 are installed on the damping swing blocks 8 to adjust the relative position between the two rectangular gas hoods 10. The short damping swing rods 9 are connected to the rectangular gas hoods 10. The rectangular gas hoods 10 are provided with an inner gas hood tube 1001 and an inner gas net and an outer gas net to ensure uniform output of protective gas, and a baffle plate 11 is provided to constrain the protective gas.

[0037] The longitudinal damping knob 45 is screwed onto the longitudinal adjusting rod. When appropriate damping is achieved, it is positioned through the positioning threaded hole. It has a shim to increase friction, so that the longitudinal adjusting rod is damped. The wire exit position can be precisely controlled through gear and rack meshing. The wedge-shaped gas hood is equipped with a gas diffuser to ensure a more uniform gas output while ensuring the intermediate gas flow rate. When the rectangular gas hood 10 is ventilated, the gas flows out from the opening of the inner tube of the gas hood, hits the wall surface, and is evenly output to the outside through the inner and outer gas nets. When the wedge-shaped gas hood, the rectangular gas hood, and the baffle plate work simultaneously, the protective gas output from the wedge-shaped gas hood provides the protective gas output from the rectangular gas hood with a speed along the weld direction, so that the protective gas flows along the weld. At the same time, the baffle plate, the wall surface of the rectangular gas hood, and the surface of the weldment (the weldment is fixed on the special fixture for the weldment) can constrain the gas, so that the gas flow field is more concentrated on the weld, thereby preventing oxidation.

[0038] Gear 31 (see Figure 17 It has a rectangular slot for installation and fixing, which is used to fix it to the longitudinal adjusting rod. The longitudinal adjusting rod 40 has threads at both ends and a protrusion in the middle, which is used for gear engagement and fixing.

[0039] Furthermore, the rack 30 is equipped with detachable baffles at both ends.

[0040] Furthermore: the interior of the support block 402 is a light hole.

[0041] Furthermore: The displacement adjusting block 16 has a threaded hole inside.

[0042] Furthermore: the transverse damping knob 17, the angle damping knob 22, and the longitudinal damping knob 45 are provided with threaded holes, wherein the angle damping knob 22 and the longitudinal damping knob 45 are provided with positioning threaded openings on their surfaces.

[0043] Furthermore, the connections between the long damping swing rod 5, the damping swing block 8, the short damping swing rod 9, and the rectangular air cover 10 are all damped.

[0044] Furthermore, the first gear sleeve 32 and the second gear sleeve 33 are provided with threaded holes for positioning. The gear sleeves are fixed to the corresponding rods by screws passing through the threaded holes.

[0045] Furthermore: the angle adjustment rod 41 is a stepped rod with threads at both ends.

[0046] Furthermore: the connecting block 47 is provided with round holes of different sizes to ensure that the angle adjustment rod 41 is installed in place. The connecting block is U-shaped as a whole, and the two ends of the angle adjustment rod extend out of the U-shaped area to install the angle knob 20 and the angle damping knob 22 respectively; the lower part of the connecting block.

[0047] In this invention, the process of adjusting the welding wire exit position is mainly achieved through three adjustment knobs: ① The lateral displacement is adjusted by the lateral knob 14. The lateral adjustment rod 15 passes through the light hole of the support block 402. The displacement adjustment block 16 cooperates with the lateral adjustment rod 15. The lateral damping knob 17 is screwed into the lateral adjustment rod 15 to provide damping and achieve a tightening effect. When adjusting the lateral displacement, the lateral damping knob 17 is loosened. When the lateral knob 14 is rotated, the lateral adjustment rod 15 rotates and drives the lateral displacement block 21 to move through the threaded motion. After the movement is in place, the lateral damping knob 17 is tightened to realize the change of lateral displacement.

[0048] ② The longitudinal displacement adjustment mainly relies on the meshing motion of gears and racks. When the longitudinal adjustment knob is turned, the gears move accordingly, and the longitudinal displacement block moves through the meshing of the gears and racks.

[0049] ③ Angle adjustment is mainly achieved by the meshing motion of two gear sleeves. In summary, in this invention, the lateral displacement block mainly relies on the threaded motion to achieve movement, the longitudinal displacement block uses gear and rack to achieve displacement, and the angular swing block relies on the gear sleeve.

[0050] This invention achieves accurate positioning of the wire exit position (the tip of the wire exit guide) through the aforementioned adjustments in the lateral, longitudinal, and angular directions. The welding torch position is positioned via a groove on the L-shaped flange and the movable block 13 of the welding torch clamp. Traditional clamps use threaded motion to change the angle of the welding wire exit. This angle is only stably maintained at the upper and lower extreme positions. However, in the middle position, insufficient friction causes the clamp to loosen during operation, resulting in an angle change that affects the wire exit position and thus the welding quality. This invention uses a gear sleeve to achieve angle change, making it safer and more reliable. The clamping knob ensures sufficient friction.

[0051] Regarding the gas protection section, in this invention, the rectangular gas shroud receives gas through a gas supply pipe, which then enters the inner tube of the shroud. As the gas volume increases, it flows out from the opening at the top of the inner tube, impacting the inner wall of the shroud upwards, thus ensuring a more uniform gas distribution within the shroud. As the pressure increases, the gas gradually moves downwards, passing through the inner gas mesh and then the outer gas mesh for uniform output. Simultaneously, a gas diffuser is installed inside the wedge-shaped shroud. While ensuring sufficient gas flow in the middle, it also diffuses some gas evenly into the wedge-shaped shroud through impact baffles, preventing gas from concentrating in the center of the shroud. Furthermore, the gas output from the wedge-shaped shroud exerts a force along the weld direction on the gas output from the rectangular shroud. The baffle plate on the rectangular shroud ensures uniform gas flow along the weld, protecting both the weld point and the uncooled welded portion.

[0052] It should be noted that in the description of this application, the terms "upper," "lower," etc., indicating orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0053] The equipment includes not only those elements, but also other elements not expressly listed, or elements inherent to such a process, method, article, or equipment. Unless otherwise specified, an element defined by the phrase "comprising a…" does not exclude the presence of other identical elements in the process, method, article, or equipment that includes said element.

[0054] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A welding robot end effector with gas protection function, characterized in that: Includes L-shaped flange (1), connecting plate (4), barrel clamp (2), lateral displacement block (21), longitudinal displacement block (19), lateral adjustment rod (15), longitudinal adjustment rod (40), angle adjustment rod (41), wedge gas cover (27), and rectangular gas cover (10); A barrel clamp (2) is installed on one side of the L-shaped flange (1). A connecting plate (4) is installed on the lower part of the L-shaped flange (1). A transverse trapezoidal groove (401) is provided on one side of the connecting plate (4), and a welding torch clamp fixing block (404) is provided on the other side. A welding torch clamp movable block (13) is installed on the welding torch clamp fixing block (404). A transverse displacement block (21) is installed on the transverse trapezoidal groove (401). A transverse adjusting rod (15) and a longitudinal displacement block (19) are installed on the transverse displacement block (21). A longitudinal adjusting rod (40) is installed on the longitudinal displacement block (19). A gear (31) is installed on the longitudinal adjusting rod (40). The gear (31) meshes with a rack (30). The rack (30) is installed on... On the longitudinal displacement block (19), a connecting block (47) is installed on the longitudinal displacement block (19), an angle adjusting rod (41) is installed on the connecting block (47), a first gear sleeve (32) is installed on the angle adjusting rod (41), the first gear sleeve (32) meshes with a second gear sleeve (33), the second gear sleeve (33) is installed on a connecting rod (49), an angle adjusting block (48) is installed on the connecting rod (49), a welding wire outlet guide (23) and a connecting rod (26) are installed on the angle adjusting block (48); a wedge-shaped gas hood (27) is installed on the connecting rod (26), a wedge-shaped gas hood interface (25) is installed on the wedge-shaped gas hood (27), and a first gas supply pipe (24) is installed on the wedge-shaped gas hood interface (25); Two long damping swing rods (5) are symmetrically installed below the connecting plate (4). A damping swing block (8) is installed on each long damping swing rod (5). A short damping swing rod (9) is installed on the damping swing block (8). The short damping swing rod (9) is connected to a rectangular air cover (10). An air baffle slide (12) is installed on the rectangular air cover (10). An air baffle (11) is installed inside the air baffle slide (12). The air baffle (11) can be pulled open or retracted laterally along the air baffle slide (12). The two rectangular gas hoods are set as an outer gas net on opposite sides. The inner tube of the rectangular gas hood is connected to the rectangular gas hood interface (7). A second gas supply pipe (6) is installed on the rectangular gas hood interface (7). The two rectangular gas hoods are located on both sides of the weld to be welded.

2. The welding robot end effector with gas protection function as described in claim 1, characterized in that: The upper part of the connecting plate is fixedly connected to the back of the vertical plate of the L-shaped flange by bolts. A transverse trapezoidal groove is provided on the back of the middle part of the connecting plate. A support block for fixing the transverse adjusting rod is provided on the upper part of the transverse trapezoidal groove. An extension for installing the long damping swing rod is provided on the lower part of the transverse trapezoidal groove. A welding gun clamp fixing block is provided on one side of the front of the connecting plate. The lateral displacement block is installed on the lateral trapezoidal slide groove. The lateral adjustment rod passes through the through hole of the support block. The lateral adjustment rod is provided with a displacement adjustment block, which is fixedly connected to the upper surface of the lateral displacement block. A lateral knob is provided at one end of the lateral adjustment rod. Rotating the lateral knob can drive the lateral displacement block to move laterally along the lateral trapezoidal slide groove. A lateral damping knob is provided at the other end of the lateral adjustment rod. The lateral damping knob is screwed into the lateral adjustment rod.

3. The welding robot end effector with gas protection function as described in claim 1, characterized in that: The front of the lateral displacement block is provided with a trapezoidal groove that mates with the lateral trapezoidal slide groove. A lateral displacement through hole is provided on the outer side of the trapezoidal groove on the lateral displacement block. A cavity is provided in the middle of the back of the lateral displacement block to accommodate the gear. The cavity communicates with the lateral displacement through hole. Vertical trapezoidal slides are provided on both sides of the cavity. A gear is installed inside the cavity. The longitudinal adjusting rod passes through the transverse displacement through hole and the gear. The longitudinal adjusting rod is provided with a protrusion for assembling the gear. A longitudinal knob and a longitudinal damping knob are respectively provided at both ends of the longitudinal adjusting rod. The front of the longitudinal displacement block is provided with a vertical groove that mates with the vertical trapezoidal slide. A rack is installed in the vertical groove. The upper and lower ends of the rack are fixed to the longitudinal displacement block by screws. The two ends of the rack are provided with baffles. The rack and gear mesh with each other in the vertical trapezoidal slide. When the longitudinal knob is rotated, the gear moves accordingly. The vertical movement of the longitudinal displacement block is realized through the meshing of the gear and rack.

4. The welding robot end effector with gas protection function as described in claim 3, characterized in that: The rack (30) is provided with detachable baffles at both ends.

5. The welding robot end effector with gas protection function as described in claim 1, characterized in that: Connecting rods (26) are installed on both sides of the lower part of the angle adjustment block. The other end of the two connecting rods (26) is connected to the air intake side of the wedge-shaped air cover (27). The angle adjustment rod, connecting rod, lateral adjustment rod and longitudinal adjustment rod are parallel to each other in space.

6. The welding robot end effector with gas protection function as described in claim 1, characterized in that: Both the first gear sleeve and the second gear sleeve are bushings with gear teeth and threaded holes. The first gear sleeve is fitted onto the angle adjusting rod, and the second gear sleeve is fitted onto the connecting rod, so that the first gear sleeve and the angle adjusting rod are connected together by screws, and the second gear sleeve and the connecting rod are connected together by screws. When the angle adjusting rod rotates, it drives the first gear sleeve and the second gear sleeve to mesh and rotate, thereby realizing the swinging motion of the angle adjusting block (48). Half-circle gear teeth are provided on the first gear sleeve and the second gear sleeve.

7. The welding robot end effector with gas protection function as described in claim 1, characterized in that: The inlet of the wedge-shaped gas hood (27) is equipped with a wedge-shaped gas hood interface (25). The outlet of the wedge-shaped gas hood is wedge-shaped. A gas diffuser is provided near the inlet. Connecting parts are symmetrically provided on the outside of the shell of the wedge-shaped gas hood on both sides of the inlet. The connecting parts are connected to the connecting rod.

8. The welding robot end effector with gas protection function as described in claim 7, characterized in that: The gas diffuser is fixed to the inside of the wedge-shaped gas cover on one hand, and blocks the air inlet on the other. The part that blocks the air inlet has a circular through hole, the size of which is smaller than the size of the air inlet. There is a certain distance between the part that blocks the air inlet and the air inlet. The side of the gas diffuser has a hollow structure.

9. The welding robot end effector with gas protection function as described in claim 1, characterized in that: The rectangular air hood has a double-layer structure, with an inner tube and an inner air mesh. One side of the outer wall of the rectangular air hood is a sealed wall, and the other side is provided with an outer air mesh. An opening is provided on the inner tube of the air hood along the axial direction, with the opening facing the sealed wall. Sliding grooves for installing the inner air mesh are provided on both sides of the opening of the inner tube of the air hood. The upper and lower parts of the inner air mesh contact the upper and lower inner walls of the rectangular air hood, respectively. A notch is provided on the inner air mesh corresponding to the opening position of the inner tube of the air hood so that the inner air mesh can be positioned and fixed with the inner tube of the air hood.

10. The welding robot end effector with gas protection function as described in claim 1, characterized in that: The connections between the long damping swing rod (5), the damping swing block (8), the short damping swing rod (9), and the rectangular air cover (10) are all damped.

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