Intelligent welding manipulator for vehicle bracket

Abstract

The invention discloses an intelligent welding manipulator for a vehicle bracket, which relates to the technical field of welding manipulators. The key points of the technical solution are: comprising a welding manipulator, the welding manipulator comprising a welding gun and a detector for analyzing a welding trajectory, the welding gun being connected to a gas pipe for conveying flux gas, and also comprising a wire control box installed on the welding manipulator, a motor being installed in the wire control box, and a driving end of the motor being connected to a winding column through a driving shaft, the winding column being rotatably installed in the wire control box, the gas pipe being slidably installed on the welding manipulator through a plurality of sliders, and an end of the gas pipe away from the welding gun extends into the wire control box through a connecting groove provided on the wire control box, and is wound around the winding column, connected to a flux gas supply box, and a transmission mechanism is arranged in the wire control box, the transmission mechanism is connected to a guiding mechanism, and the effect is that the winding column automatically winds up the surplus part of the gas pipe.

Description

Technical Field

[0001] The invention relates to the technical field of welding manipulators, and more specifically, to an intelligent welding manipulator for a vehicle bracket. Background Art

[0002] In the welding process of vehicle brackets, intelligent welding manipulators are widely used due to their high efficiency and precision. However, in actual operation, the welding manipulator needs to connect the welding gun to the flux gas supply system through a gas hose. Although this connection method provides the necessary flux gas for welding operations, it also brings a series of problems.

[0003] In traditional robot designs, in order to be compatible with the maximum welding range of the robot, the gas hose usually has a certain redundant length. When the robot moves in a large range or with high flexibility, these redundant hose parts often interfere with the joints or other parts of the robot. This interference not only affects the normal movement trajectory and accuracy of the robot, but in extreme cases, it may also cause the hose to be stuck or even torn by the robot joint, seriously affecting production efficiency and equipment safety. In addition, the redundant hose part may produce irregular swings during the rapid movement of the robot, which not only increases the stress at the connection between the hose and the welding gun, but also may cause the hose part to accidentally approach the high-temperature area of ​​the welding gun, causing safety hazards. This risk is particularly prominent in high-speed and high-precision welding operations.

[0004] In order to solve the above problems, the industry has made many attempts, such as adding hose fixing devices, optimizing the robot's motion trajectory, etc. However, these methods either increase the complexity of the system or limit the flexibility of the robot, and fail to fundamentally solve the problems of hose redundancy and interference.

[0005] Therefore, in order to solve the above technical problems, the present invention proposes an intelligent welding robot for a vehicle bracket. Summary of the invention

[0006] In view of the deficiencies in the prior art, the object of the present invention is to provide an intelligent welding manipulator for a vehicle bracket.

[0007] To achieve the above object, the present invention provides the following technical solution: an intelligent welding manipulator for a vehicle bracket, comprising a welding manipulator, the welding manipulator comprising a welding gun and a detector for analyzing a welding trajectory, the welding gun being connected to a gas pipe for conveying flux gas, and further comprising:

[0008] A wire control box installed on the welding manipulator, wherein a motor is installed in the wire control box, and a drive end of the motor is connected to a winding column via a drive shaft, and the winding column is rotatably installed in the wire control box, and the gas pipe is slidably installed on the welding manipulator via a plurality of sliders, and one end of the gas pipe away from the welding gun extends into the wire control box through a connecting groove provided on the wire control box, and is wound around the winding column, and is connected to a flux gas supply box;

[0009] A transmission mechanism is arranged in the control box, the transmission mechanism is connected to the guide mechanism, the transmission mechanism is used to transmit the power of the motor to the guide mechanism, and the guide mechanism is used to guide and limit the air pipe wound on the winding column.

[0010] Furthermore, a host is installed in the control box, and the host is connected to the welding gun, the detector and the motor;

[0011] Among them, the types of detectors include laser sensors, visual sensors, etc., which can monitor the position of the weld in real time and send the data to the host. The host controls the welding robot to install the preset trajectory for welding according to the analysis results, so that it can accurately track the weld and perform welding. As a prior art, it will not be elaborated here.

[0012] Furthermore, the transmission mechanism includes a drive box installed in the control box and having a drive shaft passing through the interior, the drive shaft is rotatably connected to the drive box, and the part of the drive shaft in the drive box is connected to a drive gear, the drive gear is meshedly connected with a transmission gear, a transmission shaft is installed on the transmission gear, the transmission gear and the transmission shaft are both rotatably connected to the drive box, and one end of the transmission shaft extends out of the drive box, the transmission mechanism can transmit the power of the motor to the guide mechanism, thereby enhancing the coordination of the overall structure.

[0013] Furthermore, the guiding mechanism includes a movable block installed on the transmission shaft, and the guiding mechanism also includes a transmission rod in the control box that is slidably connected through a plurality of supporting blocks. A guiding block is installed at a position on the transmission rod corresponding to the winding column, and an air pipe is slidably connected in the guiding block. A movable frame is installed at a position on the transmission rod corresponding to the movable block. The movable block is rotatably connected in the movable frame. The guiding mechanism can limit the position of the air pipe when the air pipe is wound up, so that the air pipe is wound around the winding column at a certain angle.

[0014] Furthermore, the transmission rod is rotatably connected to a sleeve through a torsion spring, a resistance block is installed on the sleeve, and a resistance groove is opened on the winding column at a position corresponding to the resistance block, a pressing block is also installed on the sleeve, and buttons A and B are respectively installed at positions corresponding to the pressing blocks in the control box, the buttons A and B are symmetrically arranged through the sleeve, and both buttons A and B are connected to the main engine, when the pressing block touches button A once, it means that the winding column reels the air pipe back and forth, and when the pressing block touches button B once, it means that the winding column releases the air pipe back and forth, which is convenient for controlling the length of the air pipe. When the set threshold is exceeded, the main engine controls the motor to stop rotating and a warning is issued.

[0015] Furthermore, the length of the winding column is 12 times the diameter of the air pipe, and the gear ratio of the driving gear and the transmission gear is 1:12, which can enable the motor to drive the winding drum to rotate 12 circles. Through the transmission of the driving gear and the transmission gear, the winding point of the air pipe can move from one end of the winding column to the other end of the winding column under the drive of the guide block, thereby completing the winding of one layer of the air pipe.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, by means of a wire control box arranged on the welding manipulator, the gas pipe on the welding manipulator can be rolled up according to a preset welding trajectory, so that the winding column can automatically roll up the surplus part of the gas pipe, and under the drive of the guiding mechanism, the gas pipe can be wound around the winding column at a set angle, thereby reducing the possibility of the gas pipes being entangled with each other when being wound around the winding column, reducing manual maintenance steps, thereby solving the problem in the prior art that the surplus gas pipe will interfere with the welding work when the manipulator moves significantly, and at the same time, it can also reduce the risk of the gas pipe being torn off or burned.

[0018] 2. In the present invention, by means of buttons A and B arranged in the control box, the motor drives the winding column to rotate continuously for 24 circles from the initial position. At this time, the transmission rod returns to the initial position, and the contact groove is just close to the contact block. The winding column can drive the shaft sleeve to rotate through the contact groove and the contact block, so that the pressing block presses button A or button B, and the host records this information. Pressing button A means that the winding column rewinds the air pipe back and forth, and pressing button B means that the winding column releases the air pipe back and forth. The host can judge the remaining amount of the air pipe on the winding column at this time, and according to the set threshold, after the remaining amount of the air pipe on the winding column reaches the set threshold, the host controls the motor to stop rotating and prompts the staff to check, which can prevent safety hazards caused by excessive release of the air pipe.

[0019] 3. In the present invention, the motor directly drives the winding column to rotate through the driving shaft, and at the same time drives the mechanism to move through the transmission mechanism, so that the guide block can limit the air pipe. Two driving modes are realized through one driving source, and there is no need to set up multiple sets of power driving devices, which reduces the equipment cost and is conducive to improving the overall coordination of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the wire control box in the present invention;

[0023] Figure 3 It is a schematic diagram of the front cross-section structure of the wire control box in the present invention;

[0024] Figure 4 For the present invention Figure 2 A is an enlarged structural diagram;

[0025] Figure 5 It is a schematic diagram of the guiding mechanism structure in the present invention;

[0026] Figure 6 It is a schematic diagram of the torsion spring structure in the present invention.

[0027] 1. Welding manipulator; 101. Welding gun; 102. Detector; 2. Gas pipe; 3. Wire control box; 4. Drive shaft; 5. Transmission mechanism; 51. Transmission gear; 52. Drive gear; 53. Transmission shaft; 54. Drive box; 6. Guide mechanism; 61. Support block; 62. Transmission rod; 63. Guide block; 64. Movable frame; 65. Movable block; 7. Winding column; 8. Connecting groove; 9. Motor; 10. Resistance groove; 11. Resistance block; 12. Button A; 13. Button B; 14. Bushing; 15. Press block; 16. Torsion spring; 17. Main unit; 18. Slider. DETAILED DESCRIPTION

[0028] Embodiment 1:

[0029] like Figure 1-6 As shown, the present invention provides an intelligent welding manipulator for a vehicle bracket, including a welding manipulator 1, the welding manipulator 1 includes a welding gun 101 and a detector 102 for analyzing a welding trajectory, the welding gun 101 is connected to a gas pipe 2 for conveying flux gas, and further includes:

[0030] A wire control box 3 is installed on the welding manipulator 1, a motor 9 is installed in the wire control box 3, and the driving end of the motor 9 is connected to a winding column 7 through a driving shaft 4, the winding column 7 is rotatably installed in the wire control box 3, and the gas pipe 2 is slidably installed on the welding manipulator 1 through a plurality of sliders 18, and the end of the gas pipe 2 away from the welding gun 101 extends into the wire control box 3 through a connecting groove 8 provided on the wire control box 3, and is wound on the winding column 7, and is connected to the flux gas supply box;

[0031] A transmission mechanism 5 is arranged in the control box 3, and the transmission mechanism 5 is connected to the guide mechanism 6. The transmission mechanism 5 is used to transmit the power of the motor 9 to the guide mechanism 6, and the guide mechanism 6 is used to guide and limit the air delivery pipe 2 wound on the winding column 7;

[0032] In summary, compared with the prior art in which the excess gas pipe 2 may interfere with the welding work or even cause the gas pipe 2 to be torn or burned when the manipulator moves significantly, the present invention can reel in the gas pipe 2 on the welding manipulator 1 according to a preset welding trajectory by means of the control box 3 arranged on the welding manipulator 1, so that the reeling column 7 can automatically reel in the excess part of the gas pipe 2, and at the same time, the driving mechanism can also drive the guiding mechanism 6, so that the gas pipe 2 can be wound around the reeling column 7 at a set angle, thereby reducing the possibility of the gas pipe 2 being entangled with each other when being wound around the reeling column 7, reducing the manual maintenance steps, and allowing the gas pipe 2 to be wound more evenly;

[0033] The control box 3 is provided with a host 17, which is connected to the welding gun 101, the detector 102 and the motor 9;

[0034] It should be noted that the types of detectors 102 include laser sensors, visual sensors, etc., which can monitor the position of the weld in real time and send data to the host 17. The host 17 controls the welding robot 1 to weld according to the preset trajectory according to the analysis results, so that it can accurately track the weld and weld. As a prior art, it will not be described in detail;

[0035] The transmission mechanism 5 includes a drive box 54 installed in the control box 3 and having a drive shaft 4 running through it. The drive shaft 4 is rotatably connected to the drive box 54, and the portion of the drive shaft 4 in the drive box 54 is connected to a drive gear 52, which is meshed with a transmission gear 51. A transmission shaft 53 is installed on the transmission gear 51, and both the transmission gear 51 and the transmission shaft 53 are rotatably connected to the drive box 54, and one end of the transmission shaft 53 extends out of the drive box 54.

[0036] The guide mechanism 6 includes a movable block 65 installed on the transmission shaft 53, and the guide mechanism 6 also includes a transmission rod 62 slidably connected to the control box 3 through a plurality of support blocks 61, a guide block 63 is installed at a position corresponding to the winding column 7 on the transmission rod 62, and an air pipe 2 is slidably connected in the guide block 63, and a movable frame 64 is installed at a position corresponding to the movable block 65 on the transmission rod 62, and the movable block 65 is rotatably connected in the movable frame 64;

[0037] It is worth noting that the motor 9 directly drives the winding column 7 to rotate through the driving shaft 4, and at the same time drives the mechanism to move through the transmission mechanism 5, so that the guide block 63 can limit the gas pipe 2, and two driving modes are realized through one driving source, without setting multiple sets of power driving devices, reducing equipment costs, and helping to improve the overall coordination of the equipment;

[0038] Among them, the transmission rod 62 is rotatably connected to the shaft sleeve 14 through the torsion spring 16, and the shaft sleeve 14 is installed with a resistance block 11, and the winding column 7 is provided with a resistance groove 10 at a position corresponding to the resistance block 11, and the shaft sleeve 14 is also installed with a pressing block 15, and the positions corresponding to the pressing block 15 in the control box 3 are respectively installed with a button A12 and a button B13, and the button A12 and the button B13 are symmetrically arranged through the shaft sleeve 14, and the button A12 and the button B13 are connected to the host 17;

[0039] It is worth noting that when the pressing block 15 touches the button A12 once, it means that the reeling column 7 reels the gas pipe 2 back and forth, and when the pressing block 15 touches the button B13 once, it means that the reeling column 7 releases the gas pipe 2 back and forth, which is convenient for controlling the length of the gas pipe 2;

[0040] It should be noted that the length of the winding column 7 is 12 times the diameter of the gas pipe 2, and the gear ratio of the driving gear 52 and the transmission gear 51 is 1:12, which enables the motor 9 to drive the winding drum to rotate 12 circles, and through the transmission of the driving gear 52 and the transmission gear 51, the winding point of the gas pipe 2 can be moved from one end of the winding column 7 to the other end of the winding column 7 under the drive of the guide block 63, completing the winding of one layer of the gas pipe 2;

[0041] When welding the vehicle bracket, the welding point of the vehicle bracket is first located by the detector 102, and the result is fed back to the host 17. The host 17 controls the manipulator to drive the welding gun 101 to move to the preset welding point. At the same time, the host 17 drives the motor 9 according to the determined preset welding point, so that the motor 9 drives the winding column 7 to rotate through the driving shaft 4. For example, when the preset welding position is less than the default reference position, the motor 9 rotates forward, so that the winding column 7 rotates forward, and the gas pipe 2 wound on the winding column 7 is wound, so as to avoid redundant gas pipes 2 on the welding manipulator 1 when the manipulator drives the welding gun 101 to move;

[0042] It is worth noting that when the motor 9 drives the winding column 7 to wind up the air pipe 2 through the driving shaft 4, the driving gear 52 drives the driven gear to rotate under the drive shaft 4, and the movable block 65 is rotated in the movable frame 64 through the transmission shaft 53. The movable block 65 is irregular in shape. When rotating in the movable frame 64, it can drive the movable frame 64 to drive the transmission rod 62 to move. Under the limit of the support block 61, the movable frame 64 drives the transmission rod 62 to slide in the control box 3, so that the guide block 63 passing through the air pipe 2 inside moves back and forth at both ends of the winding column 7, which can constrain the winding trajectory of the air pipe 2 wound on the winding column 7, so that it can be wound more evenly, and it can avoid the air pipes 2 from being entangled with each other without constraints;

[0043] At the same time, when the winding column 7 is driven by the motor 9, it rotates 24 times in one direction. Here, the net rotation refers to the cumulative rotation of the winding column 7 in one direction, and the number of rotations in the reverse direction is subtracted in this process. For example, the winding column 7 starts to rotate 18 times in the forward direction, and then rotates 6 times in the reverse direction. At this time, the winding column 7 rotates 12 times in the forward direction to complete a net rotation of 24 times in the forward direction, or the winding column 7 rotates 36 times in the reverse direction to complete a net rotation of 24 times in the reverse direction.

[0044] If the reel 7 completes 24 net rotations in the forward direction, since the length of the reel 7 is 12 times the diameter of the gas pipe 2, and the gear ratio of the driving gear 52 to the transmission gear 51 is 1:12, the transmission rod 62 returns to the initial position with the reel 7 in the control box 3, that is, the abutment block 11 slides into the abutment groove 10, and the reel 7 drives the shaft sleeve 14 to rotate. When the shaft sleeve 14 rotates, it compresses the torsion spring 16 and enables the pressing block 15 to press the button A12 once. The button A12 indicates to the host 17 that the reeling column 7 reels the air pipe 2 back and forth. On the contrary, if the reeling column 7 completes 24 net reverse rotations, similarly, the sleeve 14 compresses the torsion spring 16 to rotate, and the pressing block 15 presses the button B13 once, indicating that the reeling column 7 releases the air pipe 2 back and forth. After the pressing block 15 touches the button A12 or the button B13, the sleeve 14 will bring the pressing block 15 back to its original position under the elastic force of the torsion spring 16.

[0045] The host 17 can determine the retraction and extension status of the gas pipe 2 by the number of times the button A12 and the button B13 are pressed, and a blocking threshold can be set on the host 17. When this threshold is reached, the host 17 controls the welding robot 1 and the motor 9 to stop working, and prompts the staff to check to avoid the entanglement of the gas pipe 2. Through a simple counting method, the possibility of accidents caused by the entanglement of the gas pipe 2 can be reduced.

[0046] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. An intelligent welding manipulator for a vehicle bracket, comprising a welding manipulator (1), the welding manipulator (1) comprising a welding gun (101) and a detector (102) for analyzing a welding trajectory, the welding gun (101) being connected to a gas pipe (2) for conveying flux gas, It is characterized in that Also includes: A wire control box (3) mounted on a welding manipulator (1), wherein a motor (9) is mounted in the wire control box (3), and a driving end of the motor (9) is connected to a winding column (7) via a driving shaft (4), and the winding column (7) is rotatably mounted in the wire control box (3), and the gas supply pipe (2) is slidably mounted on the welding manipulator (1) via a plurality of sliders (18), and an end of the gas supply pipe (2) away from the welding gun (101) extends into the wire control box (3) via a connecting groove (8) provided on the wire control box (3), and is wound around the winding column (7), and is connected to a flux gas supply box; A transmission mechanism (5) is arranged in the control box (3), the transmission mechanism (5) is connected to the guide mechanism (6), the transmission mechanism (5) is used to transmit power of the motor (9) to the guide mechanism (6), and the guide mechanism (6) is used to guide and limit the air pipe (2) wound on the winding column (7); The guide mechanism (6) comprises a movable block (65) mounted on the transmission shaft (53), the guide mechanism (6) further comprising a transmission rod (62) slidably connected to the wire control box (3) via a plurality of support blocks (61), a guide block (63) being mounted on the transmission rod (62) at a position corresponding to the winding column (7), an air delivery pipe (2) being slidably connected to the guide block (63), and a movable frame (64) being mounted on the transmission rod (62) at a position corresponding to the movable block (65), the movable block (65) being rotatably connected to the movable frame (64); The transmission rod (62) is rotatably connected to a shaft sleeve (14) via a torsion spring (16); a resistance block (11) is mounted on the shaft sleeve (14); a resistance groove (10) is provided on the winding column (7) at a position corresponding to the resistance block (11); a pressing block (15) is also mounted on the shaft sleeve (14); and a button A (12) and a button B (13) are respectively mounted at positions corresponding to the pressing block (15) in the control box (3); the button A (12) and the button B (13) are symmetrically arranged via the shaft sleeve (14); and the button A (12) and the button B (13) are both connected to a host (17).

2. According to claim 1, an intelligent welding manipulator for a vehicle bracket, Features: A main machine (17) is installed in the control box (3), and the main machine (17) is connected to the welding gun (101), the detector (102) and the motor (9).

3. According to claim 2, the intelligent welding manipulator for vehicle bracket, Features: The transmission mechanism (5) comprises a drive box (54) installed in the control box (3) and having a drive shaft (4) running through the drive box (54), the drive shaft (4) being rotatably connected to the drive box (54), and the portion of the drive shaft (4) in the drive box (54) being connected to a drive gear (52), the drive gear (52) being meshingly connected to a transmission gear (51), a transmission shaft (53) being mounted on the transmission gear (51), the transmission gear (51) and the transmission shaft (53) being rotatably connected to the drive box (54), and one end of the transmission shaft (53) extending out of the drive box (54).

4. According to claim 3, the intelligent welding manipulator for vehicle bracket, Features: The length of the winding column (7) is 12 times the diameter of the air delivery pipe (2), and the gear ratio between the driving gear (52) and the transmission gear (51) is 1:12.

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