An industrial welding robot with multiple degrees of freedom

Abstract

The present invention relates to an industrial welding robot with multiple degrees of freedom, and in particular to the field of welding technology. Regarding the problem that the through holes and pipelines of containers are prone to misalignment and movement during the welding process. It includes a support seat, a mechanical arm is arranged on the support seat, the mechanical arm is rotatably connected to a rotating rod, a sliding sleeve is slidably connected to the rotating rod, the sliding sleeve is rotatably connected to a rotating ring, the rotating ring is slidably connected to a sliding frame, the sliding frame is rotatably connected to a rotating cylinder connected thereto, a mirror-image limiting sliding rod is slidably connected in the rotating cylinder, the sliding sleeve is slidably connected to an extrusion plate, and the extrusion plate is slidably connected to a mirror-image limiting slide plate. The present invention makes the left side of the pipeline fit closely with the side wall of the container through the movement of the limiting slide rod and the limiting slide plate, thereby ensuring the fixed position of the pipeline during the welding process and its own stability, and improving the welding quality of the device and the reliability of the connection between the container and the pipeline.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to an industrial welding robot with multiple degrees of freedom. Background Art

[0002] A pressure vessel is a closed device that carries gas or liquid. In order to ensure the reliable sealing and stable operation of the pressure vessel, it is usually necessary to install pipes at the container through-holes through welding technology, and to weld the inside and outside of the container through-holes and the pipe connections. However, when existing welding robots weld the inside of the container through-holes and the pipe connections, due to the limitations of the internal space of the pipe and the gravity of the pipe itself, as well as the influence of welding thermal stress, the pipe may move slightly and be misaligned with the container through-hole, resulting in the sealing of the container through-hole and the pipe connection being affected, reducing the quality of the overall welding work and the reliability of the container. For this reason, it is necessary to develop an industrial welding robot with stable fixing and control functions. Summary of the invention

[0003] In view of the problem that through holes and pipes of containers are prone to misalignment and movement during welding, the present invention provides an industrial welding robot with multiple degrees of freedom.

[0004] Technical solution: An industrial welding robot with multiple degrees of freedom, comprising a support seat, wherein a mechanical arm is arranged on the support seat, the mechanical arm is rotatably connected to a rotating rod, the rotating rod is rotatably connected to a welding head, the rotating rod is slidably connected to a sliding sleeve, the sliding sleeve is rotatably connected to a rotating ring, the rotating ring is slidably connected to a sliding frame, a liquid guide channel is arranged in the sliding frame, the sliding frame is rotatably connected to a rotating cylinder connected thereto, a mirror image limit sliding rod is slidably connected in the rotating cylinder, the sliding sleeve is slidably connected to an extrusion plate, the extrusion plate is slidably connected to a mirror image limit slide plate, the mirror image limit slide plates are all fixedly connected to the extrusion plate with tension springs, a clamping mechanism for controlling the synchronous movement of the mirror image limit slide plates is arranged on the side wall of the sliding sleeve, and a distance control mechanism for detecting the movement of the extrusion plate is arranged on the rotating ring.

[0005] As a preferred embodiment of the present invention, the sides of the mirror image limiting slides that are close to each other are both set as arc surfaces, and the curvature of the arc surface of the limiting slide is the same as the curvature of the side wall of the pipeline, which is used to increase the contact area between the mirror image limiting slide and the pipeline.

[0006] As a preferred embodiment of the present invention, the clamping mechanism includes a first hydraulic cylinder, which is fixedly connected to the side wall of the sliding sleeve, the telescopic end of the first hydraulic cylinder penetrates the extrusion plate, the telescopic end of the first hydraulic cylinder is slidably connected to the extrusion plate, a tension spring is fixedly connected between the telescopic end of the first hydraulic cylinder and the extrusion plate, the first hydraulic cylinder is connected to a first fluid guide tube, the extrusion plate is fixedly connected to a mirror-image first fixed cylinder, the first fixed cylinder is connected to the first fluid guide tube, the first fixed cylinder is slidably connected to a first piston rod slidably connected to the corresponding limiting slide, and a spring is fixedly connected between the first piston rod and the corresponding limiting slide.

[0007] As a preferred embodiment of the present invention, the distance control mechanism includes a fixed ring, which is fixed to a side of the extrusion plate away from the first hydraulic cylinder, and a connecting tube is fixed to a side of the rotating ring close to the extrusion plate, and the connecting tube is slidably connected to a sliding rod, and a through hole communicating with the connecting tube is provided in the sliding rod, and a sliding column slidably connected to the fixed ring is limitedly slidably connected in the through hole of the sliding rod, a transmission assembly for controlling the movement of the sliding frame is provided on the side wall of the rotating ring, a rotating positioning assembly for locating the position of the pipeline is provided on the mirrored limiting sliding rod, and a moving assembly for controlling the limiting position of the sliding sleeve is provided on one side of the rotating ring.

[0008] As a preferred embodiment of the present invention, the transmission assembly includes a second fixed cylinder with a mirror image, the second fixed cylinder with a mirror image is fixed to the side wall of the rotating ring, the second fixed cylinder is slidably connected to a second piston rod fixed to the sliding frame, a tension spring is fixed between the second fixed cylinder and the corresponding second piston rod, the side of the connecting cylinder away from the sliding column is connected to a second liquid guide tube, and the second fixed cylinder with a mirror image is connected to the second liquid guide tube.

[0009] As a preferred embodiment of the present invention, the rotation positioning assembly includes a mirror-image sliding block, and the mirror-image sliding blocks are respectively slidably connected to the corresponding limit sliding rods, a pressure sensing sheet is fixedly connected to the limit sliding rod, a spring is fixedly connected between the pressure sensing sheet and the corresponding sliding block, a spring is fixedly connected between the limit sliding rod and the rotating cylinder, a centrally symmetrical guide groove is provided on the side wall of the sliding sleeve, and a mirror-image protrusion is provided on the extrusion plate, and the protrusion on the extrusion plate slides in the corresponding guide groove.

[0010] As a preferred embodiment of the present invention, the guide groove consists of a straight groove and an arc groove, and the arc range of the arc groove part of the guide groove in the circumferential direction is 180°, which is used to limit the rotation angle of the extrusion plate.

[0011] As a preferred embodiment of the present invention, the moving component includes an arc-shaped hydraulic cylinder, which is fixedly connected to a side of the rotating ring close to the welding head, the telescopic end of the arc-shaped hydraulic cylinder is extruded and matched with the welding head, the arc-shaped hydraulic cylinder is connected to a guide pipe, the side of the sliding sleeve close to the extrusion plate is fixedly connected to a second hydraulic cylinder connected to the guide pipe, the rotating rod is provided with a limiting groove, the sliding sleeve is slidably connected to a limiting block that is limited and matched with the limiting groove of the rotating rod, the limiting block is fixedly connected to the telescopic end of the second hydraulic cylinder, a spring is fixedly connected between the limiting block and the sliding sleeve, and a spring is fixedly connected between the rotating rod and the sliding sleeve.

[0012] As a preferred embodiment of the present invention, it also includes a dust removal mechanism, which is arranged at one end of the mechanical arm close to the rotating rod, and the dust removal mechanism is used to remove dust from the welding points of pipes and container through holes, and the dust removal mechanism includes a dust collecting box, and the dust collecting box is fixedly connected to one end of the mechanical arm close to the rotating rod, and the dust collecting box is connected to an air duct, and the sliding frame is rotatably connected to a mirror-image air suction cylinder, and the mirror-image air suction cylinders are all connected to the air duct, and the welding head is fixedly connected to a toggle block, and the mirror-image air suction cylinders are all slidably connected to the toggle block, and a control component for controlling the rotation of the rotating cylinder is provided on the side of the sliding frame close to the rotating cylinder.

[0013] As a preferred embodiment of the present invention, the control component includes an electric push rod, which is fixed to a side of the sliding frame close to the rotating cylinder, and the telescopic end of the electric push rod is fixed to a toggle rod slidably connected to the sliding frame, and the toggle rod is squeezed and fitted with the rotating cylinder.

[0014] Compared with the prior art, the present invention has the following advantages: 1. The present invention enables the left side of the pipeline to fit tightly against the side wall of the container by moving the limiting slide rod and the limiting slide plate, thereby ensuring the fixed position and stability of the pipeline during welding, and improving the welding quality of the device and the reliability of the connection between the container and the pipeline.

[0015] 2. By moving the second piston rod in the transmission assembly, the sliding frame and the rotating ring slide relative to each other, which facilitates the extrusion and fixation of the limit slide bar on the inner wall of the container, thereby ensuring the stability and accuracy of the positioning of the limit slide bar in the container.

[0016] 3. By guiding the extrusion plate protrusions through the guide grooves in the rotating positioning assembly, the pipeline is rotated and adjusted, ensuring full fit between the pipeline and the side wall of the container, and improving the tightness of the connection between the inner wall of the pipeline and the through hole of the container.

[0017] 4. The welding joint of the welding joint is cleaned in advance by the vacuum tube in the dust removal mechanism, which ensures the quality and continuity of the weld and improves the sealing between the container and the pipeline after the welding of the device is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a three-dimensional structural schematic diagram of the parts of the mechanical arm and the rotating rod of the present invention;

[0020] Figure 3 It is a three-dimensional structural schematic diagram of the parts of the rotating rod and the sliding sleeve of the present invention;

[0021] Figure 4 It is a three-dimensional structural schematic diagram of the parts of the rotating cylinder and the limiting sliding rod of the present invention;

[0022] Figure 5 It is a three-dimensional structural schematic diagram of the parts at the first fixed cylinder and the first piston rod of the present invention;

[0023] Figure 6 It is a three-dimensional structural schematic diagram of the parts at the sliding rod and the second piston rod of the present invention;

[0024] Figure 7 It is a three-dimensional structural schematic diagram of the parts of the sliding block and the limit sliding rod of the present invention;

[0025] Figure 8 It is a three-dimensional structural schematic diagram of the parts at the second hydraulic cylinder and the limit block of the present invention;

[0026] Fig. 9 An exploded view of the guide groove and the extrusion plate of the present invention;

[0027] Fig.10 It is a three-dimensional structural schematic diagram of the parts of the dust collecting box and the air guide pipe of the present invention;

[0028] Fig.11 It is a three-dimensional structural schematic diagram of the parts of the electric push rod and the toggle rod of the present invention.

[0029] Among them, the above drawings include the following figure marks: 1, support seat, 2, mechanical arm, 3, rotating rod, 4, welding head, 5, sliding sleeve, 6, rotating ring, 7, sliding frame, 8, rotating cylinder, 9, limiting slide bar, 10, extrusion plate, 11, limiting slide plate, 20, clamping mechanism, 201, first hydraulic cylinder, 202, first liquid guide tube, 203, first fixed cylinder, 204, first piston rod, 30, distance control mechanism, 301, fixed ring, 302, connecting cylinder, 303, sliding rod, 304, sliding column, 40, Transmission assembly, 401, second fixed cylinder, 402, second piston rod, 403, second liquid guide tube, 50, rotation positioning assembly, 501, sliding block, 502, pressure sensing sheet, 503, guide groove, 60, moving assembly, 601, arc-shaped hydraulic cylinder, 602, guide tube, 603, second hydraulic cylinder, 604, limit block, 70, dust removal mechanism, 701, dust collecting box, 702, air guide tube, 703, suction cylinder, 704, toggle block, 80, control assembly, 801, electric push rod, 802, toggle rod. DETAILED DESCRIPTION

[0030] Although the present invention may be described with respect to a particular application or industry, those skilled in the art will recognize the broader applicability of the present invention. Those of ordinary skill in the art will recognize that terms such as above, below, upward, downward, etc. are used to describe the drawings and do not represent limitations on the scope of the present invention as defined by the appended claims. Any numerical designations such as first or second are merely exemplary and are not intended to limit the scope of the present invention in any way.

[0031] Example 1: When an existing welding robot welds the inner side of the connection between a container through hole and a pipe, the pipe may move slightly due to the heat of welding and the gravity of the pipe itself, causing misalignment between the container through hole and the pipe, affecting the sealing of the connection between the container through hole and the pipe, and reducing the quality of the overall welding work.

[0032] An industrial welding robot with multiple degrees of freedom, referring to Figure 1-Figure 4As shown, it includes a support base 1, a control panel (not shown in the figure) is arranged on the support base 1, a mechanical arm 2 is arranged on the support base 1, the mechanical arm 2 is rotatably connected to a rotating rod 3, the rotating rod 3 is rotatably connected to a welding head 4, the welding head 4 is an arc welding gun, and the welding head 4 only swings up and down on the rotating rod 3, a sliding sleeve 5 is slidably connected to the rotating rod 3, a rotating ring 6 is rotatably connected to the left side of the sliding sleeve 5, the rotating ring 6 is slidably connected to a sliding frame 7, the sliding frame 7 is in an N shape, the welding head 4 is located between the rotating ring 6 and the sliding frame 7, a liquid guide channel is arranged in the sliding frame 7, the sliding frame 7 is rotatably connected to a rotating cylinder 8 connected thereto, the rotating connection between the rotating cylinder 8 and the sliding frame 7 is located in the middle thereof, two limit slide bars 9 of upper and lower mirror images are slidably connected in the rotating cylinder 8, the minimum spacing between the opposite ends of the two limit slide bars 9 is less than the inner diameter of the pipe, an extrusion plate 10 is slidably connected to the right side of the sliding sleeve 5, the extrusion plate 10 is slidably connected to two limit slide plates 11 of upper and lower mirror images, and the two limit slide plates 11 are both between the extrusion plate 10 A tension spring is fixedly connected, and the sides of the two limit slides 11 that are close to each other are both set to an arc surface. The curvature of the arc surface of the limit slide 11 is the same as the curvature of the side wall of the pipeline, which is used to increase the contact area between the mirror limit slide 11 and the pipeline, and ensure the stability of the limit slide 11 fixing the pipeline. A clamping mechanism 20 for controlling the synchronous movement of the mirror limit slide 11 is arranged on the side wall of the sliding sleeve 5, and a distance control mechanism 30 for detecting the movement of the extrusion plate 10 is arranged on the rotating ring 6. The mechanical arm 2, the welding head 4 and the distance control mechanism 30 are all electrically connected to the control panel. Hydraulic oil is injected between the two upper and lower mirror limit slide bars 9 in the rotating cylinder 8 and in the liquid guide channel of the sliding frame 7, that is, hydraulic oil is injected into the liquid guide channel of the sliding frame 7 and between the mirror limit slide bars 9 in the rotating cylinder 8. Through the movement of the limit slide 11 and the limit slide bar 9, the purpose of stably fixing the pipeline at the container through hole is achieved, which ensures the stability of the pipeline itself during the welding process, and improves the tightness and reliability of the device for welding the pipeline and the container through hole.

[0033] Reference Figure 2 and Figure 5As shown, the clamping mechanism 20 includes a first hydraulic cylinder 201, which is fixedly connected to the right side wall of the sliding sleeve 5, and the fixed part of the first hydraulic cylinder 201 is located on the right side of the extrusion plate 10. The telescopic end of the first hydraulic cylinder 201 penetrates the extrusion plate 10, and the telescopic end of the first hydraulic cylinder 201 is slidably connected to the extrusion plate 10. A tension spring is fixedly connected between the telescopic end of the first hydraulic cylinder 201 and the extrusion plate 10, and the extrusion plate 10 drives the telescopic end of the first hydraulic cylinder 201 to move through the tension spring. The first hydraulic cylinder 201 is connected to a first liquid guide tube 202, and the extrusion plate 10 is fixedly connected to two first fixed cylinders 203 with upper and lower mirror images, and the first fixed cylinder 203 is close to the side of the corresponding limit slide plate 11 and the first liquid guide tube 20 2 is connected, the first fixed cylinder 203 is slidably connected with the first piston rod 204, the first piston rod 204 is slidably connected with the corresponding limiting slide 11, a spring is fixedly connected between the first piston rod 204 and the corresponding limiting slide 11, the spring is used to ensure the extrusion force of the corresponding limiting slide 11 on the pipeline, the two first piston rods 204 drive the two limiting slides 11 to approach each other through the spring, the side of the first fixed cylinder 203 corresponding to the first piston rod 204 close to the corresponding limiting slide 11 and the first liquid guide tube 202 are filled with hydraulic oil, and the extrusion plate 10 moves to the right, so that the two limiting slides 11 are close to each other, the side wall of the pipeline is clamped and fixed, so as to ensure the stability of the pipeline position in the subsequent welding process.

[0034] Reference Figure 2 , Figure 5 and Figure 6 As shown, the distance control mechanism 30 includes a fixed ring 301, which is fixedly connected to the left side of the extrusion plate 10, and a connecting cylinder 302 is fixedly connected to the lower side of the rotating ring 6. The connecting cylinder 302 is slidably connected to a sliding rod 303. A through hole is provided in the sliding rod 303, and the through hole of the sliding rod 303 is communicated with the connecting cylinder 302. A sliding column 304 is limitedly slidably connected in the through hole of the sliding rod 303. The hydraulic oil in the connecting cylinder 302 enters the through hole of the sliding rod 303 by moving the sliding column 304 to the right. The sliding column 304 is slidably connected to the fixed ring 301, so that the extrusion plate 10 can still drive the sliding column 304 to move synchronously during the rotation process. The moving range of the sliding column 304 is equal to the moving range of the extrusion plate 10. A transmission component 40 for controlling the movement of the sliding frame 7 is arranged on the side wall of the rotating ring 6. A rotating positioning component 50 for locating the position of the pipeline is arranged on the mirror-image limit slide rod 9. A moving component 60 for controlling the limit of the sliding sleeve 5 is arranged on one side of the rotating ring 6. The rotating positioning component 50 is electrically connected to the control panel. The left side of the sliding rod 303 in the connecting cylinder 302 and the through hole of the sliding rod 303 are filled with hydraulic oil. The sliding column 304 slides with the fixed ring 301, so that the extrusion plate 10 synchronously drives the sliding rod 303 and the sliding column 304 to move when moving.

[0035] Reference Figure 2 and Figure 6 As shown, the transmission assembly 40 includes two second fixed cylinders 401 with front and rear mirror images, the two second fixed cylinders 401 are fixedly connected to the side wall of the rotating ring 6, the second fixed cylinder 401 is slidably connected with the second piston rod 402, the second piston rod 402 is fixedly connected to the sliding frame 7, and the sliding frame 7 slides relative to the rotating ring 6 through the action of the two second piston rods 402, a tension spring is fixedly connected between the second fixed cylinder 401 and the corresponding second piston rod 402, the right side of the connecting cylinder 302 is connected with the second liquid guide tube 403, the two second fixed cylinders 401 are connected with the second liquid guide tube 403, the right side of the second fixed cylinder 401 corresponding to the second piston rod 402 and the second liquid guide tube 403 are filled with hydraulic oil, the sliding rod 303 and the sliding column 304 are driven to move by the extrusion plate 10, and then the movement of the sliding frame 7 is controlled by the hydraulic oil, so as to achieve the purpose of controlling the relative movement of the two limit sliding bars 9.

[0036] Reference Figure 2 , Figure 7 and Fig. 9 As shown, the rotation positioning assembly 50 includes two sliding blocks 501 with upper and lower mirror images, and the two sliding blocks 501 are respectively slidably connected to the corresponding limiting sliding rods 9. The limiting sliding rods 9 are fixedly connected with a pressure sensing sheet 502, and a spring is fixedly connected between the pressure sensing sheet 502 and the corresponding sliding blocks 501. When the two sliding blocks 501 are close to each other, the moving distance of the sliding blocks 501 is converted into pressure by the spring to act on the corresponding pressure sensing sheet 502, so that the device is convenient to align the inner wall of the pipeline and the through hole of the container. The limiting sliding rod 9 is fixedly connected with the rotating cylinder 8. Two centrally symmetrical guide grooves 503 are arranged on the side wall of the sliding sleeve 5, and two convex blocks with upper and lower mirror images are arranged on the extrusion plate 10. The convex blocks on the extrusion plate 10 slide in the corresponding guide grooves 503, and the convex blocks on the extrusion plate 10 slide in the corresponding guide grooves 503. The block slides in the corresponding guide groove 503 to achieve the purpose of controlling the limited rotation of the extrusion plate 10. The guide groove 503 is composed of a straight groove and an arc groove. The arc groove is located on the right side of the straight groove. The arc of the arc groove part of the guide groove 503 has a circumferential range of 180°, which is used to limit the rotation angle of the extrusion plate 10. Initially, the protrusion of the extrusion plate 10 is located at the leftmost side of the straight groove corresponding to the guide groove 503. The pressure sensing sheet 502 is electrically connected to the control panel. By controlling the moving distance of the two sliding blocks 501 and limiting the guide groove 503, the purpose of controlling the rotation of the extrusion plate 10 and aligning the inner wall of the pipeline and the through hole of the container is achieved, thereby ensuring the flatness and accuracy of the connection at the joint of the pipeline and the through hole of the container, and improving the accuracy and stability of the welding effect of the device.

[0037] Reference Figure 2 , Figure 5 , Figure 6 and Figure 8As shown, the moving assembly 60 includes an arc-shaped hydraulic cylinder 601, which is fixedly connected to the left side of the rotating ring 6, and the telescopic end of the arc-shaped hydraulic cylinder 601 is pressed and matched with the welding head 4. The arc-shaped hydraulic cylinder 601 is connected with a guide tube 602, and a second hydraulic cylinder 603 is fixedly connected to the right side of the sliding sleeve 5, and the second hydraulic cylinder 603 is connected with the guide tube 602. A limiting groove is set on the right side of the rotating rod 3, and the sliding sleeve 5 is slidably connected to a limiting block 604. The limiting block 604 is limitedly matched with the limiting groove of the rotating rod 3, and the arc-shaped hydraulic cylinder is connected to the welding head 4 through the welding head 4. The telescopic end of 601 is squeezed to release the relative fixation of the rotating rod 3 and the sliding sleeve 5, the limit block 604 is fixedly connected to the telescopic end of the second hydraulic cylinder 603, a spring is fixedly connected between the limit block 604 and the sliding sleeve 5, a spring is fixedly connected between the rotating rod 3 and the sliding sleeve 5, the guide tube 602 is filled with hydraulic oil, the sliding sleeve 5 limits the rotating rod 3 through the limit block 604, so that the rotating rod 3 and the sliding sleeve 5 are relatively fixed, and the limit of the rotating rod 3 is released only when the welding head 4 is rotated for welding, thereby ensuring the accuracy and stability of the curved welding of the through-hole seams of pipelines and containers.

[0038] When the device is used to weld the inner and outer sides of the container through hole and the pipeline connection, the operator starts the robot arm 2 through the control panel, and the robot arm 2 drives the rotating rod 3 and the welding head 4 and the parts connected thereto to move to the container through hole and position them. The limit block 604 limits the rotating rod 3 and the sliding sleeve 5 to move synchronously. At this time, the operator places the pipeline at the container through hole, and the robot arm 2 drives the rotating cylinder 8 to pass through the inside of the pipeline and enter the container through hole. In the process of the rotating cylinder 8 moving into the through hole, the right side of the pipeline contacts and pushes the extrusion plate 10, and the extrusion plate 10 moves to the right relative to the sliding sleeve 5, and the left side of the pipeline remains in contact with the container.

[0039] When the extrusion plate 10 moves to the right relative to the sliding sleeve 5, the extrusion plate 10 drives the telescopic end of the first hydraulic cylinder 201 to move to the right through the tension spring, the telescopic end of the first hydraulic cylinder 201 is retracted, and the hydraulic oil in the first hydraulic cylinder 201 flows into the two first fixed cylinders 203 through the first liquid guide tube 202. The hydraulic oil in the first fixed cylinder 203 increases, and the two first piston rods 204 approach each other. The first piston rod 204 drives the corresponding limit slide 11 to move through the spring, and the limit slide 11 stretches the spring connected to it. The two limit slides 11 approach each other, and the arc surface of the limit slide 11 adheres to the side wall of the pipeline and clamps it in the pipeline. As the first piston rod 204 moves, the spring between the first piston rod 204 and the corresponding limit slide 11 is compressed, and at the same time, the tension spring between the extrusion plate 10 and the telescopic end of the first hydraulic cylinder 201 is stretched.

[0040] When the extrusion plate 10 moves to the right relative to the sliding sleeve 5, the extrusion plate 10 drives the sliding rod 303 and the sliding column 304 to move to the right through the fixing ring 301. The sliding rod 303 slides to the right in the connecting cylinder 302. The left space of the sliding rod 303 in the connecting cylinder 302 increases and generates negative pressure. The hydraulic oil on the right side of the second piston rod 402 in the second fixing cylinder 401 flows into the connecting cylinder 302 through the second liquid guide tube 403. At the same time, the sliding column 304 slides in the through hole of the sliding rod 303. The hydraulic oil in the connecting cylinder 302 enters the through hole of the sliding rod 303.

[0041] During the movement of the second piston rod 402 to the right, the second piston rod 402 stretches the tension spring connected to it, and the two second piston rods 402 jointly drive the sliding frame 7 to move rightward relative to the rotating ring 6, and the rotating ring 6 moves into the sliding frame 7. The hydraulic oil in the liquid guide channel of the sliding frame 7 enters the rotating cylinder 8, and the two limit slide bars 9 move away from each other. The limit slide bar 9 compresses the spring connected to it, and the rotating cylinder 8 and the limit slide bar 9 move synchronously with the sliding frame 7. During the movement of the rotating cylinder 8 and the limit slide bar 9 to the right, the limit slide bar 9 contacts and squeezes the inner wall of the container, so that the limit slide bar 9 drives the rotating cylinder 8 to rotate and adjust relative to the sliding frame 7, and finally keeps the rotating cylinder 8 and the limit slide bar 9 in a vertical state and squeezes and limits the inner wall of the container. The limit slide bar 9 squeezes and limits the inner wall of the container, which ensures the tightness of the connection between the pipeline and the container, and improves the rapidity of pipeline positioning before subsequent welding.

[0042] When the extrusion plate 10 moves to the right relative to the sliding sleeve 5, the protrusion of the extrusion plate 10 slides to the right in the straight groove part of the guide groove 503. When the protrusion of the extrusion plate 10 enters the arc groove part of the guide groove 503, the extrusion plate 10 presses the pipe against the through hole of the container side wall. As the extrusion plate 10 continues to move to the right on the sliding sleeve 5, the protrusion of the extrusion plate 10 moves in the arc groove of the guide groove 503, so that the extrusion plate 10 drives the pipe to rotate clockwise (from right to left) through the limiting slide plate 11. When the pipe is fully attached to the side wall of the container, After closing, the pipeline stops moving, the limiting slide plate 11 slides relative to the pipeline, and the extrusion plate 10 continues to drive the two limiting slide plates 11 to rotate. When the protrusion of the extrusion plate 10 moves to the right to the limit position in the arc groove of the guide groove 503, the robot arm 2 stops driving the rotating rod 3 to move to the left, and the two limiting slide plates 11 continue to clamp and fix the pipeline. Through the rotation of the extrusion plate 10, the arc surface on the left side of the pipeline is fully fitted with the side wall of the container, which ensures the tightness of the connection between the pipeline and the container and improves the comprehensiveness of the seam between the inner wall of the pipeline and the through hole of the container.

[0043] When the extrusion plate 10 moves to the right and rotates relative to the sliding sleeve 5, the sliding column 304 slides on the fixing ring 301, and the second piston rod 402 continues to pull the sliding frame 7 to the right. The two limit slide bars 9 maintain the extrusion of the inner wall of the container. When the robot arm 2 stops driving the rotating rod 3, the sliding frame 7, the rotating cylinder 8 and the limit slide bar 9 all stop moving. Through the joint action of the two limit slide bars 9 and the extrusion plate 10, the pipeline is squeezed and fixed at the through hole of the side wall of the container. The two limit slide plates 11 clamp the pipeline to prevent the pipeline from moving downward due to its own gravity during welding.

[0044] In the process of the two limit slide bars 9 approaching and contacting the inner wall of the container, the limit slide bars 9 drive the parts thereon to move synchronously, the sliding block 501 contacts and squeezes the edge of the container through hole, the two sliding blocks 501 approach each other, the spring between the sliding block 501 and the corresponding pressure sensing sheet 502 is compressed, and the two pressure sensing sheets 502 feed back the pressure they receive to the control panel. When the rotating rod 3 stops moving, the control panel controls the rotating rod 3 to move up and down through the mechanical arm 2, and the rotating rod 3 moves the pipeline up and down through the parts connected to it. When the pressures on the two pressure sensing sheets 502 are the same, the mechanical arm 2 stops driving the rotating rod 3 to move, and at this time the pipeline is aligned with the through hole of the container. Finally, the operator uses the through hole control panel to rotate the welding head 4 close to the joint between the container through hole and the pipeline, and the welding head 4 starts welding. Through the movement and position control of the two sliding blocks 501, the inner wall of the pipeline is accurately aligned with the container through hole, thereby ensuring the flatness of the welding point between the pipeline and the container through hole and improving the welding quality of the device.

[0045] During the rotation of the welding head 4, the welding head 4 contacts and squeezes the telescopic end of the arc hydraulic cylinder 601, the telescopic end of the arc hydraulic cylinder 601 is retracted, and the hydraulic oil in the second hydraulic cylinder 603 flows into the arc hydraulic cylinder 601 through the guide pipe 602. The telescopic end of the second hydraulic cylinder 603 drives the limit block 604 to move backward, and the limit block 604 compresses the spring connected thereto, and the limit block 604 moves out of the limit groove of the rotating rod 3, and the limit of the sliding sleeve 5 is released, and the sliding sleeve 5 and the rotating rod 3 can slide relative to each other. The mechanical arm 2 controls the welding head 4 to weld by rotating the rotating rod 3, and at the same time, the mechanical arm 2 drives the rotating rod 3 to move left and right, so that the welding head 4 welds the curve formed by the through-hole joint of the pipeline and the container, and the rotating rod 3 moves relative to the sliding sleeve 5, and the spring between the rotating rod 3 and the sliding sleeve 5 is compressed or stretched. The limit of the rotating rod 3 by the limit block 604 enables the rotating rod 3 and the sliding sleeve 5 to stably move left and right, thereby ensuring the accuracy of the device for welding the through-hole joint of the pipeline and the container.

[0046] During the rotation of the rotating rod 3, the welding head 4 drives the rotating ring 6 to rotate synchronously through the sliding frame 7. The sliding frame 7 rotates relative to the rotating cylinder 8, and the rotating ring 6 rotates relative to the sliding sleeve 5. When the rotating rod 3 rotates one circle, the welding head 4 stops and swings to restore the initial position after the welding is completed. The limit block 604 moves forward under the elastic force of the spring connected to it, and the limit block 604 drives the telescopic end of the second hydraulic cylinder 603 to extend and restore the initial position. The hydraulic oil in the guide pipe 602 performs the above-mentioned reverse flow, and the telescopic end of the arc hydraulic cylinder 601 extends. The limit block 604 is reinserted into the limit groove of the rotating rod 3, the rotating rod 3 returns to the limit state, the rotating rod 3 rotates in the opposite direction to return to the initial position, the rotating rod 3 drives the rotating ring 6 to move rightward through the sliding sleeve 5, the rotating ring 6 moves rightward relative to the sliding frame 7, the space in the liquid guide channel of the sliding frame 7 increases or decreases and generates negative pressure, the hydraulic oil in the rotating cylinder 8 flows back into the liquid guide channel of the sliding frame 7, the limit sliding rod 9 moves to return to the initial position under the elastic force of its spring, and the sliding block 501 moves to return to the initial position under the elastic force of the spring connected to it.

[0047] During the relative movement of the rotating ring 6 and the sliding frame 7 to restore their initial positions, the second piston rod 402 moves leftward in the corresponding second fixed cylinder 401 under the elastic force of the spring connected thereto, and the hydraulic oil in the second liquid guide tube 403 performs the above-mentioned reverse flow. The sliding rod 303 and the sliding column 304 both move leftward to restore their initial positions. The sliding column 304 drives the extrusion plate 10 to move leftward on the sliding sleeve 5 to restore its initial position through the fixed ring 301. The extrusion plate 10 performs the above-mentioned reverse rotation during the leftward movement due to the arc groove portion of the guide groove 503. The extrusion plate 10 drives the telescopic end of the first hydraulic cylinder 201 to extend again and restore its initial position through the tension spring. The hydraulic oil in the first liquid guide tube 202 performs the above-mentioned reverse flow, and the two first piston rods 204 move away from each other. The spring connected to the first piston rod 204 first extends and then drives the corresponding limit slide plate 11 to move and restore to the initial position. The elastic force of the spring connected to the limit slide plate 11 assists its movement and reset.

[0048] When the rotating cylinder 8 is removed from the pipeline, all parts return to their initial positions. At this time, the welding head 4 rotates and the robot arm 2 controls the movement of the connected parts to weld the outside of the connection of the container through-holes in the pipeline. At this point, the welding of the container through-holes and the pipeline is completed. After all parts are reset repeatedly, the welding of the next group of container through-holes and pipelines can be carried out.

[0049] Example 2: During the welding process, dust at the joints of the pipe and the container through-holes will affect the thermal stress and cooling rate at the welds, thereby reducing the accuracy and strength of the pipe and container through-hole welding. At the same time, it will cause porosity in the welds, reduce the density of the welds, and affect the continuity of the welds and the sealing of the container.

[0050] Based on Example 1, Figure 2 , Fig.10 and Fig.11 As shown, it also includes a dust removal mechanism 70, which is arranged at one end of the robot arm 2 close to the rotating rod 3. The dust removal mechanism 70 is used to remove dust from the pipe and the container through-hole welding. The dust removal mechanism 70 includes a dust collecting box 701, which is fixed to one end of the robot arm 2 close to the rotating rod 3. The dust collecting box 701 is connected to an air guide pipe 702. The sliding frame 7 is rotatably connected to two front and rear mirror-image suction cylinders 703. The two suction cylinders 703 are both connected to the air guide pipe 702. The rotation axis of the suction cylinder 703 when working is in line with the rotation axis of the welding head 4, so as to ensure that the suction cylinder 703 is aligned with the welding head 4. 4 have the same rotation angle, which is convenient for the suction cylinder 703 to remove dust from the joint in advance before welding. The welding head 4 is fixedly connected with a toggle block 704. Both the two suction cylinders 703 are slidably connected with the toggle block 704. A control component 80 for controlling the rotation of the rotating cylinder 8 is arranged on the left side of the sliding frame 7. The suction cylinder 703 and the control component 80 are electrically connected to the control panel. The suction cylinder 703 removes and collects dust from the joint, which ensures the neatness of the joint between the pipeline and the container through-hole during welding, avoids the situation where dust interference causes pores in the weld, and ensures the welding quality of the device and the sealing of the pipeline and the container through-hole.

[0051] Reference Figure 2 , Fig.10 and Fig.11 As shown, the control assembly 80 includes an electric push rod 801, which is fixedly connected to the left side of the sliding frame 7. The telescopic end of the electric push rod 801 is fixedly connected to a toggle rod 802. The toggle rod 802 is slidably connected to the sliding frame 7. The toggle rod 802 is squeezed and matched with the lower side of the rotating cylinder 8. The electric push rod 801 is electrically connected to the control panel. Through the movement of the toggle rod 802, the rotating cylinder 8 is rotated and close to a horizontal state, thereby avoiding squeezing interference of the rotating cylinder 8 when the welding head 4 welds the pipe and the container through hole to complete the seam, causing the welding position of the welding head 4 to shift, thereby reducing the welding integrity and accuracy of the device.

[0052] Repeat the welding and resetting operations at the above-mentioned pipeline and container through-hole. During the swinging process of the welding head 4, the welding head 4 drives the two vacuum cylinders 703 to swing synchronously through the toggle block 704. The vacuum cylinders 703 always maintain the same swing angle as the welding head 4, so that the vacuum cylinders 703 can keep pointing to the inner wall of the pipeline and the seam of the container through-hole. Before the welding head 4 starts welding, the control panel starts the two vacuum cylinders 703, and the vacuum cylinders 703 perform vacuum operation on the welding part of the welding head 4. Before the welding of the welding head 4, the dust on the inner wall of the pipeline and the seam of the container through-hole is sucked away in time. The airflow carries the dust through the air guide pipe 702 and stores it in the dust collecting box 701, which ensures the cleanliness of the welding part of the welding head 4 and improves the quality of the weld welded by the device.

[0053] Before the robot arm 2 drives the parts connected to it to weld the outside of the connection between the pipeline and the through-hole of the container, the control panel starts the electric push rod 801, and the telescopic end of the electric push rod 801 drives the toggle rod 802 to move forward. The toggle rod 802 contacts and squeezes the rotating cylinder 8, and the rotating cylinder 8 rotates on the sliding frame 7. The rotating cylinder 8 becomes parallel to the sliding frame 7, avoiding the situation where the rotating cylinder 8 and the limiting slide bar 9 contact and squeeze the pipeline to loosen it when the welding head 4 is close to the outside of the connection between the pipeline and the through-hole of the container, thereby ensuring the stability and continuity of the welding head 4 during the welding process.

[0054] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.

Claims

1. An industrial welding robot with multiple degrees of freedom, comprising a support base (1), a mechanical arm (2) being arranged on the support base (1), the mechanical arm (2) being rotatably connected to a rotating rod (3), the rotating rod (3) being rotatably connected to a welding head (4), wherein: The invention also comprises a sliding sleeve (5), wherein the sliding sleeve (5) is slidably connected to the rotating rod (3), the sliding sleeve (5) is rotatably connected to a rotating ring (6), the rotating ring (6) is slidably connected to a sliding frame (7), a liquid guide channel is arranged in the sliding frame (7), the sliding frame (7) is rotatably connected to a rotating cylinder (8) communicated therewith, a mirror-image limit sliding rod (9) is slidably connected in the rotating cylinder (8), the sliding sleeve (5) is slidably connected to an extrusion plate (10), the extrusion plate (10) is slidably connected to a mirror-image limit sliding plate (11), and tension springs are fixedly connected between the mirror-image limit sliding plates (11) and the extrusion plate (10), a clamping mechanism (20) for controlling the synchronous movement of the mirror-image limit sliding plates (11) is arranged on the side wall of the sliding sleeve (5), and a distance control mechanism (30) for detecting the movement of the extrusion plate (10) is arranged on the rotating ring (6); The clamping mechanism (20) comprises a first hydraulic cylinder (201), the first hydraulic cylinder (201) is fixedly connected to the side wall of the sliding sleeve (5), the telescopic end of the first hydraulic cylinder (201) penetrates the extrusion plate (10), the telescopic end of the first hydraulic cylinder (201) is slidably connected to the extrusion plate (10), a tension spring is fixedly connected between the telescopic end of the first hydraulic cylinder (201) and the extrusion plate (10), the first hydraulic cylinder (201) is connected to a first liquid guide tube (202), the extrusion plate (10) is fixedly connected to a mirror image first fixed cylinder (203), the first fixed cylinder (203) is connected to the first liquid guide tube (202), the first fixed cylinder (203) is slidably connected to a first piston rod (204) slidably connected to the corresponding limiting slide plate (11), and a spring is fixedly connected between the first piston rod (204) and the corresponding limiting slide plate (11); The distance control mechanism (30) comprises a fixed ring (301), the fixed ring (301) is fixedly connected to a side of the extrusion plate (10) away from the first hydraulic cylinder (201), the rotating ring (6) is fixedly connected to a connecting tube (302) on a side close to the extrusion plate (10), the connecting tube (302) is slidably connected to a sliding rod (303), a through hole communicating with the connecting tube (302) is arranged in the sliding rod (303), a sliding column (304) slidably connected to the fixed ring (301) is limitedly slidably connected in the through hole of the sliding rod (303), a transmission component (40) for controlling the movement of the sliding frame (7) is arranged on the side wall of the rotating ring (6), a rotating positioning component (50) for locating the position of the pipeline is arranged on the mirror image of the limiting sliding rod (9), and a moving component (60) for controlling the limiting position of the sliding sleeve (5) is arranged on one side of the rotating ring (6).

2. The industrial welding robot with multiple degrees of freedom according to claim 1, characterized in that: The sides of the mirror-image limiting slides (11) that are close to each other are both configured as cambered surfaces, and the curvature of the cambered surface of the limiting slides (11) is the same as the curvature of the side wall of the pipeline, so as to increase the contact area between the mirror-image limiting slides (11) and the pipeline.

3. The industrial welding robot with multiple degrees of freedom according to claim 1, characterized in that: The transmission assembly (40) includes a second fixed cylinder (401) of mirror image, and the second fixed cylinder (401) of mirror image is fixedly connected to the side wall of the rotating ring (6). The second fixed cylinder (401) is slidably connected to a second piston rod (402) fixedly connected to the sliding frame (7). A tension spring is fixedly connected between the second fixed cylinder (401) and the corresponding second piston rod (402). The side of the connecting cylinder (302) away from the sliding column (304) is connected to a second liquid guide tube (403), and the second fixed cylinders (401) of mirror image are connected to the second liquid guide tube (403).

4. The industrial welding robot with multiple degrees of freedom according to claim 1, characterized in that: The rotation positioning assembly (50) includes a mirror-image sliding block (501), and the mirror-image sliding blocks (501) are respectively slidably connected to the corresponding limiting sliding rods (9), a pressure sensing sheet (502) is fixedly connected to the limiting sliding rod (9), a spring is fixedly connected between the pressure sensing sheet (502) and the corresponding sliding block (501), a spring is fixedly connected between the limiting sliding rod (9) and the rotating cylinder (8), a centrally symmetrical guide groove (503) is provided on the side wall of the sliding sleeve (5), and a mirror-image protrusion is provided on the extrusion plate (10), and the protrusion on the extrusion plate (10) slides in the corresponding guide groove (503).

5. The industrial welding robot with multiple degrees of freedom according to claim 4, characterized in that: The guide groove (503) is composed of a straight groove and an arc groove. The arc of the arc groove portion of the guide groove (503) has an arc range of 180° in the circumferential direction, and is used to limit the rotation angle of the extrusion plate (10).

6. The industrial welding robot with multiple degrees of freedom according to claim 4, characterized in that: The moving assembly (60) comprises an arc-shaped hydraulic cylinder (601), the arc-shaped hydraulic cylinder (601) is fixedly connected to a side of the rotating ring (6) close to the welding head (4), the telescopic end of the arc-shaped hydraulic cylinder (601) is extruded and matched with the welding head (4), the arc-shaped hydraulic cylinder (601) is connected to a guide tube (602), the side of the sliding sleeve (5) close to the extrusion plate (10) is fixedly connected to a second hydraulic cylinder (603) connected to the guide tube (602), the rotating rod (3) is provided with a limiting groove, the sliding sleeve (5) is slidably connected to a limiting block (604) that is limitedly matched with the limiting groove of the rotating rod (3), the limiting block (604) is fixedly connected to the telescopic end of the second hydraulic cylinder (603), a spring is fixedly connected between the limiting block (604) and the sliding sleeve (5), and a spring is fixedly connected between the rotating rod (3) and the sliding sleeve (5).

7. The industrial welding robot with multiple degrees of freedom according to claim 6, characterized in that: The invention also comprises a dust removal mechanism (70), the dust removal mechanism (70) being arranged at one end of the mechanical arm (2) close to the rotating rod (3), the dust removal mechanism (70) being used for removing dust from the welding position of the pipeline and the through hole of the container, the dust removal mechanism (70) comprising a dust collecting box (701), the dust collecting box (701) being fixedly connected to one end of the mechanical arm (2) close to the rotating rod (3), the dust collecting box (701) being connected to an air guide pipe (702), the sliding frame (7) being rotatably connected to a mirror-image suction cylinder (703), the mirror-image suction cylinders (703) being connected to the air guide pipe (702), the welding head (4) being fixedly connected to a toggle block (704), the mirror-image suction cylinders (703) being slidably connected to the toggle block (704), and a control component (80) for controlling the rotation of the rotating cylinder (8) being arranged on one side of the sliding frame (7) close to the rotating cylinder (8).

8. The industrial welding robot with multiple degrees of freedom according to claim 7, characterized in that: The control assembly (80) includes an electric push rod (801), which is fixed to a side of the sliding frame (7) close to the rotating cylinder (8), and a telescopic end of the electric push rod (801) is fixed to a toggle rod (802) slidably connected to the sliding frame (7), and the toggle rod (802) is squeezed and matched with the rotating cylinder (8).

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