An inverted welding robot

Abstract

The present invention discloses an inverted welding robot, which relates to the technical field of welding robots and solves the problem that the mechanical arm at one end far away from the center of gravity is easily damaged or even broken during actual operation of the robot, and the problem that the stability is poor and the safety is low when welding metal parts and workpieces. The inverted welding robot includes an inverted slide rail, a horizontal moving component, a space-controlled welding mechanism and a laser welding generator. The inverted slide rail is internally installed with a horizontal moving component, the side of the horizontal moving component is installed with a space-controlled welding mechanism, and the bottom of the space-controlled welding mechanism is installed with a laser welding generator. In the present invention, the mechanical arm at one side far away from the center of gravity can be buffered and shock-absorbing, reducing the probability of damage or even breakage of the mechanical arm during rotation operation. At the same time, the structure supporting the mechanical arm can always be in a triangle during operation, further improving the ability and effect of supporting the mechanical arm.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, in particular to an inverted welding robot. Background Art

[0002] Welding robots are industrial robots that perform welding (including cutting and spraying), and are mainly used in industrial automation production and other related technical fields. Compared with traditional welding equipment, welding robots have the advantages of high welding processing efficiency, low welding operation costs, and low welding technical requirements.

[0003] The existing Chinese patent application with publication number CN118003007A discloses a metal bracket welding robot, including a guide rail part, which is composed of a plurality of guide rail bodies correspondingly spliced ​​together, a plurality of fixed platforms are evenly distributed at the bottom of the guide rail body, a slideway is recessed inwardly in the middle position of the upper surface of the guide rail body, guide roads are extended toward the inside of the guide rail body on both sides of the bottom of the slideway on the guide rail body, and limiting roads are recessed inwardly symmetrically on both sides of the outer wall of the guide rail body, a moving mechanism is slidably engaged and installed on the guide rail body, and the moving mechanism acts on the guide road to complete the restriction; this invention, by providing a moving mechanism, avoids the falling off of the mounting platform and the guide rail body, and adopts the design of two sets of gears and racks, so that the power of the mounting platform is more stable and the bearing capacity is stronger when walking, so that the welding robot body can obtain a stable moving walking effect, which is convenient for welding work.

[0004] However, the welding robot has the following defects when used:

[0005] 1. When performing laser welding operations on metal parts or workpieces, existing welding robots are generally provided with moving and steering structures to adjust and control the position and angle of the laser generator. However, in actual operation of traditional robots, the center of gravity of the adjustment end (laser generator) of the steering structure is far away from the guide rail when rotating and adjusting. When operating for a long time, the steering structure will be offset and misaligned. In severe cases, the internal parts of the steering structure may break or the mechanical arm may fall off, which is less safe.

[0006] 2. When existing welding robots are welding metal parts and workpieces, they need to be adjusted at multiple angles and positions according to welding requirements to ensure the accuracy of the welding operation. However, when the parts of the traditional robot away from the slide rail are adjusted, the force generated during operation will cause pulling on the mechanical parts close to the slide rail. After long-term use, the mechanical parts close to the slide rail are easily damaged due to pulling and other forces, and their service life is short. Summary of the invention

[0007] The object of the present invention is to provide an inverted welding robot to solve the problems raised in the above background technology.

[0008] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0009] The present invention provides an inverted welding robot, comprising an inverted slide rail, a horizontal moving component, a space regulating welding mechanism and a laser welding generator, wherein the inverted slide rail is provided with a horizontal moving component, the space regulating welding mechanism is provided on the side of the horizontal moving component, and the bottom of the space regulating welding mechanism is provided with a laser welding generator.

[0010] Wherein, the space-controlled welding mechanism includes:

[0011] A gear steering assembly, the gear steering assembly is mounted on the side of the horizontal moving assembly by screws and is movably connected to the side of the inverted slide rail, a mechanical arm rotating assembly is mounted on the inner side of the gear steering assembly, and a laser welding generator is mounted on the bottom of the mechanical arm rotating assembly;

[0012] A steering support assembly, the steering support assembly is mounted at the bottom of the gear steering assembly and extends to the bottom of the mechanical arm rotating assembly, the steering support assembly supports the mechanical arm rotating assembly,

[0013] Among them, a mechanical bracket is also installed on the side of the mechanical arm rotating assembly, and a camera terminal is installed on the bottom of the mechanical bracket, and the camera terminal is located on the side of the laser welding generator.

[0014] As a preferred solution of the present invention, the horizontal moving assembly includes:

[0015] A linear motor, the linear motor is installed on one side of the inverted slide rail, and an output end is connected to a reciprocating screw rod, and the reciprocating screw rod is rotatably connected to the inner side of the inverted slide rail;

[0016] A horizontal slider, the horizontal slider is connected to the outside of the reciprocating screw through a ball bearing and is slidably connected to the inside of the inverted slide rail. A gear steering assembly is installed on the side of the horizontal slider through screws.

[0017] The upper and lower sides of the horizontal sliding block protrude outwards and form a raised portion, and the raised portion is slidably connected to the grooves provided on the upper and lower sides of the inverted sliding rail.

[0018] As a preferred embodiment of the present invention, the gear steering assembly includes an outer frame, a partition, a two-way rotating assembly and an outer bracket.

[0019] The outer frame is mounted on the side of the horizontal slider by screws, the interior of the outer frame is divided into left and right parts by a partition, a bidirectional rotating component penetrating the partition is arranged inside the outer frame, the bidirectional rotating component extends to the outside of the outer frame, and,

[0020] The outer side of the bidirectional rotating assembly is movably connected with an outer bracket, the outer bracket is mounted on the side of the outer frame by screws, and the inner side of the bidirectional rotating assembly is mounted with a mechanical arm rotating assembly.

[0021] As a preferred embodiment of the present invention, the bidirectional rotating assembly comprises:

[0022] A first motor, wherein the first motor is installed inside the outer frame through a bottom motor seat, an output end of the first motor is connected to a first driving gear, and the first driving gear is rotatably connected to the inner bottom of the outer frame;

[0023] A first central gear, the first central gear is meshed and connected to a side surface of the first driving gear and is rotatably connected to the center of the outer frame, and a central rotating shaft is installed at the center of the first central gear;

[0024] A support seat, the support seat is located on the side of the outer bracket, and the central shaft is rotatably connected at the center of the support seat, a first movable gear is installed on the inner side of the support seat, and the first movable gear is connected to the central shaft; and

[0025] A second movable gear is meshedly connected to the side of the first movable gear and is rotatably connected to the inner wall of the support seat. A movable shaft is installed at the center of the second movable gear, and a mechanical arm rotating component is installed on the side of the movable shaft.

[0026] As a preferred solution of the present invention, a movable column is installed at the bottom of the support seat, the movable column is rotatably connected to the inner side of the outer bracket, and the bottom is connected to a second central gear, and the second central gear is rotatably connected to the side of the partition.

[0027] The side surface of the second central gear is meshedly connected with the side surface of the second driving gear, the second driving gear is connected to the output end of the second motor, and the second motor is installed on the side surface of the partition through another group of bottom motor seats installed at the bottom, and

[0028] The movable column is internally movably connected with the central rotating shaft which is arranged through it.

[0029] As a preferred solution of the present invention, the second central gear is arranged on the side of the first central gear, the central rotating shaft passes through the partition, and

[0030] The second motor and the first motor are respectively disposed on left and right sides of the second central gear and the first central gear.

[0031] As a preferred embodiment of the present invention, the mechanical arm rotation assembly includes:

[0032] A first mechanical arm, which is fixed on a side of the movable shaft and extends to the outside of the support seat, and a first driving motor is installed on one side of the bottom of the first mechanical arm;

[0033] A second mechanical arm, the second mechanical arm is rotatably connected to the bottom of the first mechanical arm and is connected to the output end of the first drive motor, and a second drive motor is installed on one side of the bottom of the second mechanical arm;

[0034] The mounting fixture is rotatably connected to the bottom of the second drive motor and connected to the output end of the second drive motor. A vertical slide rail is installed on the inner side of the mounting fixture, and a laser welding generator is installed on the side of the vertical slide rail through a vertical electric slider.

[0035] As a preferred solution of the present invention, the rotation directions of the second mechanical arm and the mounting fixture are relatively vertically arranged, the bottoms of the second mechanical arm and the first mechanical arm are installed with a steering support assembly, and the top of the steering support assembly is installed at the bottom of the support seat,

[0036] Wherein, the output end of the second driving motor is also connected to a mechanical bracket, and the mechanical bracket is rotatably connected to the side of the second mechanical arm.

[0037] As a preferred embodiment of the present invention, the steering support assembly comprises:

[0038] A bottom seat, the bottom seat is mounted on the bottom of the support seat by screws, the outer side of the bottom seat is rotatably connected to a first connecting rod, and the first connecting rod is rotatably connected to the side of the first sliding block;

[0039] a first guide rail, the first guide rail is mounted on the bottom of the second mechanical arm by screws, and the first sliding block is connected to the inside of the first guide rail by damping,

[0040] Wherein, an inner concave portion is provided at the inner center of the first connecting rod, a guide rod is installed inside the inner concave portion, and a movable slider slidably connected to the inner concave portion is provided on the outer side of the guide rod;

[0041] A second connecting rod, wherein the second connecting rod is rotatably connected to the top of the movable slider, a second sliding block is rotatably connected to the side of the second connecting rod, and the second sliding block is connected to the inner side of the second guide rail through a damper,

[0042] Wherein, the second guide rail is installed on the bottom of the first mechanical arm by screws.

[0043] As a preferred solution of the present invention, buffer springs are further installed on the upper and lower sides of the movable slider, and the buffer springs are located on the outer side of the guide rod, and

[0044] The buffer spring is connected to the inner wall of the inner concave portion through a damping block.

[0045] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0046] 1. In an inverted welding robot, when laser welding metal parts and workpieces, the distance between the laser welding generator and the parts can be adjusted to perform laser welding operations on the parts by driving the first mechanical arm and the second mechanical arm at the output end to rotate respectively through the movable rod and the first drive motor. When the second mechanical arm rotates, the second guide rail, the second sliding block and the second connecting rod installed at the bottom thereof will operate, driving the movable slider connected to the bottom of the second connecting rod to move inside the first connecting rod, and squeezing the buffer spring. At this time, the squeezing force can be buffered and damped by the buffer spring. When the second mechanical arm rotates, the first sliding block installed at the bottom of the second mechanical arm through the first guide rail will drive the first connecting rod to rotate, and the damping connection of the first guide rail and the first sliding block will be used for buffering and damping. At this time, by using the two together or operating them independently, the probability of motor damage during angle adjustment can be effectively reduced, thereby increasing the service life of the robot. The first connecting rod, the second connecting rod and the first mechanical arm, and the second connecting rod, the first connecting rod and the second mechanical arm always form a triangular structure during operation. The triangular design can ensure the stability of the first mechanical arm and the second mechanical arm during laser welding after rotation.

[0047] 2. In the inverted welding robot, when the first robotic arm, the second robotic arm, the vertical slide rail and the laser welding generator are operating to perform laser welding of metal parts, the force generated by their operation will be transmitted to the gear steering assembly connected to the side of the first robotic arm, and cause pulling on the internal parts of the gear steering assembly. At this time, the design of two sets of movable gears, two pairs of relatively meshing driving gears and center gears connected by gear meshing can improve the connection strength and toughness between the parts, reduce the probability of damage or even breakage of the internal parts of the gear steering assembly, and increase the service life of the robot. In addition, the two sets of movable gears, two pairs of relatively meshing driving gears and center gears designed by gear meshing can drive the laser welding generator to rotate horizontally and vertically (vertical and horizontal directions), meeting the requirements of different welding processing and production of metal parts;

[0048] 3. In the inverted welding robot, when laser welding metal parts and workpieces, the movement and rotation on the X-axis (through the operation of the horizontal moving component, the rotation of the first and second mechanical arms), the rotation on the Y-axis (the support seat drives the first mechanical arm to rotate), and the rotation and movement on the Z-axis (the rotation of the second mechanical arm and the telescopic movement on the vertical slide) can be performed synchronously or separately, which can meet the requirements of different laser welding processes of metal parts and workpieces to the greatest extent. At the same time, the first and second mechanical arms rotate in the same direction, which can be used as an extension of the laser welding generator to adjust the distance between the laser welding generator and the metal parts in actual operation, ensuring that the laser welding generator can be close to the metal parts for laser welding operations;

[0049] 4. In the inverted welding robot, when the laser welding generator generates a laser beam to perform laser welding operations on metal parts and workpieces, the camera head installed on the side can detect and record the status of the laser processing of parts and workpieces in real time, realizing automated laser processing operations. At the same time, when the laser welding generator rotates due to the operation of the second drive motor, the camera head connected to the second drive motor through a mechanical bracket can rotate in the same direction and angle, ensuring that the camera head can be directed to the laser welding position in real time, thereby improving the accuracy of laser welding operations on metal parts and workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding 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 improper limitations on the present invention.

[0051] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0053] Figure 2 It is a schematic structural diagram of the overall main view of the present invention;

[0054] Figure 3 It is a schematic diagram of the structure of the present invention as a whole when viewed from above;

[0055] Figure 4 It is a schematic structural diagram of the overall side view of the present invention;

[0056] Figure 5 It is a schematic diagram of the structure of the present invention as a whole viewed from above;

[0057] Figure 6 It is a structural schematic diagram of the connection between the inverted slide rail and the horizontal moving assembly of the present invention;

[0058] Figure 7 It is a schematic structural diagram of the connection between the gear steering assembly and the first mechanical arm of the present invention;

[0059] Figure 8 It is a structural schematic diagram of a cross-sectional view of the connection between the gear steering assembly and the first mechanical arm of the present invention;

[0060] Fig. 9 It is a schematic structural diagram of the connection between the bidirectional rotating assembly and the first mechanical arm of the present invention;

[0061] Fig.10 The present invention Fig. 9 A schematic diagram of the structure of the enlarged area in the middle A;

[0062] Fig.11 It is a structural schematic diagram of the connection between the mechanical arm rotating assembly and the laser welding generator of the present invention;

[0063] Fig.12 It is a structural schematic diagram of the connection between the mechanical arm rotating assembly and the steering support assembly of the present invention;

[0064] Fig.13 The present invention Fig.12 Schematic diagram of the structure of the enlarged area B in the middle;

[0065] In the figure:

[0066] 10. Inverted slide rail;

[0067] 20. horizontal moving assembly; 201. linear motor; 202. reciprocating screw rod; 203. horizontal slider; 2031. raised portion; 2032. groove;

[0068] 30. Spatially controlled welding mechanism; 40. Laser welding generator;

[0069] 50, gear steering assembly; 501, outer frame; 502, partition; 503, two-way rotation assembly; 5031, first motor; 5032, bottom motor seat; 5033, first driving gear; 5034, first central gear; 5035, central shaft;

[0070] 5036, support seat; 50361, movable column; 50362, second central gear; 50363, second driving gear; 50364, second motor; 5037, first movable gear; 5038, second movable gear; 5039, movable shaft; 504, outer bracket;

[0071] 60, mechanical arm rotation assembly; 601, first mechanical arm; 602, first drive motor; 603, second mechanical arm; 604, second drive motor; 605, mounting fixture; 606, vertical slide rail; 6061, vertical electric slide;

[0072] 70, steering support assembly; 701, bottom seat; 702, first connecting rod; 7021, inner concave portion; 703, first sliding block; 704, first guide rail; 705, guide rod; 706, movable slider; 7061, buffer spring; 707, second connecting rod; 708, second sliding block; 709, second guide rail;

[0073] 80. Mechanical support; 801. Camera terminal. DETAILED DESCRIPTION

[0074] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0075] See also Figure 1-Figure 13 An inverted welding robot includes an inverted slide 10, a horizontal moving component 20, a space-controlled welding mechanism 30 and a laser welding generator 40. The horizontal moving component 20 is installed inside the inverted slide 10, the space-controlled welding mechanism 30 is installed on the side of the horizontal moving component 20, and the laser welding generator 40 is installed at the bottom of the space-controlled welding mechanism 30. The space-controlled welding mechanism 30 includes a gear steering component 50, which is installed on the side of the horizontal moving component 20 by screws and is movably connected to the side of the inverted slide 10. A robot arm rotating assembly 60 is installed on the inner side of the gear steering assembly 50, and a laser welding generator 40 is installed at the bottom of the robot arm rotating assembly 60; a steering support assembly 70, the steering support assembly 70 is installed at the bottom of the gear steering assembly 50 and extends to the bottom of the robot arm rotating assembly 60, the steering support assembly 70 supports the robot arm rotating assembly 60, wherein a mechanical bracket 80 is also installed on the side of the robot arm rotating assembly 60, and a camera terminal 801 is installed at the bottom of the mechanical bracket 80, and the camera terminal 801 is located on the side of the laser welding generator 40.

[0076] The above working principle: When laser welding is performed on metal parts and workpieces, the design of the horizontal moving assembly 20 can move the laser welding generator 40 to the top of the metal parts and workpieces to perform corresponding laser welding operations. When laser welding is actually performed on metal parts and workpieces, the gear steering assembly 50 is a rotating structure close to one side of the inverted slide rail 10, which is used to adjust the angle of the laser welding generator 40 in the horizontal and vertical directions. The design of the mechanical arm rotating assembly 60 rotates and telescopically moves up and down in the X, Y and Z axis modes, and performs corresponding rotation and telescopic movement according to the actual welding processing requirements to achieve the laser welding requirements of different metal parts and workpieces. Among them, when the mechanical arm rotating assembly 60 is in operation, the design of the steering support assembly 70 can support and buffer the mechanical arm rotating assembly 60 in the operating state, reduce the probability of damage to the motor module inside the mechanical arm rotating assembly 60 during operation, and improve the safety of laser welding during operation. In addition, the internal parts of the gear steering assembly 50 are designed by means of gear meshing connection. The gear meshing connection design not only ensures stability during angle adjustment, but also has greater toughness and strength when the robot arm rotating assembly 60 is in operation. It can reduce the probability of damage to the internal parts of the gear steering assembly 50 caused by the operation of the robot arm rotating assembly 60, thereby increasing the life of the welding robot during use.

[0077] Specific reference Figure 6 The horizontal moving component 20 includes a linear motor 201, which is installed on one side of the inverted slide 10, and the output end is connected to a reciprocating screw 202, and the reciprocating screw 202 is rotatably connected to the inner side of the inverted slide 10; a horizontal slider 203, which is connected to the outer side of the reciprocating screw 202 through a ball bearing, and is slidably connected to the inside of the inverted slide 10, and a gear steering component 50 is installed on the side of the horizontal slider 203 through screws, wherein the upper and lower sides of the horizontal slider 203 protrude outward and form a protrusion 2031, and the protrusion 2031 is slidably connected to the groove 2032 opened on the upper and lower sides of the inverted slide 10.

[0078] In the inverted welding robot of the present invention, when it is necessary to adjust the position of the laser welding generator 40 for laser welding operation, the linear motor 201 is started to operate, driving the reciprocating screw 202 connected to the output end of the linear motor 201 to rotate, thereby driving the horizontal slider 203 connected to the outside of the reciprocating screw 202 through the ball bearing to telescopically move, and adjusting the horizontal position of the laser welding generator 40. When the horizontal slider 203 is in operation, the protrusions 2031 installed on the upper and lower sides thereof will slide inside the groove 2032, further improving the stability of the horizontal slider 203 when sliding horizontally.

[0079] Specific reference Figure 7The gear steering assembly 50 includes an outer frame 501, a partition 502, a two-way rotation assembly 503 and an outer bracket 504, wherein the outer frame 501 is installed on the side of the horizontal slider 203 by screws, the interior of the outer frame 501 is divided into two left and right parts by the partition 502, the interior of the outer frame 501 is provided with a two-way rotation assembly 503 penetrating the partition 502, the two-way rotation assembly 503 extends to the outside of the outer frame 501, and, wherein the outer side of the two-way rotation assembly 503 is movably connected with the outer bracket 504, the outer bracket 504 is installed on the side of the outer frame 501 by screws, and the inner side of the two-way rotation assembly 503 is installed with a robot arm rotation assembly 60.

[0080] In the inverted welding robot of the present invention, when the bidirectional rotating component 503 operates separately or simultaneously to realize the rotation of the laser welding generator 40 in the X and Y axis directions, the design of the external bracket 504 can support the operation of the bidirectional rotating component 503 and protect the internal parts of the bidirectional rotating component 503, thereby reducing the probability of damage to the internal parts of the bidirectional rotating component 503 caused by the side structure and equipment of the bidirectional rotating component 503 during operation.

[0081] Specific reference Figure 7 , Figure 8 , Fig. 9 and Fig.10 The bidirectional rotating assembly 503 includes a first motor 5031, which is installed inside the outer frame 501 through a bottom motor seat 5032. The output end of the first motor 5031 is connected to a first driving gear 5033, which is rotatably connected to the inner bottom of the outer frame 501; a first central gear 5034, which is meshed and connected to the side of the first driving gear 5033 and is rotatably connected to the center of the outer frame 501, and a central rotating shaft 5035 is installed at the center of the first central gear 5034; a supporting seat 50 36. The support seat 5036 is located on the side of the outer bracket 504, and is rotatably connected to the center of the inner center with a central shaft 5035. A first movable gear 5037 is installed on the inner side of the support seat 5036, and the first movable gear 5037 is connected to the central shaft 5035; and a second movable gear 5038 is meshed and connected to the side of the first movable gear 5037, and is rotatably connected to the inner wall of the support seat 5036. A movable shaft 5039 is installed at the center of the second movable gear 5038, and a robot arm rotating assembly 60 is installed on the side of the movable shaft 5039.

[0082] In the inverted welding robot of the present invention, when adjusting the angle of the laser welding generator 40 to perform laser welding, the operation of the first motor 5031 can drive the first driving gear 5033 connected to its output end to rotate, thereby driving the first central gear 5034 meshed with the side of the first driving gear 5033 to rotate. When the first central gear 5034 rotates, it will drive the first movable gear 5037 installed on its side to rotate, so that the second movable gear 5038 meshed with the side of the first movable gear 5037 rotates, and drives the movable shaft 5039 installed on the side of the second movable gear 5038 to rotate, and perform the horizontal direction (consistent with the moving direction of the horizontal moving component 20) angle rotation adjustment operation.

[0083] Specific reference Figure 7 , Figure 8 , Fig. 9 and Fig.10 A movable column 50361 is installed at the bottom of the support seat 5036, and the movable column 50361 is rotatably connected to the inner side of the outer bracket 504, and the bottom is connected to a second center gear 50362, and the second center gear 50362 is rotatably connected to the side of the partition 502, wherein the side of the second center gear 50362 is meshingly connected to the side of the second drive gear 50363, and the second drive gear 50363 is connected to the output end of the second motor 50364, and the second motor 50364 is installed on the side of the partition 502 through another group of bottom motor seats 5032 installed at the bottom, wherein the interior of the movable column 50361 is movably connected to a central rotating shaft 5035 set through it.

[0084] In this embodiment, the second center gear 50362 is arranged on the side of the first center gear 5034, the center shaft 5035 is arranged through the partition 502, and the second motor 50364 and the first motor 5031 are respectively arranged on the left and right sides of the second center gear 50362 and the first center gear 5034. Through the design of the second center gear 50362 and the first center gear 5034, the structural size of the bidirectional rotation component 503 can be minimized without affecting the operation of the laser welding generator 40 that can be adjusted in different directions.

[0085] In the inverted welding robot of the present invention, when adjusting the angle of the laser welding generator 40 to perform laser welding, starting the second motor 50364 to operate can drive the second drive gear 50363 connected to its output end to operate, and drive the second central gear 50362 meshed and connected to the side of the second drive gear 50363 to rotate. When the second central gear 50362 rotates, it will drive the movable column 50361 and the support seat 5036 installed on the top to rotate, so that the movable shaft 5039 installed on the inner side of the support seat 5036 can rotate. When the movable column 50361 rotates, the central rotating shaft 5035 set on the inner side is movably connected to it, and the rotation operation of the two will not cause conflict and interference. In addition, in conjunction with the driving method of the first motor 5031, the operation of the two is completed by gear meshing, and the ability to resist pulling and other forces is strong.

[0086] Specific reference Fig.11 and Fig.12 The robot arm rotation assembly 60 includes a first robot arm 601, which is fixedly mounted on the side of the movable shaft 5039 and extends to the outside of the support seat 5036, and a first drive motor 602 is installed on one side of the bottom of the first robot arm 601; a second robot arm 603, which is rotatably connected to the bottom of the first robot arm 601 and connected to the output end of the first drive motor 602, and a second drive motor 604 is installed on one side of the bottom of the second robot arm 603; a mounting fixture 605, which is rotatably connected to the bottom of the second robot arm 603 and connected to the output end of the second drive motor 604, and a vertical slide rail 606 is installed on the inner side of the mounting fixture 605, and a laser welding generator 40 is installed on the side of the vertical slide rail 606 through a vertical electric slider 6061.

[0087] In this embodiment, the rotation directions of the second robotic arm 603 and the mounting fixture 605 are relatively vertically arranged, and a steering support assembly 70 is installed at the bottom of the second robotic arm 603 and the first robotic arm 601, and the top of the steering support assembly 70 is installed at the bottom of the support seat 5036, wherein the output end of the second drive motor 604 is also connected to a mechanical bracket 80, and the mechanical bracket 80 is rotatably connected to the side of the second robotic arm 603, and the rotation adjustment operation in different directions can be realized through the operation of the second robotic arm 603 and the first robotic arm 601 to meet the requirements of different welding of metal parts and workpieces.

[0088] In the inverted welding robot of the present invention, when laser welding is performed on metal parts and workpieces, the first drive motor 602 can drive the second mechanical arm 603 connected to its output end to rotate in the horizontal direction (consistent with the moving direction of the horizontal moving component 20), and cooperate with the drive adjustment of the first motor 5031 to adjust the position between the laser welding generator 40 and the metal workpiece and parts. The second drive motor 604 can drive the mounting fixture 605 and the vertical slide rail 606 connected to its output end to rotate to achieve adjustment at different angles (relative to the adjustment direction of the second mechanical arm 603). The vertical electric slider 6061 can slide on the side of the vertical slide rail 606 to adjust the position of the laser welding generator 40 installed on the side of the vertical electric slider 6061, and perform laser welding operations close to the points of the metal parts and workpieces to be welded.

[0089] Specific reference Fig.12 and Fig.13 The steering support assembly 70 includes a bottom seat 701, which is installed at the bottom of the support seat 5036 by screws, and the outer side of the bottom seat 701 is rotatably connected to the first connecting rod 702, and the first connecting rod 702 is rotatably connected to the side of the first sliding block 703; a first guide rail 704, which is installed at the bottom of the second mechanical arm 603 by screws, and is internally connected to the first sliding block 703 through damping, wherein the inner center of the first connecting rod 702 is provided with an inner concave portion 704. 021, a guide rod 705 is installed inside the inner recess 7021, and a movable slider 706 is provided on the outer side of the guide rod 705 and is slidably connected to the inner recess 7021; a second connecting rod 707, the second connecting rod 707 is rotatably connected to the top of the movable slider 706, and the side of the second connecting rod 707 is rotatably connected to the second sliding block 708, and the second sliding block 708 is connected to the inner side of the second guide rail 709 through damping, wherein the second guide rail 709 is installed at the bottom of the first robotic arm 601 by screws.

[0090] In this embodiment, buffer springs 7061 are also installed on the upper and lower sides of the movable slider 706. The buffer springs 7061 are located on the outside of the guide rod 705, and the buffer springs 7061 are connected to the inner wall of the recessed portion 7021 through the damping block. The design of the buffer springs 7061 can be used to buffer the first robotic arm 601 and the second robotic arm 603 in operation, thereby reducing the probability of damage or even breakage of the shaft ends of the first drive motor 602 and the second drive motor 604 during operation, thereby ensuring safety during actual laser welding operations.

[0091] In the inverted welding robot of the present invention, when the first mechanical arm 601 rotates at a certain angle, the second sliding block 708 part connected to the second guide rail 709 at its bottom will rotate inside the second guide rail 709, and the degree of damage to the first mechanical arm 601 when rotating will be reduced by the design of damping connection. At the same time, the movable slider 706 connected to the second connecting rod 707 at its outer side will be driven to move (outside the guide rod 705), and the buffer spring 7061 arranged on the side of the movable slider 706 will be squeezed, and the buffer spring 7061 connected by damping can be used to buffer and damp the squeezing force. When the second mechanical arm 603 rotates at a certain angle, the first sliding block 703 connected to the first guide rail 704 at its bottom will slide inside it, and the degree of damage to the second mechanical arm 603 when rotating will be reduced by the design of damping connection. At the same time, the first connecting rod 702 is connected to the second connecting rod 707 through its outer side, and the second connecting rod 707 will not conflict with the rotation of the first connecting rod 702 when rotating, that is, the two can also be carried out synchronously and do not interfere with each other.

[0092] In this solution, the part supporting the first robotic arm 601 and the second robotic arm 603 is a triangle, which effectively improves the ability and effect of supporting the first robotic arm 601 and the second robotic arm 603 and realizes a more stable laser welding operation.

[0093] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An inverted welding robot, comprising an inverted slide rail (10), a horizontal moving assembly (20), a spatially controlled welding mechanism (30) and a laser welding generator (40), characterized in that: A horizontal moving assembly (20) is installed inside the inverted slide rail (10), a space-adjusting welding mechanism (30) is installed on the side of the horizontal moving assembly (20), and a laser welding generator (40) is installed at the bottom of the space-adjusting welding mechanism (30). Wherein, the space-controlled welding mechanism (30) comprises: a gear steering assembly (50), the gear steering assembly (50) being mounted on a side of the horizontal moving assembly (20) by means of screws and being movably connected to a side of the inverted slide rail (10), a mechanical arm rotating assembly (60) being mounted on an inner side of the gear steering assembly (50), and a laser welding generator (40) being mounted on a bottom of the mechanical arm rotating assembly (60); a steering support assembly (70), wherein the steering support assembly (70) is mounted on the bottom of the gear steering assembly (50) and extends to the bottom of the mechanical arm rotating assembly (60), and the steering support assembly (70) supports the mechanical arm rotating assembly (60). Wherein, a mechanical support (80) is also installed on the side of the mechanical arm rotating assembly (60), a camera terminal (801) is installed on the bottom of the mechanical support (80), and the camera terminal (801) is located on the side of the laser welding generator (40); The horizontal moving component (20) comprises: A linear motor (201), the linear motor (201) being mounted on one side of the inverted slide rail (10), and having an output end connected to a reciprocating screw rod (202), the reciprocating screw rod (202) being rotatably connected to the inner side of the inverted slide rail (10); A horizontal slider (203), the horizontal slider (203) being connected to the outside of the reciprocating screw (202) via a ball bearing and being slidably connected to the inside of the inverted slide rail (10), and a gear steering assembly (50) being mounted on the side of the horizontal slider (203) via screws. The upper and lower sides of the horizontal sliding block (203) protrude outwards and form a raised portion (2031), and the raised portion (2031) is slidably connected to grooves (2032) provided on the upper and lower sides of the inverted sliding rail (10); The gear steering assembly (50) comprises an outer frame (501), a partition (502), a bidirectional rotation assembly (503) and an outer bracket (504). The outer frame (501) is mounted on the side of the horizontal slider (203) by means of screws, the interior of the outer frame (501) is divided into left and right parts by means of a partition (502), a bidirectional rotating component (503) penetrating the partition (502) is arranged inside the outer frame (501), the bidirectional rotating component (503) extends to the outside of the outer frame (501), and, The outer side of the bidirectional rotating assembly (503) is movably connected to an outer bracket (504), the outer bracket (504) is mounted on the side of the outer frame (501) by means of screws, and the inner side of the bidirectional rotating assembly (503) is mounted with a mechanical arm rotating assembly (60); The bidirectional rotating assembly (503) comprises: a first motor (5031), the first motor (5031) being mounted inside the outer frame (501) via a bottom motor seat (5032), the output end of the first motor (5031) being connected to a first driving gear (5033), the first driving gear (5033) being rotatably connected to the inner bottom of the outer frame (501); a first central gear (5034), the first central gear (5034) being meshedly connected to a side surface of the first driving gear (5033) and rotatably connected to the center of the outer frame (501), a central rotating shaft (5035) being installed at the center of the first central gear (5034); a support seat (5036), the support seat (5036) being located on a side of the outer bracket (504), and the central rotating shaft (5035) being rotatably connected at the inner center thereof, a first movable gear (5037) being installed on the inner side of the support seat (5036), and the first movable gear (5037) being connected to the central rotating shaft (5035); and a second movable gear (5038), the second movable gear (5038) being meshedly connected to a side surface of the first movable gear (5037) and rotatably connected to an inner wall of the support seat (5036), a movable shaft (5039) being installed at the center of the second movable gear (5038), and a mechanical arm rotating assembly (60) being installed on a side surface of the movable shaft (5039); The mechanical arm rotation assembly (60) comprises: a first mechanical arm (601), the first mechanical arm (601) being fixedly mounted on a side of the movable shaft (5039) and extending to the outside of the support seat (5036), and a first driving motor (602) being mounted on one side of the bottom of the first mechanical arm (601); a second mechanical arm (603), the second mechanical arm (603) being rotatably connected to the bottom of the first mechanical arm (601) and connected to the output end of the first drive motor (602), and a second drive motor (604) being installed on one side of the bottom of the second mechanical arm (603); A mounting fixture (605), the mounting fixture (605) being rotatably connected to the bottom of the second drive motor (604) and connected to the output end of the second drive motor (604), a vertical slide rail (606) being installed on the inner side of the mounting fixture (605), and a laser welding generator (40) being installed on the side of the vertical slide rail (606) via a vertical electric slider (6061); The steering support assembly (70) comprises: A bottom seat (701), the bottom seat (701) being mounted on the bottom of the support seat (5036) by means of screws, the outer side of the bottom seat (701) being rotatably connected to a first connecting rod (702), the first connecting rod (702) being rotatably connected to a side surface of a first sliding block (703); a first guide rail (704), the first guide rail (704) being mounted on the bottom of the second mechanical arm (603) by means of screws and having the first sliding block (703) connected thereto by means of damping, An inner concave portion (7021) is provided at the inner center of the first connecting rod (702), a guide rod (705) is installed inside the inner concave portion (7021), and a movable sliding block (706) is provided on the outer side of the guide rod (705) and is slidably connected to the inner concave portion (7021); a second connecting rod (707), the second connecting rod (707) being rotatably connected to the top of the movable slider (706), a side surface of the second connecting rod (707) being rotatably connected to a second sliding block (708), the second sliding block (708) being connected to the inner side of the second guide rail (709) via a damper, The second guide rail (709) is mounted on the bottom of the first mechanical arm (601) by means of screws.

2. The inverted welding robot according to claim 1, characterized in that: A movable column (50361) is installed at the bottom of the support seat (5036), and the movable column (50361) is rotatably connected to the inner side of the outer bracket (504), and a second central gear (50362) is connected to the bottom, and the second central gear (50362) is rotatably connected to the side of the partition (502). The side surface of the second central gear (50362) is meshedly connected with the side surface of the second driving gear (50363), the second driving gear (50363) is connected to the output end of the second motor (50364), and the second motor (50364) is installed on the side surface of the partition (502) through another set of bottom motor seats (5032) installed at the bottom, and The movable column (50361) is internally movably connected to the central rotating shaft (5035) which is arranged therethrough.

3. The inverted welding robot according to claim 2, characterized in that: The second central gear (50362) is arranged on the side of the first central gear (5034), the central rotating shaft (5035) is arranged through the partition (502), and The second motor (50364) and the first motor (5031) are respectively arranged on the left and right sides of the second central gear (50362) and the first central gear (5034).

4. The inverted welding robot according to claim 1, characterized in that: The rotation directions of the second mechanical arm (603) and the mounting fixture (605) are relatively vertically arranged; a steering support assembly (70) is installed at the bottom of the second mechanical arm (603) and the first mechanical arm (601); and the top of the steering support assembly (70) is installed at the bottom of the support seat (5036). The output end of the second driving motor (604) is also connected to a mechanical support (80), and the mechanical support (80) is rotatably connected to a side surface of the second mechanical arm (603).

5. The inverted welding robot according to claim 1, characterized in that: Buffer springs (7061) are also installed on the upper and lower sides of the movable slider (706), and the buffer springs (7061) are located outside the guide rod (705); and The buffer spring (7061) is connected to the inner wall of the inner recess (7021) via a damping block.

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