Intelligent Welding Robot

Abstract

The present invention discloses an intelligent welding robot, which relates to the field of welding tools and includes a base. A welding manipulator and a ground rail for the movement of the welding manipulator are installed on the top of the base. A cleaning cylinder is installed on the top of the base on one side of the welding manipulator. A cleaning mechanism and a maintenance mechanism are installed inside the cleaning cylinder. In the present invention, the welding manipulator is cleaned by the cleaning mechanism. The driving mechanism drives the rotating seat to rotate, and drives the cleaning column and the cleaning ring to rotate synchronously. The cleaning column and the cleaning ring are inserted into the inside of the welding head. The cleaning column brushes and grinds the inner wall of the welding head to remove slag, and the cleaning ring wraps the surface of the wire seat to grind and remove slag. And during the cleaning process, the infusion pipe provides cleaning liquid for the welding head, so that it is rinsed with the cleaning liquid during the process of being ground and removing slag, and the cleaning effect is better. After the cleaning is completed, the cleaning cylinder rotates, so that the maintenance mechanism comes to the position of the welding head to spray water on the welding head for maintenance, so that its service life is longer.

Description

Technical Field

[0001] The present invention relates to the field of welding tools, and specifically to an intelligent welding robot. Background Art

[0002] A welding robot is an industrial robot engaged in welding. According to the definition of an industrial robot belonging to a standard welding robot by the International Organization for Standardization (ISO), an industrial robot is a multi-purpose, reprogrammable automatic control manipulator with three or more programmable axes, which is used in the field of industrial automation. In order to adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be equipped with different tools or end effectors. A welding robot is one that installs a welding torch or a welding (cutting) gun on the flange of the last axis of the industrial robot, enabling it to perform welding, cutting, or thermal spraying.

[0003] According to the welding process and workpiece requirements, a suitable welding wire is selected and inserted into the welding torch. The robot accurately moves the welding torch or the wire feeding torch to the welding position according to the preset welding program, and applies appropriate current and voltage to melt and connect the welding materials together.

[0004] However, during the welding process, impurities and residues will inevitably be generated on the surface of the welding torch. These impurities and residues adhere to the surface of the welding torch head, which will not only affect the welding quality but also shorten the service life of the welding torch.

[0005] The common cleaning method for the residues on the surface of the welding torch head is generally to brush and clean the surface of the welding torch with a cleaning brush, but the cleaning effect of the cleaning brush on the inside of the welding torch is limited, and it is difficult to completely clean the residues accumulated inside. Summary of the Invention

[0006] Based on this, the purpose of the present invention is to provide an intelligent welding robot to solve the technical problem that the cleaning effect of the residues inside the general welding torch head is not very good.

[0007] To achieve the above purpose, the present invention provides the following technical solution: an intelligent welding robot, including a base, on the top of the base, a welding manipulator and a floor track for the movement of the welding manipulator are installed. On the top of the base, on one side of the welding manipulator, a cleaning cylinder is installed. Inside the cleaning cylinder, a cleaning mechanism and a maintenance mechanism are installed. The cleaning mechanism includes an infusion pipe, one end of the infusion pipe penetrates through the side wall of the cleaning cylinder and is communicated with a liquid storage component, the other end of the infusion pipe is installed with a mounting seat, on the top of the mounting seat, a rotating seat is rotatably connected, the rotating seat is driven to rotate by a driving mechanism, on the top of the rotating seat, a cleaning ring is detachably arranged, on the inner wall of the top of the rotating seat, a plurality of cleaning columns are elastically rotatably arranged, and inside the rotating seat, a cleaning ring is fixedly arranged;

[0008] The maintenance mechanism includes a water delivery pipe. One end of the water delivery pipe penetrates through the side wall of the cleaning cylinder and is communicated with the water storage component. The other end of the water delivery pipe is provided with a movable seat, and a water spraying component is arranged inside the movable seat.

[0009] Both the mounting seat and the movable seat are controlled to expand and contract by a telescopic mechanism. A first motor is installed at the bottom of the cleaning cylinder.

[0010] The present invention is further configured that the detachable component of the cleaning ring includes a pressing block. The pressing block is movably arranged inside the cleaning ring. A connecting block is connected to the inner wall of the pressing block. One end of the connecting block is rotatably provided with a telescopic sleeve. The top of the telescopic sleeve is rotatably connected to the inner wall of the cleaning ring through a rotating column. One end of the telescopic sleeve is rotatably connected to an insertion block, and a slot matching the insertion block is opened on the outer wall of the rotating seat.

[0011] The present invention is further configured that one end of the connecting block is provided with a spring, and the other end of the spring is connected to the inner wall of the cleaning ring.

[0012] The present invention is further configured that the driving mechanism includes a third motor. The third motor is installed on the top of the mounting seat. The output end of the third motor is connected with a driving gear. A through groove is opened at the bottom of the rotating seat. An external gear ring is fixedly arranged on the inner wall of the through groove. The third motor and the driving gear are located inside the through groove, and the driving gear meshes with the external gear ring.

[0013] The present invention is further configured that the telescopic mechanism includes a first telescopic cylinder and a second telescopic cylinder. The first telescopic cylinder is installed on the outer wall of the liquid delivery pipe, and the movable end of the first telescopic cylinder is connected to the bottom of the mounting seat. The second telescopic cylinder is installed on the outer wall of the water delivery pipe, and the movable end of the second telescopic cylinder is connected to the bottom of the movable seat.

[0014] The present invention is further configured that the liquid storage component is located inside the cleaning cylinder. A filter screen is arranged inside the cleaning cylinder. The filter screen divides the cleaning cylinder into upper and lower parts. The lower part of the cleaning cylinder is used for storing the cleaning liquid. One end of the liquid delivery pipe is connected with a connecting pipe, and the other end of the connecting pipe is communicated with the lower part of the cleaning cylinder.

[0015] The present invention is further configured that the water spraying component includes atomizing nozzles. A plurality of atomizing nozzles are installed on the inner wall of the movable seat. A plurality of water leakage holes and water leakage grooves are opened on the inner wall of the movable seat. A water storage tank is fixedly arranged on the outer wall of the cleaning cylinder. One end of the water delivery pipe is communicated with the water storage tank. The water leakage holes and the water leakage grooves are communicated with the water storage tank through pipelines.

[0016] The present invention is further configured that liquid infusion pumps are installed in the middle of both the connecting pipe and the water delivery pipe.

[0017] The present invention is further configured such that a set of second motors are fixedly installed on the outer wall of the cleaning cylinder, the output end of the second motor is connected to a top cover, and through holes are provided on the side wall of the top cover.

[0018] The present invention is further configured such that a D camera is installed on the surface of the welding manipulator, and an industrial control computer is installed on the top of the base.

[0019] In summary, the present invention mainly has the following beneficial effects: The present invention cleans the welding manipulator through a cleaning mechanism. The driving mechanism drives the rotating seat to rotate, and drives the cleaning column and the cleaning ring to rotate synchronously. The cleaning column and the cleaning ring are inserted into the inside of the welding head. The cleaning column brushes and grinds the inner wall of the welding head to remove slag, and the cleaning ring wraps the surface of the wire seat to grind and remove slag. And during the cleaning process, the infusion pipe provides cleaning liquid for the welding head, so that it is rinsed with the cleaning liquid during the process of being ground and removing slag, and the cleaning effect is better. After the cleaning is completed, the cleaning cylinder rotates, so that the maintenance mechanism comes to the position of the welding head to spray water and maintain the welding head, so that its service life is longer. Description of the Drawings

[0020] Figure 1 is the overall structural schematic diagram of the intelligent welding robot of the present invention;

[0021] Figure 2 is the three-dimensional structural schematic diagram of the cleaning cylinder of the present invention;

[0022] Figure 3 is the internal structural schematic diagram of the cleaning cylinder of the present invention;

[0023] Figure 4 is the internal structural sectional view of the cleaning cylinder of the present invention;

[0024] Figure 5 is the structural schematic diagram of the cleaning mechanism of the present invention;

[0025] Figure 6 is the internal structural schematic diagram of the cleaning ring of the present invention;

[0026] Figure 7 is the structural schematic diagram of the maintenance mechanism of the present invention;

[0027] Figure 8 For the present invention Figure 6 the enlarged view of the structure at A;

[0028] Figure 9 is the internal structural schematic diagram of the rotating seat of the present invention.

[0029] In the figure: 1, base; 2, welding manipulator; 3, industrial control computer; 4, ground rail; 5, cleaning cylinder; 6, first motor; 7, top cover; 8, second motor; 9, infusion tube; 10, mounting seat; 11, rotating seat; 12, cleaning ring; 13, cleaning column; 14, cleaning ring; 15, first telescopic cylinder; 16, extrusion block; 17, connecting block; 18, telescopic sleeve; 19, rotating column; 20, insertion block; 21, third motor; 22, driving gear; 23, external gear ring; 24, water delivery pipe; 25, movable seat; 26, rubber pad; 27, atomizing nozzle; 28, water leakage hole; 29, water leakage groove; 30, second telescopic cylinder; 31, connecting pipe; 32, filter screen; 33, water storage tank. Detailed implementation manner

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and cannot be understood as a limitation to the present invention.

[0031] An intelligent welding robot, as Figure 1-9 shown, includes a base 1. A welding manipulator 2 and a ground rail 4 for the movement of the welding manipulator 2 are installed on the top of the base 1. A cleaning cylinder 5 is installed on one side of the welding manipulator 2 on the top of the base 1. A group of second motors 8 are fixedly installed on the outer wall of the cleaning cylinder 5. The output end of the second motor 8 is connected to a top cover 7. Through holes are opened on the side wall of the top cover 7. When the welding head of the welding manipulator 2 is moved into the cleaning cylinder 5, the second motor 8 is started to close a group of top covers 7, and the welding head is clamped inside the through holes. Subsequently, the cleaning and maintenance work is prepared to be carried out. A cleaning mechanism and a maintenance mechanism are installed inside the cleaning cylinder 5.

[0032] The cleaning mechanism includes an infusion tube 9. One end of the infusion tube 9 is provided with a mounting seat 10. The top of the mounting seat 10 is rotatably connected to a rotating seat 11. The top of the rotating seat 11 is detachably provided with a cleaning ring 14. A plurality of cleaning columns 13 are elastically rotatably arranged on the inner wall of the top of the rotating seat 11. A cleaning ring 12 is fixedly arranged inside the rotating seat 11. After the welding head moves into the cleaning cylinder 5, the telescopic mechanism on the surface of the infusion tube 9, i.e., the first telescopic cylinder 15, starts to push the mounting seat 10 outwards. At this time, the cleaning columns 13 are inserted into the inside of the welding head. The welding head is of a hollow structure, and a circular fixing seat for the wire to extend out is installed inside. Therefore, the cleaning columns 13 are inserted into the gap between the inner wall of the welding head and the fixing seat. Since the cleaning columns 13 are connected to the rotating seat 11 through torsion springs and the top ends of the cleaning columns 13 are arc-shaped, even if there are residues in the inner gap of the welding head, the cleaning columns 13 will deflect, but they can still be inserted into the gap. After the cleaning columns 13 are inserted into the welding head, the cleaning ring 12 wraps the fixing seat. At this time, when the rotating seat 11 rotates, the cleaning columns 13 and the cleaning ring 12 can polish and remove slag from the inner wall of the welding head and the surface of the fixing seat;

[0033] The rotation of the rotating seat 11 is provided by a driving mechanism. The driving mechanism includes a third motor 21. The third motor 21 is installed on the top of the mounting seat 10. The output end of the third motor 21 is connected to a driving gear 22. A through groove is formed at the bottom of the rotating seat 11. The inner wall of the through groove is fixedly provided with an external gear ring 23. The third motor 21 and the driving gear 22 are located inside the through groove, and the driving gear 22 meshes with the external gear ring 23. When the rotating seat 11 needs to rotate, the output end of the third motor 21 drives the driving gear 22 to rotate. At this time, the external gear ring 23 will drive the rotating seat 11 to rotate synchronously. At this time, the cleaning columns 13 and the cleaning ring 12 will start the polishing work. The cleaning columns 13 always keep in contact with the inner wall of the welding head through torsion springs, and the cleaning ring 12 wraps the fixing seat. Therefore, a good polishing and slag removal effect on the inside of the welding head can be achieved;

[0034] The cleaning ring 12 and the cleaning column 13 can clean the inside of the welding head, but residues will also adhere to the end face of the welding head. Therefore, a cleaning ring 14 is provided on the top of the rotating seat 11. When the rotating seat 11 rotates, the cleaning ring 14 can also synchronously clean the end face of the welding head. The cleaning ring 14 can be disassembled and installed as needed. The detachable component includes an extrusion block 16. The extrusion block 16 is movably arranged inside the cleaning ring 14. A connecting block 17 is connected to the inner wall of the extrusion block 16. One end of the connecting block 17 is rotatably provided with a telescopic sleeve 18. The top of the telescopic sleeve 18 is rotatably connected to the inner wall of the cleaning ring 14 through a rotating column 19. One end of the telescopic sleeve 18 is rotatably connected to an insertion block 20. A slot matching the insertion block 20 is provided on the outer wall of the rotating seat 11. When it is necessary to remove the cleaning ring 14, the extrusion block 16 is pressed inward. At this time, the connecting block 17 will push one end of the telescopic sleeve 18 to move inward. And due to the existence of the rotating column 19, when one end of the telescopic sleeve 18 moves inward, the other end will move outward in the opposite direction and eject the insertion block 20 from the slot. At this time, the removal of the cleaning ring 14 can be completed. And a spring is installed at one end of the connecting block 17, and the other end of the spring is connected to the inner wall of the cleaning ring 14. Therefore, when the cleaning ring 14 is reinstalled on the rotating seat 11, the elastic force of the spring can reset the connecting block 17, so that the insertion block 20 can be stably inserted into the slot.

[0035] In order to further improve the cleaning effect of the cleaning column 13, the cleaning ring 12 and the cleaning ring 14, one end of the infusion tube 9 penetrates the side wall of the cleaning cylinder 5 and is communicated with the liquid storage component. The liquid storage component is located inside the cleaning cylinder 5. A filter screen 32 is provided inside the cleaning cylinder 5. The filter screen 32 divides the cleaning cylinder 5 into upper and lower parts. The lower part of the cleaning cylinder 5 is used to store the cleaning liquid. One end of the infusion tube 9 is connected to a connecting tube 31. The other end of the connecting tube 31 is communicated with the lower part of the cleaning cylinder 5. An infusion pump is installed in the middle of the connecting tube 31. Therefore, during the process of grinding and removing residues, the infusion pump pumps the cleaning liquid stored in the lower part of the cleaning cylinder 5 into the connecting tube 31 and sprays it out from the infusion tube 9 to wash the residues during the grinding process. The cleaning liquid falls on the filter screen 32, and the filter screen 32 filters the residues to form a circular use of the cleaning liquid.

[0036] After the cleaning process of the welding head is completed, the welding head needs to be maintained. At this time, the first telescopic cylinder 15 contracts, and the first motor 6 installed at the bottom of the cleaning cylinder 5 is started. The first motor 6 drives the cleaning cylinder 5 to rotate 180 degrees, so that the maintenance mechanism rotates to the position where the original cleaning mechanism is located, and prepares for the maintenance work. The maintenance mechanism includes a water delivery pipe 24. One end of the water delivery pipe 24 penetrates the side wall of the cleaning cylinder 5 and is communicated with the water storage component. The other end of the water delivery pipe 24 is installed with a movable seat 25. A water spraying assembly is arranged inside the movable seat 25. The water spraying assembly includes atomizing nozzles 27. A plurality of atomizing nozzles 27 are installed on the inner wall of the movable seat 25. A plurality of water leakage holes 28 and a water leakage groove 29 are formed on the inner wall of the movable seat 25. A water storage tank 33 is fixedly arranged on the outer wall of the cleaning cylinder 5. One end of the water delivery pipe 24 is communicated with the water storage tank 33. The water leakage holes 28 and the water leakage groove 29 are communicated with the water storage tank 33 through pipelines. When the maintenance work is carried out, the second telescopic cylinder 30 installed on the outer wall of the water delivery pipe 24 is started, and the movable seat 25 is pushed forward to wrap the welding head. A rubber pad 26 is arranged on the inner wall of the movable seat 25. The fixing seat of the welding head abuts against the rubber pad 26, which can effectively prevent the anti-spatter liquid from entering the inside of the welding head. At this time, the liquid delivery pump in the middle of the water delivery pipe 24 is started, and the anti-spatter liquid in the water storage tank 33 is pumped into the water delivery pipe 24 and sprayed out by the atomizing nozzles 27. The atomized anti-spatter liquid will adhere to the surface of the welding head, making it a uniform welding isolation protection film. The excess anti-spatter liquid will gather into a liquid and re-enter the pipeline from the water leakage holes 28 and the water leakage groove 29 and return to the water storage tank 33.

[0037] After the two processes of cleaning and maintenance are completed, the second motor 8 is started, and the second motor 8 rotates in the reverse direction to open the top cover 7. The welding manipulator 2 removes the welding head, and the entire cleaning process is completed.

[0038] A 3D camera is installed on the surface of the welding manipulator 2, and an industrial control computer 3 is installed on the top of the base 1. The 3D camera takes pictures, and the industrial control computer 3 reconstructs the results to control the movement of the welding manipulator 2 on the ground rail 4 and the welding work of the workpiece.

[0039] Although the embodiments of the present invention have been shown and described, the specific embodiments are only explanations of the present invention and are not limitations to the invention. The specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art can make modifications, substitutions and variations without creative contributions to the embodiments according to needs, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. An intelligent welding robot, comprising a base (1), wherein a welding manipulator (2) and a ground rail (4) for the movement of the welding manipulator (2) are installed on the top of the base (1), and it is characterized in that: On one side of the welding manipulator (2) at the top of the base (1), a cleaning cylinder (5) is installed. Inside the cleaning cylinder (5), a cleaning mechanism and a maintenance mechanism are installed. The cleaning mechanism includes an infusion pipe (9). One end of the infusion pipe (9) penetrates the side wall of the cleaning cylinder (5) and is communicated with a liquid storage component. The other end of the infusion pipe (9) is installed with a mounting seat (10). At the top of the mounting seat (10), a rotating seat (11) is rotatably connected. The rotating seat (11) is driven to rotate by a driving mechanism. At the top of the rotating seat (11), a cleaning ring (14) is detachably arranged. At the inner wall of the top of the rotating seat (11), a plurality of cleaning columns (13) are elastically rotatably arranged. The cleaning columns (13) are connected to the rotating seat (11) through torsion springs. The top end of the cleaning column (13) is an arc surface. The cleaning column (13) always keeps in contact with the inner wall of the welding head through the torsion spring. Inside the rotating seat (11), a cleaning ring (12) is fixedly arranged. The cleaning columns (13) can adapt to the residues inside the welding head by tilting. The cleaning ring (12) wraps the fixing seat. At this time, when the rotating seat (11) rotates, the cleaning columns (13) and the cleaning ring (12) can polish and remove the slag on the inner wall of the welding head and the surface of the fixing seat. The maintenance mechanism includes a water delivery pipe (24). One end of the water delivery pipe (24) penetrates the side wall of the cleaning cylinder (5) and is communicated with a water storage component. The other end of the water delivery pipe (24) is installed with a movable seat (25). Inside the movable seat (25), a water spraying component is arranged. Both the mounting seat (10) and the movable seat (25) are controlled to expand and contract by a telescopic mechanism. At the bottom of the cleaning cylinder (5), a first motor (6) is installed. The first motor (6) drives the cleaning cylinder (5) to rotate 180 degrees, so that the maintenance mechanism rotates to the position where the original cleaning mechanism is located to prepare for maintenance work. The liquid storage component is located inside the cleaning cylinder (5). Inside the cleaning cylinder (5), a filter screen (32) is arranged. The filter screen (32) divides the cleaning cylinder (5) into upper and lower parts. The lower part of the cleaning cylinder (5) is used to store the cleaning liquid. One end of the infusion pipe (9) is connected with a connecting pipe (31). The other end of the connecting pipe (31) is communicated with the lower part of the cleaning cylinder (5). The water spraying component includes atomizing nozzles (27). A plurality of atomizing nozzles (27) are installed on the inner wall of the movable seat (25). A plurality of water leakage holes (28) and water leakage grooves (29) are arranged on the inner wall of the movable seat (25). A water storage tank (33) is fixedly arranged on the outer wall of the cleaning cylinder (5). One end of the water delivery pipe (24) is communicated with the water storage tank (33). The water leakage holes (28) and the water leakage grooves (29) are communicated with the water storage tank (33) through pipelines. A rubber pad (26) is arranged on the inner wall of the movable seat (25). The fixing seat of the welding head abuts against the rubber pad (26) to prevent the splashing liquid from entering the inside of the welding head.

2. The intelligent welding robot according to claim 1, wherein: The detachable components of the cleaning ring (14) include a pressing block (16). The pressing block (16) is movably arranged inside the cleaning ring (14). A connecting block (17) is connected to the inner wall of the pressing block (16). One end of the connecting block (17) is rotatably provided with a telescopic sleeve (18). The top of the telescopic sleeve (18) is rotatably connected to the inner wall of the cleaning ring (14) through a rotating column (19). One end of the telescopic sleeve (18) is rotatably connected to an inserting block (20). A slot matching the inserting block (20) is formed in the outer wall of the rotating seat (11). One end of the connecting block (17) is provided with a spring, and the other end of the spring is connected to the inner wall of the cleaning ring (14).

3. An intelligent welding robot according to claim 1, characterized in that: The driving mechanism includes a third motor (21). The third motor (21) is installed on the top of the mounting seat (10). The output end of the third motor (21) is connected to a driving gear (22). A through groove is formed in the bottom of the rotating seat (11). An external gear ring (23) is fixedly arranged on the inner wall of the through groove. The third motor (21) and the driving gear (22) are located inside the through groove, and the driving gear (22) meshes with the external gear ring (23).

4. An intelligent welding robot according to claim 1, characterized in that: The telescopic mechanism includes a first telescopic cylinder (15) and a second telescopic cylinder (30). The first telescopic cylinder (15) is installed on the outer wall of the infusion tube (9), and the movable end of the first telescopic cylinder (15) is connected to the bottom of the mounting seat (10). The second telescopic cylinder (30) is installed on the outer wall of the water delivery pipe (24), and the movable end of the second telescopic cylinder (30) is connected to the bottom of the movable seat (25).

5. An intelligent welding robot according to claim 1, characterized in that: Infusion pumps are installed in the middle of both the connecting pipe (31) and the water delivery pipe (24).

6. An intelligent welding robot according to claim 1, characterized in that: A group of second motors (8) are fixedly installed on the outer wall of the cleaning cylinder (5). The output end of the second motor (8) is connected to a top cover (7), and through holes are formed in the side wall of the top cover (7).

7. An intelligent welding robot according to claim 1, characterized in that: A 3D camera is installed on the surface of the welding manipulator (2), and an industrial control computer (3) is installed on the top of the base (1).

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