A conductive nozzle replacement device and replacement method for a welding robot

Abstract

The present invention discloses a conductive nozzle replacement device and a replacement method for a welding robot, comprising a shell, wherein a positioning hole and a placement opening are provided on the shell, and a mounting box is provided inside the shell, wherein the mounting box is used to carry a new conductive nozzle, and the mounting box corresponds to the placement opening; the end of the welding robot only needs to find a point and position it once, and will no longer move during the process of replacing the conductive nozzle, and the movement of the mounting box and the gear ring is used to find the end of the welding gun, thereby eliminating the steps of the welding robot repeatedly finding a point and positioning and planning a path, thereby improving the replacement efficiency of the conductive nozzle; at the same time, the operation difficulty of the welding robot is reduced, and the probability of misoperation is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of conductive nozzle replacement, and in particular relates to a conductive nozzle replacement device and a replacement method for a welding robot. Background Art

[0002] The existing method of replacing the conductive nozzle of a welding robot relies on the end of the welding robot to repeatedly search for the nozzle disassembly and assembly station. The conductive nozzle disassembly station is complicated and cumbersome to operate and requires rigorous path planning. This not only reduces the efficiency of replacing the conductive nozzle of the welding robot, but also easily leads to misoperation. The end of the welding robot needs to find positioning points multiple times, which increases the probability of positioning errors and deviations. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention aims to provide a conductive nozzle replacement device and a replacement method for a welding robot.

[0004] The technical solution adopted by the present invention is:

[0005] A conductive nozzle replacement device for a welding robot comprises a shell, wherein the shell is provided with a positioning hole and a placement opening, wherein a mounting box is provided inside the shell, wherein the mounting box is used to carry a new conductive nozzle, and wherein the mounting box corresponds to the placement opening; wherein a slider is slidably provided on an inner wall of one side of the shell, wherein a reserved sleeve is rotatably provided on one side of the slider, and wherein the reserved sleeve is fixedly connected to the mounting box; wherein a gear cover is provided on one side of the slider, wherein the gear cover is slidably connected to an inner wall of one side of the shell, wherein a control sleeve is rotatably provided on one side of the gear cover, wherein a plurality of mounting grooves are provided on the circumferential side of the control sleeve, wherein a clamping plate is detachably installed in each of the mounting grooves, and wherein the plurality of clamping plates are used to clamp and disassemble nozzles; wherein a gear ring is provided inside the shell, wherein a clamping block is detachably installed on the gear ring, and wherein the clamping block is used to clamp and disassemble an old conductive nozzle.

[0006] As a preferred embodiment of the present invention, a plurality of installation openings are provided on the installation box, each of the installation openings is provided with a bearing sleeve, each side of the bearing sleeve is provided with a buffer spring, the two ends of each buffer spring are respectively abutted against the bearing sleeve and the inner wall of the installation box, the side of the bearing sleeve away from the installation opening passes through the installation box, the bearing sleeve is sleeved with the installation box, and a coupling is fixedly provided at the end of the bearing sleeve away from the installation opening.

[0007] As a preferred embodiment of the present invention, a control gear is provided at one end of the reserved sleeve away from the placement port, and the control gear is connected to the reserved sleeve through a one-way bearing. A slot is provided at one end of the slider close to the reserved sleeve, and the control gear is located in the slot. The end face of the control gear is rotatably connected to the slot. A moving motor is provided on one side of the slider, and the moving motor is fixedly connected to an inner wall of one side of the shell. A translation screw is fixedly provided on the output shaft of the moving motor, and the translation screw passes through the slider, and the slider is threadedly matched with the translation screw; a rack is provided on the side of the control gear away from the slider, and the rack is fixedly connected to an inner wall of one side of the shell, and the rack meshes with the control gear.

[0008] As a preferred embodiment of the present invention, a control motor is fixedly provided on the inner wall of the shell side away from the positioning hole, and a lifting screw is fixedly provided on the output shaft of the control motor, the lifting screw passes through the gear cover, and the gear cover is threadedly matched with the lifting screw; a driving gear is fixedly provided on the end of the control sleeve away from the positioning hole, the end face of the driving gear is rotatably connected to the gear cover, and the gear cover is rotatably connected to the outer side wall of the control sleeve; a driving motor is provided on one side of the control motor, the driving motor is fixedly connected to the inner wall of one side of the shell, and a gear rod is fixedly provided on the output shaft of the drive motor, and the gear rod is meshed with the driving gear.

[0009] As a preferred embodiment of the present invention, a friction portion and a transition portion are respectively provided on the circumferential side of the nozzle; a friction member is fixedly provided on the side of the clamping plate close to the positioning hole, and the friction member cooperates with the friction portion; a wedge-shaped portion is fixedly provided on the end of the clamping plate away from the positioning hole, and the wedge-shaped portion cooperates with the transition portion; a rotating shaft is provided between the friction member and the wedge-shaped portion, the rotating shaft is fixedly connected to the clamping plate, the rotating shaft is rotatably connected to the side wall of the mounting groove, a torsion spring is provided on the circumferential side of the rotating shaft, and the two ends of the torsion spring are respectively connected to the clamping plate and the control sleeve.

[0010] As a preferred embodiment of the present invention, two bearing members are provided at one end of the gear ring away from the positioning hole, and the two bearing members are respectively rotatably connected to the end face of the gear ring, and a connecting member is fixedly provided at one end of the two bearing members away from each other, and the two connecting members are respectively slidably connected to the inner wall of one side of the shell, and a control cylinder is provided at the end of one of the connecting members away from the bearing members, and the cylinder barrel of the control cylinder is fixedly connected to the inner wall of one side of the shell, and the piston rod of the control cylinder is fixedly connected to the corresponding connecting member.

[0011] As a preferred embodiment of the present invention, two clamping cylinders are provided at one end of the gear ring close to the positioning hole, the cylinder barrels of the two clamping cylinders are respectively fixedly connected to the end face of the gear ring, the piston rods of the two clamping cylinders are respectively fixedly provided with one clamping block, the conductive nozzle is provided with a fitting portion, and a fitting surface is fixedly provided on the concave side wall of the clamping block, and the fitting surface cooperates with the fitting portion.

[0012] As a preferred embodiment of the present invention, a coupled member is fixedly provided at one end of the control sleeve close to the positioning hole, and the coupled member cooperates with the coupling member.

[0013] As a preferred embodiment of the present invention, a spring sleeve is provided at one end of the control sleeve away from the positioning hole, and a collecting sleeve is provided at one end of the spring sleeve away from the control sleeve. Both ends of the spring sleeve are fixedly connected to the control sleeve and the collecting sleeve respectively, and the collecting sleeve is fixedly connected to the inner wall of the shell on one side away from the positioning hole, and the gear rod passes through the inner wall of the shell.

[0014] A method for replacing a conductive nozzle of a welding robot comprises the following steps:

[0015] S1, welding gun in place; drive the end of the welding robot to move to the specified position, so that the welding gun is vertically inserted into the positioning hole;

[0016] S2, removing the nozzle; first, driving the control sleeve to lift, until the clamping plate matches the nozzle and clamps it, then driving the control sleeve to rotate, removing the nozzle from the welding gun, and finally driving the control sleeve to descend, and the control sleeve descends with the nozzle;

[0017] S3, removing the old conductive nozzle; first, driving the gear ring to move to the specified position, then driving the clamping block to clamp the old conductive nozzle, and then driving the gear ring to rotate to remove the old conductive nozzle from the welding gun, and then driving the clamping block to release the old conductive nozzle, the old conductive nozzle falls and passes through the nozzle to be collected, and finally driving the gear ring to reset;

[0018] S4, installing a new conductive nozzle; first, driving the installation box to move to the specified position, the new conductive nozzle is in place during the movement of the installation box, then driving the control sleeve to lift until the control sleeve is lifted to the specified position, then driving the control sleeve to rotate, the control sleeve rotates the new conductive nozzle and then installs it on the welding gun, and finally driving the control sleeve and the installation box to reset in sequence;

[0019] S5, installing the nozzle; first drive the control sleeve to lift until the nozzle contacts the welding gun, then drive the control sleeve to rotate, install the nozzle on the welding gun, and finally drive the control sleeve to reset, completing the replacement of the conductive nozzle of the welding robot.

[0020] The beneficial effects of the present invention are as follows: as a conductive nozzle replacement device and method for a welding robot, the end of the welding robot only needs to find a point and position it once, and it no longer moves during the process of replacing the conductive nozzle. The movement of the installation box and the gear ring is used to find the end of the welding gun, which eliminates the steps of the welding robot repeatedly finding a point and positioning and planning a path, thereby improving the replacement efficiency of the conductive nozzle; at the same time, it reduces the operating difficulty of the welding robot and avoids the probability of misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 The present invention Figure 1 A schematic diagram of a structure with a housing;

[0024] Figure 3 The present invention Figure 1 Schematic diagram of the structure after the installation box, control sleeve and other parts are hidden;

[0025] Figure 4 The present invention Figure 1 A schematic diagram of the structure of the slider-related parts;

[0026] Figure 5 The present invention Figure 1 Schematic diagram of the clamping block structure;

[0027] Figure 6 The present invention Figure 1 Schematic diagram of the structure of the control sleeve related parts;

[0028] Figure 7 The present invention Figure 6 Schematic diagram of the structure after the gear rod, gear cover and other related parts are hidden;

[0029] Figure 8 The present invention Figure 6 A schematic cross-sectional structure diagram of ;

[0030] Fig. 9 The present invention Figure 7 A schematic diagram of the structure of the clamping plate related parts;

[0031] Fig.10 The present invention Figure 1 Schematic diagram of the nozzle structure;

[0032] Fig.11 The present invention Figure 1 Schematic diagram of the conductive nozzle structure. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0035] Combine the following Figure 1-11 The specific embodiment of the present invention is described, a conductive nozzle replacement device for a welding robot includes a shell 11, the shell 11 is provided with a positioning hole 12 and a placement opening 53, the shell 11 is provided with a mounting box 13, the mounting box 13 is used to carry a new conductive nozzle 15, the mounting box 13 corresponds to the placement opening 53; a slider 26 is slidably provided on the inner wall of one side of the shell 11, a reserved sleeve 14 is rotatably provided on one side of the slider 26, and the reserved sleeve 14 is fixedly connected to the mounting box 13; one side of the slider 26 is provided with a fixed sleeve 14, and the fixed sleeve 14 is fixedly connected to the mounting box 13; one side of the slider 26 A gear cover 30 is provided on the side, and the gear cover 30 is slidably connected to the inner wall of one side of the shell 11; a control sleeve 43 is rotatably provided on one side of the gear cover 30, and a plurality of mounting grooves 44 are provided on the circumferential side of the control sleeve 43, and a clamping plate 45 is detachably installed in each of the mounting grooves 44, and the plurality of clamping plates 45 are used for clamping and disassembling the nozzle 41; a gear ring 20 is provided inside the shell 11, and a clamping block 33 is detachably installed on the gear ring 20, and the clamping block 33 is used for clamping and disassembling the old conductive nozzle 23. The old conductive nozzle 23 is a used conductive nozzle, and the new conductive nozzle 15 is a conductive nozzle to be replaced. It is only necessary to control the end of the welding robot to move to the specified position. In the subsequent conductive nozzle replacement process, the welding robot does not need to move frequently and repeat positioning. The replacement of the conductive nozzle is completed by controlling the movement of the gear ring 20 and the installation box 13 to find the welding gun at the end of the welding robot, thereby reducing the operating difficulty of the welding robot and avoiding the probability of misoperation. At the same time, the steps of repeatedly finding points and planning paths for the welding robot are omitted, thereby improving the replacement efficiency of the conductive nozzle.

[0036] Advantageously, the installation box 13 is provided with a plurality of installation openings, each of which is provided with a bearing sleeve 24, and a hole of a special shape is provided in the bearing sleeve 24 for placing a new conductive nozzle 15, and the new conductive nozzle 15 will rotate with the bearing sleeve 24, and a buffer spring 34 is provided on one side of each bearing sleeve 24, and the two ends of each buffer spring 34 abut against the inner wall of the bearing sleeve 24 and the installation box 13 respectively, and the end of the bearing sleeve 24 has an edge for abutting against the buffer spring 34, and the side of the bearing sleeve 24 away from the placement opening 53 passes through the installation box 13, and the bearing sleeve 24 is sleeved with the installation box 13, and a coupling member 35 is fixedly provided at one end of the bearing sleeve 24 away from the placement opening 53. The end of the coupling member 35 has a notch of a special shape.

[0037] Advantageously, a control gear 36 is provided at one end of the reserved sleeve 14 away from the placement opening 53, and the control gear 36 is connected to the reserved sleeve 14 through a one-way bearing. A slot 39 is provided at one end of the slider 26 close to the reserved sleeve 14, and the control gear 36 is located in the slot 39. The end face of the control gear 36 is rotatably connected to the slot 39. A moving motor 25 is provided on one side of the slider 26, and the moving motor 25 is fixedly connected to an inner wall of one side of the shell 11. A translation screw 27 is fixedly provided on the output shaft of the moving motor 25, and the translation screw 27 passes through the slider 26, and the slider 26 is threadedly engaged with the translation screw 27; a rack 19 is provided on the side of the control gear 36 away from the slider 26, and the rack 19 is fixedly connected to an inner wall of one side of the shell 11, and the rack 19 meshes with the control gear 36. The installation box 13 is moved to enable the new conductive nozzle 15 to find the position to be replaced. At the same time, the installation box 13 is moved to rotate itself to replace the position to be replaced with the new conductive nozzle 15, so as to adapt to the batch continuous conductive nozzle replacement task.

[0038] Advantageously, a control motor 17 is fixedly provided on an inner wall of a side of the shell 11 away from the positioning hole 12, and a lifting screw 18 is fixedly provided on the output shaft of the control motor 17, and the lifting screw 18 passes through the gear cover 30, and the gear cover 30 is threadedly engaged with the lifting screw 18; a driving gear 37 is fixedly provided on an end of the control sleeve 43 away from the positioning hole 12, and the end face of the driving gear 37 is rotatably connected to the gear cover 30, and the gear cover 30 is rotatably connected to the outer side wall of the control sleeve 43; a driving motor 16 is provided on one side of the control motor 17, and the driving motor 16 is fixedly connected to an inner wall of one side of the shell 11, and a gear rod 28 is fixedly provided on the output shaft of the drive motor 16, and the gear rod 28 is meshed with the driving gear 37. The control motor 17 and the drive motor 16 are used to control the lifting and rotation of the sleeve 43 respectively. The forward and reverse rotation of the sleeve 43 is used for the disassembly and assembly of the nozzle 41 respectively. The lifting and lowering of the control sleeve 43 is used to make way when the clamping block 33 is looking for a position and the conductive nozzle is disassembled and assembled.

[0039] Advantageously, the circumference of the nozzle 41 is provided with a friction part 50 and a transition part 51 respectively; a friction member 46 is fixedly provided on the side of the clamping plate 45 close to the positioning hole 12, and the friction member 46 cooperates with the friction member 50; a wedge-shaped part 47 is fixedly provided on the end of the clamping plate 45 away from the positioning hole 12, and the wedge-shaped part 47 cooperates with the transition part 51; a rotating shaft 48 is provided between the friction member 46 and the wedge-shaped part 47, and the rotating shaft 48 is fixedly connected to the clamping plate 45, and the rotating shaft 48 is rotatably connected to the side wall of the mounting groove 44; a torsion spring 49 is provided on the circumference of the rotating shaft 48, and the two ends of the torsion spring 49 are respectively connected to the clamping plate 45 and the control sleeve 43. The weight of the nozzle 41 will also change the posture of the clamping plate 45. After the nozzle 41 is completely separated from the welding gun, the nozzle 41 will always move with the control sleeve 43, and the relative position and posture of the two will not change.

[0040] Advantageously, the end of the gear ring 20 away from the positioning hole 12 is provided with two bearings 31, the two bearings 31 are respectively connected to the end surface of the gear ring 20 for rotation, the ends of the two bearings 31 away from each other are respectively fixed with a connecting member 32, the two connecting members 32 are respectively connected to the inner wall of one side of the housing 11 for sliding, and the end of one of the connecting members 32 away from the bearing 31 is provided with a control cylinder 21, the cylinder barrel of the control cylinder 21 is fixedly connected to the inner wall of one side of the housing 11, and the piston rod of the control cylinder 21 is fixedly connected to the corresponding connecting member 32. The gear ring 20 will not collide with the lifting screw 18 when moving, and the gear ring 20 can mesh with the gear rod 28 after moving, and the axis connecting line of the two does not coincide with the moving direction, so the situation of teeth facing each other will not occur. When the teeth and the tooth gap are not completely tightly matched, the movement of the gear ring 20 will cause the tooth column 28 to rotate slightly adaptively, thereby ensuring that the tooth column 28 and the gear ring 20 can maintain a good transmission relationship.

[0041] Advantageously, two clamping cylinders 22 are provided at one end of the gear ring 20 near the positioning hole 12, and the cylinder barrels of the two clamping cylinders 22 are respectively fixedly connected to the end surface of the gear ring 20, and the piston rods of the two clamping cylinders 22 are respectively fixedly provided with a clamping block 33, and the conductive nozzle is provided with a fitting portion 52, and a fitting surface 40 is fixedly provided on the concave side wall of the clamping block 33, and the fitting surface 40 cooperates with the fitting portion 52. Ensuring that the sliding directions of the clamping cylinder 22 and the connecting member 32 are perpendicular can ensure that the two clamping blocks 33 will not collide with the old conductive nozzle 23 when they are away from each other.

[0042] Advantageously, a coupled member 42 is fixedly provided at one end of the control sleeve 43 near the positioning hole 12, and the coupled member 42 cooperates with the coupling member 35. The ends of the coupled member 42 and the coupling member 35 have notches of matching shapes, and the unfolded surface of the notch is wedge-shaped. When the two are combined, they are tightly matched, and under the guidance of the wedge-shaped structure, the two will gradually fit tightly.

[0043] Advantageously, a spring sleeve 29 is provided at one end of the control sleeve 43 away from the positioning hole 12, and a collecting sleeve 38 is provided at one end of the spring sleeve 29 away from the control sleeve 43. Both ends of the spring sleeve 29 are fixedly connected to the control sleeve 43 and the collecting sleeve 38 respectively, and the collecting sleeve 38 is fixedly connected to the inner wall of the housing 11 away from the positioning hole 12, and the gear rod 28 penetrates the inner wall of the housing 11. The spring sleeve 29 is adaptively retracted when the control sleeve 43 is raised or lowered, and the spring sleeve 29 can protect the path where the old conductive tip 23 falls, and the old conductive tip 23 will not fall into other areas in the housing 11.

[0044] A method for replacing a conductive nozzle of a welding robot comprises the following steps:

[0045] S1, welding gun in place; drive the end of the welding robot to move to the specified position, so that the welding gun is vertically inserted into the positioning hole 12;

[0046] S2, removing the nozzle; first, driving the control sleeve 43 to lift, until the clamping plate 45 cooperates with the nozzle 41 to clamp it, then driving the control sleeve 43 to rotate, removing the nozzle 41 from the welding gun, and finally driving the control sleeve 43 to descend, and the control sleeve 43 and the nozzle 41 are descended together;

[0047] S3, removing the old conductive tip; first, driving the gear ring 20 to move to the specified position, then driving the clamping block 33 to clamp the old conductive tip 23, then driving the gear ring 20 to rotate, removing the old conductive tip 23 from the welding gun, and then driving the clamping block 33 to release the old conductive tip 23, the old conductive tip 23 falls and passes through the nozzle 41 to be collected, and finally driving the gear ring 20 to reset;

[0048] S4, install a new conductive nozzle; first, drive the installation box 13 to move to the specified position, and the new conductive nozzle 15 is in place during the movement of the installation box 13, then drive the control sleeve 43 to lift, until the control sleeve 43 is lifted to the specified position, then drive the control sleeve 43 to rotate, and the control sleeve 43 rotates the new conductive nozzle 15 and then installs it on the welding gun, and finally drive the control sleeve 43 and the installation box 13 to reset in sequence;

[0049] S5, installing the nozzle; first drive the control sleeve 43 to lift until the nozzle 41 contacts the welding gun, then drive the control sleeve 43 to rotate, install the nozzle 41 on the welding gun, and finally drive the control sleeve 43 to reset, completing the replacement of the conductive nozzle of the welding robot.

[0050] Working principle of the present invention:

[0051] In the initial state, the mounting box 13 is filled with new conductive nozzles 15, the control sleeve 43 is in a low position, the mounting box 13 is away from the positioning hole 12, the gear ring 20 is away from the positioning hole 12, the friction member 46 is divergent, the wedge-shaped portion 47 is gathered, and the rack 19 has a tendency to further gather the wedge-shaped portion 47; the nozzle 41 is threadedly connected to the end of the welding gun, and the conductive nozzle is also threadedly connected to the end of the welding gun.

[0052] Drive the end of the welding robot to move to the specified position, insert the welding gun vertically into the positioning hole 12, ensure that the nozzle 41 and the old conductive nozzle 23 are vertical, and ensure that the nozzle 41, the old conductive nozzle 23 and the positioning hole 12 are coaxial. In the subsequent replacement process, keep the welding gun posture stable and the position unchanged. After the new conductive nozzle 15 is replaced, drive the end of the welding robot to leave the shell 11.

[0053] When removing the nozzle, the control motor 17 is started to control the lifting screw 18 to rotate, the lifting screw 18 drives the gear cover 30 to move, the gear cover 30 slides along the side wall of the housing 11, the driving gear 37, the control sleeve 43 and the clamping plate 45 rise together with the gear cover 30 until the wedge-shaped portion 47 contacts the transition portion 51, the transition portion 51 pushes the wedge-shaped portion 47 to diverge, and the clamping plate 45 is forced to rotate until the friction member 46 contacts the friction portion 50, at which time the nozzle 41 is firmly clamped;

[0054] Start the drive motor 16, and the drive motor 16 drives the gear rod 28 to rotate. The gear rod 28 drives the drive gear 37 to rotate through meshing, and the control sleeve 43, the clamping plate 45, and the friction member 46 rotate together with the drive gear 37, and the nozzle 41 is removed. During this process, the nozzle 41 and the welding gun have an axial relative displacement. When the drive motor 16 is started, the control motor 17 is started in coordination to make the gear cover 30 slowly descend. The gear cover 30 descends slightly to drive the control sleeve 43 and the nozzle 41 to descend together, ensuring that the nozzle 41 is smoothly separated from the welding gun. After the nozzle 41 is removed, the control sleeve 43 is driven to descend and reset, and the control sleeve 43 descends with the nozzle 41.

[0055] At this point, the nozzle 41 is completely removed, the old conductive nozzle 23 is exposed, and there is no component blocking the side of the old conductive nozzle 23 .

[0056] When removing the old conductive nozzle, the control cylinder 21 is started, and its piston rod is controlled to extend, driving the connecting member 32, the bearing member 31, the gear ring 20, the clamping cylinder 22, and the clamping block 33 to move together, and the connecting member 32 slides along the side wall of the housing 11 until the gear ring 20 and the old conductive nozzle 23 are coaxial; during this process, the piston rod of the clamping cylinder 22 is in a retracted state, and there is a gap between the two clamping blocks 33, allowing the old conductive nozzle 23 to pass through without scratching or colliding. After the gear ring 20 moves to the specified position, the gear ring 20 and the gear rod 28 are meshed;

[0057] The two clamping blocks 33 are started at the same time, and their respective piston rods are controlled to extend. The two clamping blocks 33 clamp the old conductive nozzle 23. At this time, due to the uncertainty of the initial position of the old conductive nozzle 23, the fitting surface 40 and the fitting portion 52 may not fit together. The drive motor 16 is started, and the drive motor 16 controls the gear rod 28 to rotate. The gear rod 28 drives the gear ring 20 to rotate through meshing. The clamping cylinder 22 and the clamping block 33 rotate together with the gear ring 20, and the end of the gear ring 20 and the bearing member 31 rotate. During this process, the clamping cylinder 22 maintains the tendency of its piston rod to continue to extend. Before the fitting surface 40 and the fitting portion 52 are not fitted together, the clamping block 33 and the old conductive nozzle 23 rotate relative to each other until the fitting surface 40 and the fitting portion 52 fit together, and the piston rod of the clamping cylinder 22 cannot be further extended. At this time, the rotation of the clamping block 33 drives the old conductive nozzle 23 to rotate together, and the old conductive nozzle 23 is removed from the end of the welding gun.

[0058] During the removal of the old conductive tip 23, the old conductive tip 23 and the end of the welding gun have an axial relative displacement, and the fitting surface 40 and the fitting portion 52 are allowed to slide relative to each other in a small range in the vertical direction, and after the movement, the fitting surface 40 and the fitting portion 52 still maintain a matching relationship;

[0059] After the old conductive nozzle 23 is disassembled, the clamping cylinder 22 is started, and the clamping cylinder 22 controls its piston rod to retract, and the two clamping blocks 33 loosen the old conductive nozzle 23, and the old conductive nozzle 23 falls vertically, and the old conductive nozzle 23 passes through the nozzle 41, the spring sleeve 29, and the collecting sleeve 38 in sequence and is collected; finally, the control cylinder 21 is started, and the control cylinder 21 controls its piston rod to retract, driving the gear ring 20 to reset.

[0060] At this point, the old conductive nozzle 23 is completely removed, the end of the welding gun is exposed, and the end of the welding gun is not blocked by any parts.

[0061] When installing a new conductive nozzle, the moving motor 25 is started, and the moving motor 25 controls the translation screw 27 to rotate, and the translation screw 27 drives the slider 26 to move, and the slider 26 slides along the side wall of the shell 11, and the reserved sleeve 14, the control gear 36, the installation box 13 and multiple new conductive nozzles 15 move together with the slider 26 until a new conductive nozzle 15 closest to the positioning hole 12 is coaxial with it; in this process, the control gear 36 rotates under the action of meshing with the rack 19, and in this direction, the one-way bearing transmits torque, and the reserved sleeve 14 rotates together with the control gear 36, and the installation box 13 then rotates together, and the installation box 13 just rotates the station of a new conductive nozzle 15. After each replacement of a new conductive nozzle 15, one less is on the installation box 13. In the subsequent conductive nozzle replacement process, it is ensured that there is a new conductive nozzle 15 at each station to be replaced;

[0062] At this time, the end of the welding gun has been aligned with the new conductive tip 15 to be replaced, but there is a small gap between the two. The control motor 17 is started. The control sleeve 43 moves, and the coupled part 42 moves along with the control sleeve 43 in the same principle as above. After the coupled part 42 contacts the coupling part 35, the ends of the two are matched, and the coupling part 35 rotates adaptively. The notches at the ends of the coupling member 35 and the coupled member 42 are completely fitted, and the new conductive nozzle 15 is slightly lifted and contacts the end of the welding gun; the driving motor 16 is started, and the control sleeve 43 rotates in the same manner as above, and the coupled member 42 rotates along with the control sleeve 43, and the coupled member 42 drives the coupling member 35 to rotate, and the bearing sleeve 24 and the new conductive nozzle 15 rotate along with the coupling member 35, and the new conductive nozzle 15 is installed at the end of the welding gun. After the new conductive nozzle 15 is installed, the control sleeve 43 and the mounting box 13 are driven to reset in the same manner as above, and when the mounting box 13 is reset, the control gear 36 rotates under the meshing action of the rack 19 and the control gear 36, and in this direction, the one-way bearing does not transmit torque, and the rotation of the control gear 36 will not drive the reserved sleeve 14 to rotate;

[0063] During the above-mentioned installation process, there is axial relative displacement between the new conductive nozzle 15 and the end of the welding gun. During the rotation of the control sleeve 43, the control motor 17 is started in cooperation to slowly lift the control sleeve 43, thereby ensuring the smooth installation of the new conductive nozzle 15. Excessive lifting is consumed by the buffer spring 34, and the buffer spring 34 is allowed to be compressed. Axial sliding is allowed between the bearing sleeve 24 and the mounting box 13, and no damage is caused to the new conductive nozzle 15 and the welding gun.

[0064] At this point, the new conductive nozzle 15 is installed, and there is no component blocking the side of the new conductive nozzle 15.

[0065] When installing the nozzle, the control motor 17 is started, and the control sleeve 43 is lifted until the nozzle 41 contacts the end of the welding gun, and the drive motor 16 is started, and the control sleeve 43 is rotated to install the nozzle 41 on the welding gun in the same principle as above;

[0066] Finally, the drive control sleeve 43 is reset to complete the replacement of the conductive nozzle of the welding robot. After the welding gun leaves the shell 11, each component is reset and waits for the next conductive nozzle replacement task. When the new conductive nozzle 15 on the installation box 13 is used up, it is replenished uniformly.

[0067] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A conductive nozzle replacement device for a welding robot, characterized in that: It comprises a shell, a positioning hole and a placement opening are provided on the shell, a mounting box is provided inside the shell, the mounting box is used to carry a new conductive nozzle, and the mounting box corresponds to the placement opening; a slider is slidably provided on an inner wall of one side of the shell, a reserved sleeve is rotatably provided on one side of the slider, and the reserved sleeve is fixedly connected to the mounting box; a gear cover is provided on one side of the slider, the gear cover is slidably connected to an inner wall of one side of the shell, a control sleeve is rotatably provided on one side of the gear cover, a plurality of mounting grooves are provided on the circumference of the control sleeve, a clamping plate is detachably installed in each of the mounting grooves, and a plurality of the clamping plates are used to clamp and disassemble nozzles; a gear ring is provided inside the shell, a clamping block is detachably installed on the gear ring, and the clamping block is used to clamp and disassemble the old conductive nozzle; A control motor is fixedly provided on the inner wall of the shell on a side away from the positioning hole, and a lifting screw is fixedly provided on the output shaft of the control motor, the lifting screw penetrates the gear cover, and the gear cover is threadedly matched with the lifting screw; a driving gear is fixedly provided on the end of the control sleeve away from the positioning hole, the end face of the driving gear is rotatably connected to the gear cover, and the gear cover is rotatably connected to the outer side wall of the control sleeve; a driving motor is provided on one side of the control motor, the driving motor is fixedly connected to the inner wall of one side of the shell, and a gear rod is fixedly provided on the output shaft of the drive motor, and the gear rod is meshed with the driving gear.

2. The conductive nozzle replacement device for a welding robot according to claim 1, characterized in that: The installation box is provided with multiple installation openings, each of which is provided with a bearing sleeve, and each side of the bearing sleeve is provided with a buffer spring, and the two ends of each buffer spring are respectively abutted against the bearing sleeve and the inner wall of the installation box, and the side of the bearing sleeve away from the placement opening passes through the installation box, the bearing sleeve is sleeved with the installation box, and the end of the bearing sleeve away from the placement opening is fixed with a coupling.

3. The conductive nozzle replacement device of a welding robot according to claim 2, characterized in that: A control gear is provided at one end of the reserved sleeve away from the placement port, and the control gear is connected to the reserved sleeve through a one-way bearing. A slot is provided at one end of the slider close to the reserved sleeve, and the control gear is located in the slot. The end face of the control gear is rotatably connected to the slot. A moving motor is provided on one side of the slider, and the moving motor is fixedly connected to an inner wall of one side of the shell. A translation screw is fixedly provided on the output shaft of the moving motor, and the translation screw passes through the slider, and the slider is threadedly matched with the translation screw; a rack is provided on the side of the control gear away from the slider, and the rack is fixedly connected to an inner wall of one side of the shell, and the rack meshes with the control gear.

4. The conductive tip replacement device for a welding robot according to claim 2, characterized in that: A friction portion and a transition portion are respectively provided on the circumferential side of the nozzle; a friction member is fixedly provided on one side of the clamping plate close to the positioning hole, and the friction member cooperates with the friction portion; a wedge-shaped portion is fixedly provided on one end of the clamping plate away from the positioning hole, and the wedge-shaped portion cooperates with the transition portion; a rotating shaft is provided between the friction member and the wedge-shaped portion, and the rotating shaft is fixedly connected to the clamping plate, and the rotating shaft is rotatably connected to the side wall of the mounting groove; a torsion spring is provided on the circumferential side of the rotating shaft, and the two ends of the torsion spring are respectively connected to the clamping plate and the control sleeve.

5. The conductive tip replacement device for a welding robot according to claim 2, characterized in that: Two bearing members are provided at one end of the gear ring away from the positioning hole, and the two bearing members are rotatably connected to the end surface of the gear ring respectively. A connecting member is fixedly provided at each end of the two bearing members away from each other, and the two connecting members are slidingly connected to the inner wall of one side of the shell respectively. A control cylinder is provided at the end of one of the connecting members away from the bearing members, and the cylinder barrel of the control cylinder is fixedly connected to the inner wall of one side of the shell, and the piston rod of the control cylinder is fixedly connected to the corresponding connecting member.

6. The conductive tip replacement device for a welding robot according to claim 5, characterized in that: Two clamping cylinders are provided at one end of the gear ring close to the positioning hole, and the cylinder barrels of the two clamping cylinders are respectively fixedly connected to the end surface of the gear ring, and a clamping block is fixedly provided on the piston rod of the two clamping cylinders, and a fitting portion is provided on the conductive nozzle, and a fitting surface is fixedly provided on the concave side wall of the clamping block, and the fitting surface cooperates with the fitting portion.

7. The conductive tip replacement device for a welding robot according to claim 1, characterized in that: A coupled piece is fixedly provided at one end of the control sleeve close to the positioning hole, and the coupled piece cooperates with the coupling piece.

8. The conductive tip replacement device for a welding robot according to claim 7, characterized in that: A spring sleeve is provided at one end of the control sleeve away from the positioning hole, and a collecting sleeve is provided at one end of the spring sleeve away from the control sleeve. Both ends of the spring sleeve are fixedly connected to the control sleeve and the collecting sleeve respectively, and the collecting sleeve is fixedly connected to the inner wall of the shell on one side away from the positioning hole, and the gear rod passes through the inner wall of the shell.

9. A method for replacing a conductive tip of a welding robot, using a conductive tip replacement device for a welding robot as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: S1, welding gun is in place; Drive the end of the welding robot to move to the specified position so that the welding gun is vertically inserted into the positioning hole; S2, removing the nozzle; first, driving the control sleeve to lift, until the clamping plate matches the nozzle and clamps it, then driving the control sleeve to rotate, removing the nozzle from the welding gun, and finally driving the control sleeve to descend, and the control sleeve descends with the nozzle; S3, remove the old conductive nozzle; First, the gear ring is driven to move to the specified position, and then the clamping block is driven to clamp the old conductive nozzle. Then, the gear ring is driven to rotate to remove the old conductive nozzle from the welding gun. Then, the clamping block is driven to release the old conductive nozzle. The old conductive nozzle falls and passes through the nozzle to be collected. Finally, the gear ring is driven to reset. S4. Install a new contact nozzle; First, the installation box is driven to move to the specified position. During the movement of the installation box, the new conductive nozzle is in place. Then, the control sleeve is driven to lift until the control sleeve is lifted to the specified position. Then, the control sleeve is driven to rotate. The control sleeve rotates the new conductive nozzle and then installs it on the welding gun. Finally, the control sleeve and the installation box are driven to reset in sequence. S5, installing the nozzle; first drive the control sleeve to lift until the nozzle contacts the welding gun, then drive the control sleeve to rotate, install the nozzle on the welding gun, and finally drive the control sleeve to reset, completing the replacement of the conductive nozzle of the welding robot.

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