A manipulator and method for multi-angle rotary welding pressure gauge

Abstract

The invention discloses a manipulator for multi-angle rotation welding of a pressure gauge and a method thereof, belonging to the technical field of pressure gauge welding. The following scheme is proposed. The invention drives a component to rotate so that a worm groove can drive a slider to move, and the slider drives a movable sleeve to move, so that a plurality of movable frames and brackets can be folded, so that a plurality of rubber wheels can be folded and clamped on the pressure gauge. As the rubber wheel is tightened, the pressure sensor contacts the movable frame. If the pressure transmitted by the pressure sensor remains consistent, the clamping force can be smoothly known to be consistent, thereby avoiding the pre-fixed deflection of the pressure gauge to affect the welding. After clamping, if the lifting component is raised and the rubber wheel rises accordingly, the connecting frame cannot contact the switch, and it can be known at this time that the fixing of the rubber wheel is not completed. If the connecting frame is smoothly lifted upward and the contact switch starts the welding structure, this method can detect whether the pressure gauge has completed the proper clamping operation, thereby avoiding welding deviation.

Description

Technical Field

[0001] The invention relates to the technical field of pressure gauge welding, and in particular to a manipulator and a method for multi-angle rotation welding of a pressure gauge. Background Art

[0002] In the process of rotational welding of pressure gauges, welding technology is often required to achieve fixed connection of the product. Common welding manipulators are not convenient for multi-angle rotational welding. Generally, the pressure gauge is rotated by the clamp while the welding gun is in a fixed state. It cannot automatically detect whether the weldment is clamped during the welding process. When the weldment is not clamped stably, rotational welding can easily lead to welding deviation of the welded product, and stable welding cannot be achieved, and the operation is inconvenient.

[0003] In view of the above problems, the present invention document proposes a robot arm and method for multi-angle rotation welding of a pressure gauge. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that common welding manipulators are not convenient for multi-angle rotation welding. Generally, the pressure gauge is driven to rotate by a clamp while the welding gun is in a fixed state. It cannot automatically detect whether the weldment is clamped during the welding process. When the weldment is clamped unstable, rotation welding can easily lead to welding deviation in the welded product, and stable welding cannot be achieved. The operation is inconvenient. A manipulator for multi-angle rotation welding of pressure gauges and a method thereof are proposed.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A manipulator for multi-angle rotary welding of a pressure gauge, comprising a manipulator arm, one end of which is equipped with a welding auxiliary mechanism;

[0007] The welding auxiliary mechanism includes a lifting assembly, which is connected to the mechanical arm, and the bottom end of the lifting assembly is connected to multiple sliding columns, the bottom ends of the multiple sliding columns are fixedly connected to the same connecting frame, and the multiple sliding columns are provided with support assemblies and sliding assemblies, switches are provided on the upper and lower surfaces of the sliding assembly, the support assembly and the sliding assembly are connected to multiple elastic assemblies, one end of the elastic assembly is connected to the support frame, and the support frame is fixedly connected to a ball bearing below, and multiple ball bearings slide in a spiral groove, and the spiral groove is opened outside the rotating sleeve, and an annular ring is rotatably installed in the rotating sleeve through a bearing, and the annular ring is connected to multiple elastic assemblies, and a driving assembly is provided in the rotating sleeve, and a worm groove is opened below the gear ring in the driving assembly, and multiple clamping assemblies slide inside the worm groove, and a disk body is connected between the multiple clamping assemblies.

[0008] Preferably, a welding structure is arranged on the robotic arm, one end of the welding structure is fixedly connected to a bracket, the top of the bracket is fixedly connected to a connecting sleeve, the connecting sleeve is slidably connected to the support bar, the two ends of the support bar are respectively fixedly connected to the disk body and the rotating sleeve, and two protrusions are provided above the connecting sleeve, and the two protrusions slide in the snail groove.

[0009] Preferably, the lifting assembly includes a mounting plate, which is mounted on the mechanical arm, an electric push rod is fixedly mounted below the mounting plate, the bottom end of the electric push rod is fixedly connected to the fixed plate, and the top ends of the plurality of sliding columns are fixedly connected to the fixed plate.

[0010] Preferably, the support assembly includes a support plate, a plurality of first connecting rods are fixedly connected to the support plate, one end of the first connecting rod is fixedly connected to a guide sleeve, the sliding column slides in the guide sleeve, and one side of the guide sleeve is fixedly connected to a second connecting rod.

[0011] Preferably, the elastic component includes a connecting block, the connecting block is fixedly connected to the second connecting rod, a connecting rod is fixedly connected to the bottom of the connecting block, the bottom end of the connecting rod is fixed to the annular ring, a support sleeve is provided on the outer sleeve of the connecting rod, the support sleeve is fixedly connected to the support frame, and a first spring is fixedly connected between the support sleeve and the connecting block.

[0012] Preferably, the sliding assembly includes a mounting member, the two switches are mounted on the upper and lower surfaces of the mounting member, a plurality of third connecting rods are fixedly connected to the mounting member, one end of the third connecting rods is fixedly connected to a sliding sleeve, the sliding column slides in the sliding sleeve, one side of the sliding sleeve is fixedly connected to a fourth connecting rod, and one end of the fourth connecting rod is fixedly connected to the support sleeve;

[0013] A second spring is fixedly connected below the sliding sleeve, a bottom end of the second spring is fixedly connected to the connecting frame, and an elastic coefficient of the second spring is smaller than an elastic coefficient of the first spring.

[0014] Preferably, the driving assembly includes a fixed plate, which is fixedly connected to the inner wall of the rotating sleeve, and a motor is fixedly installed on one side of the fixed plate. The output shaft of the motor is fixedly connected to a gear, and the gear is meshed with a ring gear. A rotating shaft is fixedly connected below the ring gear, and the rotating shaft is rotatably installed on the disk body through a bearing.

[0015] Preferably, the clamping assembly includes a movable frame, the top of which is fixedly connected to a movable sleeve, the movable sleeve is slidably connected to a guide bar, the guide bar is fixedly connected to the disk body and the rotating sleeve, and two sliders are fixedly connected to the top of the movable sleeve, and the two sliders slide in the snail groove.

[0016] Preferably, two movable rods are slidably arranged under the movable frame, one end of the movable rod is fixedly connected to a rubber wheel, one side of the rubber wheel is fixedly installed with a pressure sensor, one end of the movable rod is fixedly connected to a circular block, one side of the circular block is fixed with a third spring, and the third spring is fixed on the movable frame.

[0017] A method for using a manipulator for multi-angle rotary welding of a pressure gauge comprises the following steps:

[0018] S1. During welding, the electric push rod is extended to make the fixed plate drive the sliding column to move downward, so that the rubber wheel drops to the position of the pressure gauge. At this time, the motor is operated to drive the gear and the gear ring. The gear ring controls the movement of the slider and the protrusion through the worm groove, so that the slider drives the movable sleeve to move, and the movable sleeve drives the movable frame to move, so that multiple rubber wheels and welding structures move inward, and multiple rubber wheels are clamped on the pressure gauge. At the same time, the pressure sensor contacts the movable device and keeps the pressure consistent;

[0019] S2, and then control the electric push rod to retract. Since the pressure gauge is fixed and the rubber wheel remains fixed to the pressure gauge, the sliding column directly drives the connecting frame to move upward, and the connecting frame contacts the switch below. At this time, the switch operates the welding structure to perform welding operations on the pressure gauge. When the connecting frame continues to rise, the mounting part follows the rise, the sliding assembly drives the support frame to rise, and the support frame drives the ball to move upward, so that the ball rolls on the arc surface of the spiral groove, and controls the rotation of the rotating sleeve through the arc surface of the spiral groove. The rotating sleeve rotates to make the welding structure perform annular welding operations on the pressure gauge;

[0020] S3. After the annular surface welding of the welding structure is completed, the mounting part continues to rise, so that the switch above contacts the support plate. At this time, the support plate controls the welding structure to stop working, so that the pressure gauge welding is completed, and then controls the motor to move in the reverse direction, so that the rubber wheel is away from the pressure gauge, and then the pressure gauge is removed.

[0021] Compared with the prior art, the present invention provides a manipulator and method for multi-angle rotary welding of a pressure gauge, which has the following beneficial effects:

[0022] 1. The manipulator and method for multi-angle rotary welding pressure gauge, by driving the assembly to rotate, the worm groove can drive the slider to move, the slider drives the movable sleeve to move, so that multiple movable frames and brackets can be folded, and multiple rubber wheels can be folded to clamp on the pressure gauge, and as the rubber wheel is tightened, the pressure sensor contacts the movable frame, if the pressure transmitted by the pressure sensor remains consistent, the clamping force can be smoothly known to be consistent, avoiding the pre-fixed deviation of the pressure gauge to affect the welding, after clamping, if the lifting assembly is raised, the rubber wheel rises with it, so that the connecting frame cannot contact the switch, and it can be known at this time that the fixing of the rubber wheel is not completed, if the connecting frame is smoothly lifted up to contact the switch to start the welding structure, so that this method can detect whether the pressure gauge has completed the proper clamping operation, avoiding welding deviation.

[0023] 2. The manipulator and method for multi-angle rotary welding pressure gauge retracts the electric push rod, so that the fixed plate drives the sliding column to move upward, and the sliding column drives the connecting frame to move upward. The connecting frame contacts the switch below, and the welding structure is started to perform welding operations. At the same time, the connecting frame drives the mounting part to continue to move upward, so that the third connecting rod and the sliding sleeve move upward, and the fourth connecting rod drives the support sleeve and the support frame to move upward, so that the ball moves upward, and the ball slides in the spiral groove, and the rotation of the rotating sleeve is controlled by the arc surface of the spiral groove. The rotation of the rotating sleeve can drive the drive component to move, so that the support bar and the bracket drive the welding structure to perform annular movement, thereby meeting the annular welding operation of the pressure gauge, keeping the position of the pressure gauge stationary, and avoiding the traditional misalignment caused by the rotation of the pressure gauge.

[0024] 3. The manipulator and method for multi-angle rotary welding pressure gauge drive the gear and the gear ring to rotate through the motor, so that the worm groove drives the slider and the protrusion to move, so that the multiple movable frames and the brackets are folded, so that the rubber wheel can be automatically clamped on the pressure gauge, thereby fixing the position of the clamping component and the rotating sleeve. At this time, the electric push rod is retracted, and the elastic component and the supporting component are fixed because the clamping component is fixed. At this time, the sliding column drives the connecting frame to rise and contact the switch below, so that the welding structure can be controlled to perform welding operations, and the mounting part is lifted by the connecting frame, so that the sliding component can drive the supporting frame and the ball to move upward, and the rotating sleeve can be controlled to rotate through the arc surface of the spiral groove, so that the driving component drives the support bar and the connecting sleeve to move, and the bracket drives the welding structure to rotate to perform circumferential welding operations on the pressure gauge. After the circumferential welding is completed, the upper switch contacts the support plate to close the welding structure. This process can complete the clamping monitoring, circumferential welding and self-opening and closing welding structure of the pressure gauge, improve the operation efficiency through integration, and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A three-dimensional view of a manipulator and a method for multi-angle rotation welding of a pressure gauge proposed by the present invention;

[0026] Figure 2 A three-dimensional view of a welding auxiliary mechanism of a manipulator and a method for multi-angle rotation welding of a pressure gauge proposed by the present invention;

[0027] Figure 3 A three-dimensional view of a lifting assembly of a manipulator and a method for multi-angle rotation welding of a pressure gauge proposed by the present invention;

[0028] Figure 4 A three-dimensional view of a cross section of a fixed plate of a manipulator and method for multi-angle rotation welding of a pressure gauge proposed by the present invention;

[0029] Figure 5 A three-dimensional view of a sliding column of a manipulator and a method for multi-angle rotation welding of a pressure gauge proposed by the present invention;

[0030] Figure 6 A three-dimensional view of a support assembly of a manipulator and a method for multi-angle rotation welding of a pressure gauge proposed by the present invention;

[0031] Figure 7 A three-dimensional view of a sliding assembly of a manipulator and a method for multi-angle rotation welding of a pressure gauge proposed by the present invention;

[0032] Figure 8 A three-dimensional view of a rotating sleeve of a manipulator and a method for multi-angle rotation welding of a pressure gauge proposed by the present invention;

[0033] Fig. 9 A view showing the connection between a rotating sleeve and a clamping assembly of a manipulator and a method for multi-angle rotary welding of a pressure gauge proposed by the present invention;

[0034] Fig.10 A three-dimensional view of a driving assembly of a manipulator and a method for multi-angle rotation welding of a pressure gauge proposed by the present invention;

[0035] Fig.11 A three-dimensional view of a clamping assembly of a manipulator and a method for multi-angle rotational welding of a pressure gauge proposed by the present invention.

[0036] In the figure: 100, mechanical arm; 200, welding structure; 300, welding auxiliary mechanism; 301, lifting assembly; 3011, mounting plate; 3012, electric push rod; 3013, fixing plate; 302, rotating sleeve; 303, elastic assembly; 3031, connecting block; 3032, first spring; 3033, connecting rod; 3034, supporting sleeve; 304, supporting assembly; 3041, supporting plate; 3042, first connecting rod; 3043, guide sleeve; 3044, second connecting rod; 305, sliding assembly; 3051, third connecting rod; 3052, mounting member; 3053, fourth connecting rod; 3054, sliding sleeve; 306, clamping assembly; 3061 , movable frame; 3062, third spring; 3063, circular block; 3064, movable rod; 3065, guide strip; 3066, pressure sensor; 3067, rubber wheel; 3068, movable sleeve; 3069, slider; 307, support strip; 308, drive assembly; 3081, fixed plate; 3082, motor; 3083, gear; 3084, gear ring; 309, rotating shaft; 310, annular ring; 311, spiral groove; 312, supporting frame; 313, ball; 314, sliding column; 315, second spring; 316, connecting frame; 317, switch; 318, bracket; 319, disk; 320, connecting sleeve; 321, snail groove. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0038] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] Example 1: Reference Figure 1-3 and Figure 9-11A manipulator for multi-angle rotary welding pressure gauge, comprising a manipulator 100, one end of the manipulator 100 is equipped with a welding auxiliary mechanism 300, a welding structure 200 is arranged on the manipulator 100, one end of the welding structure 200 is fixedly connected to a bracket 318, the top of the bracket 318 is fixedly connected to a connecting sleeve 320, the connecting sleeve 320 is slidably connected to a support bar 307, the connecting sleeve 320 can be guided by the support bar 307, so that the connecting sleeve 320 can drive the bracket 318 to move smoothly, the two ends of the support bar 307 are respectively fixedly connected to the disc body 319 and the rotating sleeve 302, two protrusions are arranged above the connecting sleeve 320, the protrusions can be driven to rotate by the snail groove 321, so that the protrusions can smoothly control the smooth movement of the connecting sleeve 320, and the two protrusions slide in the snail groove 321;

[0040] The welding auxiliary mechanism 300 includes a lifting assembly 301, and the lifting assembly 301 includes a mounting plate 3011, and the mounting plate 3011 is mounted on the mechanical arm 100. An electric push rod 3012 is fixedly installed below the mounting plate 3011. The electric push rod 3012 can drive the fixed plate 3013 to move up and down through the extension and contraction of the electric push rod 3012, so as to control the movement of the sliding column 314. The bottom end of the electric push rod 3012 is fixedly connected to the fixed plate 3013, and the top ends of multiple sliding columns 314 are fixedly connected to the fixed plate 3013. The lifting assembly 301 is connected to the mechanical arm 100, and the bottom end of the lifting assembly 301 is connected to multiple sliding columns 314. The bottom ends of the multiple sliding columns 314 are fixedly connected to the same connecting frame 316, and the multiple sliding columns 314 are provided with a support assembly 304 and a sliding column 314. Component 305, switches 317 are provided on the upper and lower surfaces of the sliding component 305, and the working state of the welding structure 200 can be controlled by the switch 317. The support component 304 and the sliding component 305 are connected to multiple elastic components 303, one end of the elastic component 303 is connected to a support frame 312, and a ball 313 is fixedly connected to the lower part of the support frame 312. The support frame 312 can be connected to a support sleeve 3034, so that the movement of the support sleeve 3034 can drive the support frame 312 and the ball 313 to achieve the purpose of movement. Multiple balls 313 slide in the spiral groove 311. When the balls 313 move, the balls 313 can control the rotating sleeve 302 to rotate through the arc surface of the spiral groove 311, so that the welding structure 200 can perform annular surface welding. The spiral groove 311 is provided on the outside of the rotating sleeve 302. An annular ring 310 is rotatably installed in the rotating sleeve 302 through a bearing. The rotating sleeve 302 can smoothly realize the rotational motion through the bearing. The annular ring 310 is connected with a plurality of elastic components 303. A driving component 308 is arranged in the rotating sleeve 302. The driving component 308 includes a fixing plate 3081. The fixing plate 3081 is fixedly connected to the inner wall of the rotating sleeve 302. A motor 3082 is fixedly installed on one side of the fixing plate 3081. The motor 3082 can be fixed by the fixing plate 3081, so as to ensure the stability of the motor 3082. The output shaft of the motor 3082 is fixedly connected with a gear 3083. The gear 3083 is meshed with a gear ring 3084. The gear 3083 and the gear ring 3084 are driven to make the rotating sleeve 302 rotate. The gear ring 3084 can drive the slider 3069 and the protrusion to move through the worm groove 321. A rotating shaft 309 is fixedly connected below the gear ring 3084. The rotating shaft 309 is rotatably installed on the disk body 319 through a bearing. The rotating shaft 309 can rely on the bearing to maintain smooth rotation, so that the gear ring 3084 can move smoothly. A worm groove 321 is opened below the gear ring 3084 in the driving component 308. A plurality of clamping components 306 are slidably arranged inside the worm groove 321. The disk body 319 is connected between the plurality of clamping components 306. The clamping components 306 include a movable frame 3061. A movable sleeve 3068 is fixedly connected to the top of the movable frame 3061. The movable sleeve 3068 is slidably connected to the guide bar 3065. The movable sleeve 3068 can be guided by the guide bar 3065.The movable sleeve 3068 is kept to slide stably, and the movable frame 3061 is moved smoothly. The guide bar 3065 is fixedly connected to the disc body 319 and the rotating sleeve 302. Two sliders 3069 are fixedly connected to the upper part of the movable sleeve 3068. Through the special shape of the snail groove 321, the snail groove 321 can smoothly drive the multiple movable sleeves 3068 to be retracted through the sliders 3069. The two sliders 3069 slide in the snail groove 321. Two movable rods 3064 are inserted and slidably arranged under the movable frame 3061. One end of the movable rod 3064 is fixedly connected to a rubber wheel 3067. The rubber wheel 3067 can be used to To increase the reliability of contact with the pressure gauge and prevent the rubber wheel 3067 from sliding and separating from the pressure gauge, a pressure sensor 3066 is fixedly installed on one side of the rubber wheel 3067, and the pressure value clamped by the rubber wheel 3067 can be monitored through the pressure sensor 3066. One end of the movable rod 3064 is fixedly connected to a circular block 3063, and one side of the circular block 3063 is fixed with a third spring 3062. The reset force of the third spring 3062 can drive the movable rod 3064 to reset, so that the pressure sensor 3066 is separated from the movable frame 3061, and the third spring 3062 is fixed on the movable frame 3061.

[0041] In this embodiment: by driving the assembly 308 to rotate, the snail groove 321 can drive the slider 3069 to move, and the slider 3069 drives the movable sleeve 3068 to move, so that the multiple movable frames 3061 and the bracket 318 are folded, so that the multiple rubber wheels 3067 can be folded and clamped on the pressure gauge. As the rubber wheel 3067 is tightened, the pressure sensor 3066 contacts the movable frame 3061. If the pressure transmitted by the pressure sensor 3066 remains consistent, it can be smoothly known that the clamping force is consistent, avoiding the pre-fixed deviation of the pressure gauge to affect the welding. After clamping, if the lifting assembly 301 rises and the rubber wheel 3067 rises accordingly, the connecting frame 316 cannot contact the switch 317. At this time, it can be known that the fixing of the rubber wheel 3067 is not completed. If the connecting frame 316 is successfully lifted up and the contact switch 317 starts the welding structure 200, this method can detect whether the pressure gauge has completed the proper clamping operation to avoid welding deviation.

[0042] Example 2: Reference Figure 3-9 A manipulator for multi-angle rotary welding pressure gauge, including a support assembly 304, the support assembly 304 includes a support plate 3041, a plurality of first connecting rods 3042 are fixedly connected to the support plate 3041, one end of the first connecting rod 3042 is fixedly connected to a guide sleeve 3043, a slide column 314 slides in the guide sleeve 3043, the guide sleeve 3043 can keep the slide column 314 moving up and down smoothly, a second connecting rod 3044 is fixedly connected to one side of the guide sleeve 3043, and the first connecting rod 3042 and the second connecting rod 3044 can be used to connect the guide sleeve 3043 and the connecting block 3031;

[0043] The elastic component 303 includes a connecting block 3031, which is fixedly connected to the second connecting rod 3044. A connecting rod 3033 is fixedly connected to the lower part of the connecting block 3031. The bottom end of the connecting rod 3033 is fixed to the annular ring 310. A supporting sleeve 3034 is provided on the outer cover of the connecting rod 3033. The supporting sleeve 3034 can be kept to slide up and down smoothly through the connecting rod 3033, so that the supporting component 304 can smoothly move longitudinally. The supporting sleeve 3034 is fixedly connected to the supporting frame 312. A first spring 3032 is fixedly connected between the supporting sleeve 3034 and the connecting block 3031. The restoring force of the first spring 3032 allows the supporting sleeve 3034 and the supporting frame 312 to be smoothly reset downward.

[0044] The lifting assembly 301 includes a mounting plate 3011, which is mounted on the mechanical arm 100. An electric push rod 3012 is fixedly mounted below the mounting plate 3011. The bottom end of the electric push rod 3012 is fixedly connected to a fixed plate 3013. The top ends of the plurality of sliding posts 314 are fixedly connected to the fixed plate 3013.

[0045] The sliding assembly 305 includes a mounting member 3052, two switches 317 are mounted on the upper and lower surfaces of the mounting member 3052, a plurality of third connecting rods 3051 are fixedly connected to the mounting member 3052, one end of the third connecting rod 3051 is fixedly connected to a sliding sleeve 3054, the sliding column 314 slides in the sliding sleeve 3054, the sliding sleeve 3054 can keep the sliding column 314 smoothly passing through and connected to the connecting frame 316, and allows the sliding column 314 to slide up and down smoothly, and one side of the sliding sleeve 3054 is fixedly connected to a fourth connecting rod 3051. 53, one end of the fourth connecting rod 3053 is fixedly connected to the support sleeve 3034, and the second spring 315 is fixedly connected to the lower part of the sliding sleeve 3054. The second spring 315 can smoothly drive the connecting frame 316 to reset downward. The bottom end of the second spring 315 is fixedly connected to the connecting frame 316. The elastic coefficient of the second spring 315 is smaller than the elastic coefficient of the first spring 3032. The elastic coefficient of the second spring 315 is small, so that the second spring 315 is deformed in advance, thereby causing the connecting frame 316 to move in advance.

[0046] In this embodiment: the electric push rod 3012 retracts, so that the fixed plate 3013 drives the sliding column 314 to move upward, and the sliding column 314 drives the connecting frame 316 to move upward. The connecting frame 316 contacts the switch 317 below, and the welding structure 200 is started to perform the welding operation. At the same time, the connecting frame 316 drives the mounting member 3052 to continue to move upward, so that the third connecting rod 3051 and the sliding sleeve 3054 move upward, and the fourth connecting rod 3053 drives the support sleeve 3034 and the support frame 312 to move upward, so that the ball 313 moves upward, and the ball 313 slides in the spiral groove 311, and controls the rotation of the rotating sleeve 302 through the arc surface of the spiral groove 311. The rotation of the rotating sleeve 302 can drive the driving component 308 to move, so that the support bar 307 and the bracket 318 drive the welding structure 200 to perform annular motion, thereby satisfying the annular welding operation of the pressure gauge, so that the position of the pressure gauge remains unchanged, and avoids the traditional rotation of the pressure gauge that is easy to cause the misalignment welding quality to be reduced.

[0047] Example 3: Reference Figure 3-11 A manipulator for multi-angle rotary welding pressure gauge, comprising a lifting assembly 301, the lifting assembly 301 comprising a mounting plate 3011, the mounting plate 3011 being mounted on a manipulator 100, an electric push rod 3012 being fixedly mounted below the mounting plate 3011, the bottom end of the electric push rod 3012 being fixedly connected to a fixing plate 3013, and the top ends of a plurality of sliding columns 314 being fixedly connected to the fixing plate 3013;

[0048] The driving assembly 308 includes a fixed plate 3081, which is fixedly connected to the inner wall of the rotating sleeve 302. A motor 3082 is fixedly installed on one side of the fixed plate 3081. The output shaft of the motor 3082 is fixedly connected to a gear 3083, which meshes with a gear ring 3084. A rotating shaft 309 is fixedly connected below the gear ring 3084. The rotating shaft 309 is rotatably installed on the disc body 319 through a bearing.

[0049] The support assembly 304 includes a support plate 3041, a plurality of first connecting rods 3042 are fixedly connected to the support plate 3041, one end of the first connecting rod 3042 is fixedly connected to a guide sleeve 3043, the slide column 314 slides in the guide sleeve 3043, and one side of the guide sleeve 3043 is fixedly connected to a second connecting rod 3044;

[0050] The elastic component 303 includes a connecting block 3031, the connecting block 3031 is fixedly connected to the second connecting rod 3044, a connecting rod 3033 is fixedly connected below the connecting block 3031, the bottom end of the connecting rod 3033 is fixed to the annular ring 310, a supporting sleeve 3034 is provided on the outer sleeve of the connecting rod 3033, the supporting sleeve 3034 is fixedly connected to the supporting frame 312, and a first spring 3032 is fixedly connected between the supporting sleeve 3034 and the connecting block 3031;

[0051] The clamping assembly 306 includes a movable frame 3061, a movable sleeve 3068 is fixedly connected to the top of the movable frame 3061, and the movable sleeve 3068 is slidably connected to the guide bar 3065, and the guide bar 3065 is fixedly connected to the disc body 319 and the rotating sleeve 302, and two sliders 3069 are fixedly connected to the top of the movable sleeve 3068, and the two sliders 3069 slide in the snail groove 321, and two movable rods 3064 are slidably arranged under the movable frame 3061, and one end of the movable rod 3064 is fixedly connected to a rubber wheel 3067, and a pressure sensor 3066 is fixedly installed on one side of the rubber wheel 3067, and one end of the movable rod 3064 is fixedly connected to a circular block 3063, and one side of the circular block 3063 is fixed to a third spring 3062, and the third spring 3062 is fixed to the movable frame 3061;

[0052] The sliding assembly 305 includes a mounting member 3052, two switches 317 are mounted on the upper and lower surfaces of the mounting member 3052, a plurality of third connecting rods 3051 are fixedly connected to the mounting member 3052, one end of the third connecting rod 3051 is fixedly connected to a sliding sleeve 3054, the sliding column 314 slides in the sliding sleeve 3054, one side of the sliding sleeve 3054 is fixedly connected to a fourth connecting rod 3053, one end of the fourth connecting rod 3053 is fixedly connected to a support sleeve 3034, a second spring 315 is fixedly connected below the sliding sleeve 3054, the bottom end of the second spring 315 is fixedly connected to a connecting frame 316, and the elastic coefficient of the second spring 315 is smaller than the elastic coefficient of the first spring 3032.

[0053] In this embodiment, the motor 3082 drives the gear 3083 and the gear ring 3084 to rotate, so that the worm groove 321 drives the slider 3069 and the protrusion to move, so that the multiple movable frames 3061 and the bracket 318 are retracted, so that the rubber wheel 3067 can be automatically clamped on the pressure gauge, thereby fixing the position of the clamping component 306 and the rotating sleeve 302. At this time, the electric push rod 3012 is retracted. Since the clamping component 306 is fixed, the elastic component 303 and the supporting component 304 are fixed. At this time, the sliding column 314 drives the connecting frame 316 to rise and contact the switch 317 below, so that the welding structure 200 can be controlled to perform welding operations, and through By lifting the mounting member 3052 through the connecting frame 316, the sliding component 305 can drive the supporting frame 312 and the ball 313 to move upward, and the rotating sleeve 302 can be controlled to rotate through the arc surface of the spiral groove 311, so that the driving component 308 drives the supporting bar 307 and the connecting sleeve 320 to move, and the bracket 318 drives the welding structure 200 to rotate to perform circumferential welding on the pressure gauge. After the circumferential welding is completed, the upper switch 317 contacts the supporting plate 3041 to close the welding structure 200. This process can complete the clamping monitoring, circumferential welding and self-opening and closing of the welding structure 200 of the pressure gauge, improve the operation efficiency through integration, and reduce costs.

[0054] A method for using a manipulator for multi-angle rotary welding of a pressure gauge comprises the following steps:

[0055] S1. When welding, the electric push rod 3012 is extended, so that the fixed plate 3013 drives the sliding column 314 to move downward, so that the rubber wheel 3067 drops to the position of the pressure gauge. At this time, the motor 3082 is operated to drive the gear 3083 and the ring gear 3084 to transmit. The ring gear 3084 controls the movement of the slider 3069 and the protrusion through the worm groove 321, so that the slider 3069 drives the movable sleeve 3068 to move, and the movable sleeve 3068 drives the movable frame 3061 to move, so that the multiple rubber wheels 3067 and the welding structure 200 move inwardly, and the multiple rubber wheels 3067 are clamped on the pressure gauge. At the same time, the pressure sensor 3066 contacts the movable device and keeps the pressure consistent;

[0056] S2, then control the electric push rod 3012 to retract. Since the pressure gauge is fixed and the rubber wheel 3067 remains fixed to the pressure gauge, the sliding column 314 directly drives the connecting frame 316 to move upward, and the connecting frame 316 contacts the switch 317 below. At this time, the switch 317 operates the welding structure 200 to perform welding operations on the pressure gauge. When the connecting frame 316 continues to rise, the mounting member 3052 follows the rise, the sliding assembly 305 drives the support frame 312 to rise, and the support frame 312 drives the ball 313 to move upward, so that the ball 313 rolls on the arc surface of the spiral groove 311, and controls the rotation of the rotating sleeve 302 through the arc surface of the spiral groove 311. The rotating sleeve 302 rotates to make the welding structure 200 perform annular surface welding operations on the pressure gauge;

[0057] S3. After the annular surface welding of the welding structure 200 is completed, the mounting part 3052 continues to rise, so that the switch 317 above contacts the support plate 3041. At this time, the support plate 3041 controls the welding structure 200 to stop working, so that the welding of the pressure gauge is completed, and then controls the motor 3082 to move in the reverse direction, so that the rubber wheel 3067 is away from the pressure gauge, and then the pressure gauge is removed.

[0058] 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. A manipulator for multi-angle rotary welding of a pressure gauge, comprising a manipulator arm (100), characterized in that: One end of the mechanical arm (100) is equipped with a welding auxiliary mechanism (300); The welding auxiliary mechanism (300) comprises a lifting component (301), wherein the lifting component (301) is connected to a mechanical arm (100), a plurality of sliding columns (314) are connected to the bottom end of the lifting component (301), the bottom ends of the plurality of sliding columns (314) are fixedly connected to the same connecting frame (316), and a supporting component (304) and a sliding component (305) are provided on the plurality of sliding columns (314), switches (317) are provided on both the upper and lower surfaces of the sliding component (305), the supporting component (304) and the sliding component (305) are connected to a plurality of elastic components (303), one end of the elastic component (303) is connected to a supporting frame (312), and the A ball bearing (313) is fixedly connected to the lower part of the support frame (312), and a plurality of ball bearings (313) slide in a spiral groove (311). The spiral groove (311) is provided outside the rotating sleeve (302). An annular ring (310) is rotatably mounted in the rotating sleeve (302) via a bearing. The annular ring (310) is connected to a plurality of elastic components (303). A driving component (308) is provided in the rotating sleeve (302). A volute groove (321) is provided below the gear ring (3084) in the driving component (308). A plurality of clamping components (306) slide inside the volute groove (321), and a disk body (319) is connected between the plurality of clamping components (306). The mechanical arm (100) is provided with a welding structure (200), one end of the welding structure (200) is fixedly connected to a bracket (318), the top end of the bracket (318) is fixedly connected to a connecting sleeve (320), the connecting sleeve (320) is slidably connected to a support bar (307), the two ends of the support bar (307) are respectively fixedly connected to a disk body (319) and a rotating sleeve (302), and two protrusions are provided above the connecting sleeve (320), and the two protrusions slide in a volute groove (321).

2. A manipulator for multi-angle rotary welding pressure gauge according to claim 1, characterized in that: The lifting assembly (301) comprises a mounting plate (3011), wherein the mounting plate (3011) is mounted on the mechanical arm (100), an electric push rod (3012) is fixedly mounted below the mounting plate (3011), the bottom end of the electric push rod (3012) is fixedly connected to a fixing plate (3013), and the top ends of a plurality of sliding columns (314) are fixedly connected to the fixing plate (3013).

3. A manipulator for multi-angle rotary welding pressure gauge according to claim 2, characterized in that: The support assembly (304) comprises a support plate (3041), a plurality of first connecting rods (3042) are fixedly connected to the support plate (3041), one end of the first connecting rod (3042) is fixedly connected to a guide sleeve (3043), the sliding column (314) slides in the guide sleeve (3043), and one side of the guide sleeve (3043) is fixedly connected to a second connecting rod (3044).

4. The manipulator for multi-angle rotary welding pressure gauge according to claim 3, characterized in that: The elastic component (303) comprises a connecting block (3031), the connecting block (3031) is fixedly connected to the second connecting rod (3044), a connecting rod (3033) is fixedly connected below the connecting block (3031), the bottom end of the connecting rod (3033) is fixed to the annular ring (310), a supporting sleeve (3034) is provided on the outer sleeve of the connecting rod (3033), the supporting sleeve (3034) is fixedly connected to the supporting frame (312), and a first spring (3032) is fixedly connected between the supporting sleeve (3034) and the connecting block (3031).

5. The manipulator for multi-angle rotary welding pressure gauge according to claim 4, characterized in that: The sliding assembly (305) comprises a mounting member (3052), two switches (317) are mounted on the upper and lower surfaces of the mounting member (3052), a plurality of third connecting rods (3051) are fixedly connected to the mounting member (3052), one end of the third connecting rod (3051) is fixedly connected to a sliding sleeve (3054), the sliding column (314) slides in the sliding sleeve (3054), one side of the sliding sleeve (3054) is fixedly connected to a fourth connecting rod (3053), and one end of the fourth connecting rod (3053) is fixedly connected to a support sleeve (3034); A second spring (315) is fixedly connected below the sliding sleeve (3054), and a bottom end of the second spring (315) is fixedly connected to a connecting frame (316). The elastic coefficient of the second spring (315) is smaller than the elastic coefficient of the first spring (3032).

6. The manipulator for multi-angle rotary welding pressure gauge according to claim 5, characterized in that: The driving assembly (308) comprises a fixed plate (3081), wherein the fixed plate (3081) is fixedly connected to the inner wall of the rotating sleeve (302), a motor (3082) is fixedly mounted on one side of the fixed plate (3081), an output shaft of the motor (3082) is fixedly connected to a gear (3083), the gear (3083) is meshed with a gear ring (3084), a rotating shaft (309) is fixedly connected below the gear ring (3084), and the rotating shaft (309) is rotatably mounted on the disk body (319) via a bearing.

7. The manipulator for multi-angle rotary welding pressure gauge according to claim 6, characterized in that: The clamping assembly (306) comprises a movable frame (3061), the top end of the movable frame (3061) is fixedly connected to a movable sleeve (3068), the movable sleeve (3068) is slidably connected to a guide bar (3065), the guide bar (3065) is fixedly connected to a disk body (319) and a rotating sleeve (302), and two sliders (3069) are fixedly connected to the top of the movable sleeve (3068), and the two sliders (3069) slide in the snail groove (321).

8. The manipulator for multi-angle rotary welding pressure gauge according to claim 7, characterized in that: Two movable rods (3064) are slidably arranged below the movable frame (3061); one end of the movable rod (3064) is fixedly connected to a rubber wheel (3067); one side of the rubber wheel (3067) is fixedly mounted with a pressure sensor (3066); one end of the movable rod (3064) is fixedly connected to a circular block (3063); one side of the circular block (3063) is fixed with a third spring (3062); and the third spring (3062) is fixed on the movable frame (3061).

9. The method for using a manipulator for multi-angle rotary welding pressure gauge according to claim 8, characterized in that: The following steps are involved: S1. When welding is performed, the electric push rod (3012) is extended, so that the fixed plate (3013) drives the sliding column (314) to move downward, so that the rubber wheel (3067) drops to the position of the pressure gauge. At this time, the operating motor (3082) is operated, and the motor (3082) drives the gear (3083) and the gear ring (3084) to transmit. The gear ring (3084) controls the movement of the slider (3069) and the protrusion through the worm groove (321), so that the slider (3069) drives the movable sleeve (3068) to move, and the movable sleeve (3068) drives the movable frame (3061) to move, so that the multiple rubber wheels (3067) and the welding structure (200) move inwardly, and the multiple rubber wheels (3067) are clamped on the pressure gauge. At the same time, the pressure sensor (3066) contacts the movable device and maintains a consistent pressure. S2, then the electric push rod (3012) is controlled to retract. Since the pressure gauge is fixed and the rubber wheel (3067) remains fixed to the pressure gauge, the sliding column (314) directly drives the connecting frame (316) to move upward, and the connecting frame (316) contacts the switch (317) below. At this time, the switch (317) operates the welding structure (200) to perform welding operations on the pressure gauge. When the connecting frame (316) continues to rise, the mounting member (3052) rises accordingly, the sliding assembly (305) drives the supporting frame (312) to rise, and the supporting frame (312) drives the ball (313) to move upward, so that the ball (313) rolls on the arc surface of the spiral groove (311), and controls the rotation of the rotating sleeve (302) through the arc surface of the spiral groove (311). The rotating sleeve (302) rotates to enable the welding structure (200) to perform annular surface welding operations on the pressure gauge; S3. After the annular surface welding of the welding structure (200) is completed, the mounting member (3052) continues to rise, so that the switch (317) above contacts the support plate (3041). At this time, the support plate (3041) controls the welding structure (200) to stop working, so that the welding of the pressure gauge is completed, and then controls the motor (3082) to move in the reverse direction, so that the rubber wheel (3067) is away from the pressure gauge, and then the pressure gauge is removed.

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