An integrated welding robot

Abstract

The present invention discloses an integrated welding robot in the field of welding technology, including a mounting bracket and a light-load robot, wherein a split welding clamp is mounted at the front end of the mounting bracket, and the rear end of the mounting bracket is connected to the light-load robot, wherein the split welding clamp is electrically connected to a welding transformer, and further comprises a balancer, wherein the balancer is fixedly connected to the split welding clamp and is used to balance the weight of the split welding clamp. The present invention integrates the balancer, the split welding clamp, and the welding transformer into a light-load robot, so that the volume and weight of the robot itself are relatively small during welding, and the applicable production space is more flexible, and the welding of large workpieces and the welding of small workpieces can be flexibly switched, so that the production is more flexible.

Description

Technical Field

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

[0002] As the automation capabilities of enterprises continue to improve, many jobs are replaced by robots, such as assembly, welding, and handling. Different locations have different requirements for the use of robots, such as cost, spatial placement, load size, and movement distance.

[0003] In the field of automobile manufacturing, welding robots are particularly important. Automobile manufacturing welding workpieces are generally heavy and large in size, and large heavy-duty robots are usually used for welding. Although large heavy-duty robots can drive relatively heavy integrated welding tongs, the required activity space is increased, and some positions cannot meet the use of large robots. In addition, as the robot load increases, the cost of use becomes relatively high, which greatly increases the production cost. In addition, the current large heavy-duty robots have poor versatility and cannot be flexibly switched between large and small workpiece welding, making production relatively passive. Summary of the invention

[0004] The object of the present invention is to provide an integrated welding robot to solve the problem that the large heavy-duty robot mentioned in the above background technology has poor versatility and cannot be flexibly switched between welding large workpieces and welding small workpieces.

[0005] To achieve the above object, the present invention provides the following technical solution: an integrated welding robot, comprising a mounting bracket and a light-load robot, wherein a split welding clamp is mounted at the front end of the mounting bracket, and a rear end of the mounting bracket is connected to the light-load robot, and the split welding clamp is electrically connected to a welding transformer, and further comprising:

[0006] A balancer is fixedly connected to the split welding clamp and is used to balance the weight of the split welding clamp.

[0007] As a further solution of the present invention, the light-load robot includes a primary robotic arm, a secondary robotic arm, a tertiary robotic arm and a base, one end of the primary robotic arm is fixedly connected to the mounting bracket, the other end of the primary robotic arm is rotatably connected to the secondary robotic arm, the other end of the secondary robotic arm is rotatably connected to the tertiary robotic arm, and the bottom of the tertiary robotic arm is rotatably connected to the base; a mounting plate is fixedly connected to the secondary robotic arm, and the mounting plate is used to mount the welding transformer.

[0008] As a further solution of the present invention, the split welding clamp is replaced with an arc welding gun, and a mounting hole is further provided on the mounting bracket, in which a mounting column is rotatably connected, both ends of the mounting column are fixedly connected with shaft rods, and the end of the shaft rod away from the mounting column is provided with a storage groove, in which an electromagnet is fixedly connected, and the end of the shaft rod away from the mounting column is rotatably connected with a pulley A, and the end of the pulley A close to the storage groove is embedded with a metal limit rod slidably connected thereto, and the inner wall of the storage groove is embedded with a magnet; the shaft rod is fixedly connected with a limit frame, the limit frame is provided with a slot, and the limit frame is rotatably connected with a driving wheel.

[0009] As a further solution of the present invention, the driving wheel is provided with a plurality of spiral limit grooves, and the limit grooves are slidably connected with guide plates, air bags are fixedly connected on both sides of the inner bottom wall of the limit grooves, and the top of the air bags is fixedly docked with the bottom of the guide plates, the driving wheel is provided with a plurality of connecting holes connected with the air bags, the driving wheel is provided with an air cavity connected with the connecting holes, the end of the driving wheel away from the limit frame is fixedly connected with a pulley B, and a transmission belt is provided between pulley B and pulley A.

[0010] As a further solution of the present invention, an outer tube is fixedly connected to the limit frame, and the outer tube is communicated with the air cavity, a sealing plate is slidably connected inside the outer tube, a push rod is fixedly connected to the sealing plate, an end of the push rod away from the sealing plate is fixedly connected to a fixing plate, and an electric telescopic rod is fixedly connected between the fixing plate and the limit frame.

[0011] As a further solution of the present invention, the end of the pulley A away from the shaft rod is rotatably connected to a mounting disk, and a fixing frame A and a fixing frame B are respectively fixedly connected between the mounting disk and the mounting bracket, and a clamping plate is fixedly connected to the fixing frame B, and the clamping plate is located in a clamping groove of the limiting frame on the same side, and a motor is fixedly connected to the mounting disk at one end of the mounting column, and the output end of the motor is fixedly connected to the pulley A on the same side.

[0012] As a further solution of the present invention, the limiting frame is fixedly connected to a supporting frame, the supporting frame is slidably connected to a mounting seat, the mounting seat is rotatably connected to an auxiliary wheel, and the mounting seat is threadedly connected to a knob.

[0013] As a further solution of the present invention, the bottom of the mounting bracket is fixedly connected to a support plate, both ends of the bottom of the support plate are fixedly connected to spring telescopic rods, and the spring telescopic rods are assembled by spring sleeves arranged outside the telescopic rods, the bottoms of the spring telescopic rods are fixedly connected to a load-bearing frame, the load-bearing frame is rotatably connected to a limiting plate, and the limiting plates are rotatably connected to limiting wheels, the inner top wall of the load-bearing frame is fixedly connected to a limiting strip A, and the tops of the limiting plates are fixedly connected to a limiting strip B.

[0014] As a further solution of the present invention, the split welding clamp consists of an upper clamp body and a lower clamp body; the upper clamp body is slidably connected to the top of the mounting bracket; the lower clamp body is fixedly connected to the mounting bracket, and the lower clamp body is located below the upper clamp body.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention integrates a balancer, a split welding clamp and a welding transformer on a light-load robot. During welding, the robot has a relatively small volume and weight, and can be used in a more flexible production space while having a lower production cost.

[0017] 2. The present invention utilizes that when it is necessary to weld the arc-shaped plate-shaped workpiece, the electromagnet is energized so that the magnetism of the electromagnet is greater than that of the magnet, and the electromagnet is used to adsorb the metal limit rod so that the metal limit rod is inserted into the storage groove. At this time, the shaft rod and the pulley A become fixed. At this time, the motor can drive the mounting column and the shaft rod to rotate during operation, and use the limit frame to drive the driving wheel and the auxiliary wheel to one side of the split welding clamp. At this time, the driving wheel, the auxiliary wheel and the limit wheel cooperate to clamp the arc-shaped plate-shaped workpiece, and then the electromagnet is powered off. The magnet uses its magnetism to retract the metal limit rod into the pulley A. After that, during the operation of the motor, the pulley A and the transmission belt can be used to drive the driving wheel to rotate, thereby driving the arc-shaped plate-shaped workpiece to swing, and the split welding clamp is used to weld the arc-shaped plate-shaped workpiece, effectively improving the auxiliary function of the device for the welding of the arc-shaped plate-shaped workpiece.

[0018] 3. When welding an arc-shaped plate-shaped workpiece with a beveled surface, the present invention first controls the electric telescopic rod on one side of the split welding clamp to shrink, and then the push rod drives the sealing plate to move, pushing the air in the outer tube into the air cavity and transporting it to the airbag through various connecting holes. At this time, the airbag stretches and pushes the guide plate out of the limit groove. At this time, when the driving wheel rotates, the spiral guide plate protruding on its surface can be used to drive the arc-shaped plate-shaped workpiece to rotate and move. By interlacing with the driving wheel on the other side of the split welding clamp, the arc-shaped plate-shaped workpiece can be moved back and forth during the swinging process. With the split welding clamp, the arc-shaped plate-shaped workpiece with a beveled surface can be welded, avoiding the problem that the traditional device is more difficult to weld the arc-shaped plate-shaped workpiece with a beveled surface;

[0019] 4. The present invention uses split auxiliary wheels on both sides to individually adjust the distance between the auxiliary wheels on different sides, so that the distance between the driving wheels and the auxiliary wheels on both sides of the split welding clamp can be controlled, and the limiting wheels are used to limit and fix the arc-shaped plate-shaped workpiece, so that the device can adapt to the welding work of two workpieces of different sizes, further improving the auxiliary function of the device for welding work. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the mounting bracket structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the mounting column and its connecting parts of the present invention;

[0023] Figure 4 It is a schematic diagram of the installation structure of the installation bracket and the installation column of the present invention;

[0024] Figure 5 It is a schematic diagram of the cross-sectional structure of the shaft and the pulley A of the present invention;

[0025] Figure 6 It is a schematic diagram of the structure of the limit frame and its connecting parts of the present invention;

[0026] Figure 7 It is a schematic diagram of the cross-sectional structure of the outer tube of the present invention;

[0027] Figure 8 It is a schematic diagram of the cross-sectional structure of the driving wheel of the present invention;

[0028] Fig. 9 It is a structural schematic diagram of the support plate and its connecting parts of the present invention;

[0029] Fig.10 for Fig. 9 A schematic diagram of the structure after enlargement of area A is shown.

[0030] In the figure: 1. mounting bracket; 11. mounting hole; 12. split welding tongs; 121. upper tongs body; 122. lower tongs body; 2. mounting column; 21. shaft; 211. storage slot; 212. electromagnet; 22. pulley A; 221. metal limit rod; 23. mounting plate; 24. fixing frame A; 25. fixing frame B; 26. card plate; 27. motor; 3. limit frame; 31. card slot; 32. driving wheel; 33. limit slot; 34. guide plate; 35. air bag; 36. connecting hole; 37. air cavity; 38. Pulley B; 39. Drive belt; 4. Outer tube; 41. Sealing plate; 42. Push rod; 43. Fixed plate; 44. Electric telescopic rod; 5. Support frame; 51. Mounting seat; 52. Auxiliary wheel; 53. Knob; 6. Balancer; 7. Primary robot arm; 71. Secondary robot arm; 72. Tertiary robot arm; 73. Base; 8. Mounting plate; 81. Welding transformer; 9. Support plate; 91. Spring telescopic rod; 92. Load-bearing frame; 93. Limit strip A; 94. Limit plate; 95. Limit strip B; 96. Limit wheel. DETAILED DESCRIPTION

[0031] See also Figure 1-Figure 10 The present invention provides a technical solution: an integrated welding robot, comprising a mounting bracket 1 and a light-load robot, wherein a split welding clamp 12 is mounted at the front end of the mounting bracket 1, and the rear end of the mounting bracket 1 is connected to the light-load robot, and the split welding clamp 12 is electrically connected to a welding transformer 81, and further comprising,

[0032] A balancer 6, which is fixedly connected to the split welding clamp 12 and is used to balance the weight of the split welding clamp 12;

[0033] A light-load robot is used as a carrier of the split welding clamp 12. The light-load robot has a small activity space, and its own volume and weight are relatively small. The applicable production space is more flexible and the production cost is lower. In addition, the split welding clamp 12 is loaded on the light-load robot through the mounting bracket 1, and the mounting bracket 1 is connected to a balancer 6 for balancing the weight of the split welding clamp 12 to solve the problem of the load weight of the light-load robot. This is equivalent to the work done by the light-load robot when only the load moves the split welding clamp 12. This design can not only meet production needs but also reduce production costs. During welding, large automobile workpieces have been positioned and clamped before welding, and the weld position of the large automobile workpiece has been aligned and squeezed. The split welding clamp 12 is moved to the weld position of the automobile workpiece under the drive of the light-load robot, and the welding transformer 81 gives the split welding clamp 12 a suitable voltage, and generates heat by resistance at the weld position of the large automobile workpiece, so that the automobile workpiece self-melts and completes welding.

[0034] When welding a small car curved plate-shaped workpiece, the following accessories need to be installed on the mounting bracket 1;

[0035] The split welding clamp 12 is replaced with an arc welding gun, and a mounting column 2 is rotatably connected in the mounting hole 11, and both ends of the mounting column 2 are fixedly connected with a shaft rod 21, and the end of the shaft rod 21 away from the mounting column 2 is provided with a receiving groove 211, and an electromagnet 212 is fixedly connected in the receiving groove 211. The end of the shaft rod 21 away from the mounting column 2 is rotatably connected with a pulley A22, and the end of the pulley A22 close to the receiving groove 211 is embedded with a metal limiting rod 221 slidably connected, and the end of the pulley A22 away from the shaft rod 21 is rotatably connected with a mounting disk 23, and a fixing frame A24 and a fixing frame B25 are respectively fixedly connected between the mounting disk 23 and the mounting bracket 1, and a clamping plate 26 is fixedly connected to the fixing frame B25, and the clamping plate 26 is located in the clamping groove 31 of the limiting frame 3 on the same side, and a motor 27 is fixedly connected to the mounting disk 23 at one end of the mounting column 2, and the output end of the motor 27 is fixedly docked with the pulley A22 on the same side.

[0036] Combined with Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, during normal use, the limit frame 3 is placed on the fixed frame A24, and the driving wheel 32 and the auxiliary wheel 52 are moved away from the two sides of the split welding clamp 12. At this time, the split welding clamp 12 can be used to normally perform welding work on large parts. When it is necessary to weld small arc-shaped plate-shaped workpieces, the split welding clamp 12 is replaced with an arc welding gun (the installation of the arc welding gun is the same as the installation layout of the split welding clamp 12, and the specific installation connection is a well-known technology for those skilled in the art), and the electromagnet 212 is energized. At this time, the magnetism of the electromagnet 212 is greater than the magnetism of the magnet, so the electromagnet 212 can pull the metal limit rod 221 out of the pulley A22 and insert the metal limit rod 221 into the storage groove 211 of the shaft rod 21. At this time, the metal limit rod 221 cooperates with the storage groove 211 to make the shaft rod 21 and the pulley A2 2, at this time, the motor 27 is started to drive the pulley A22, the shaft 21 and the mounting column 2 to rotate, so that the slot 31 of the limit frame 3 is stuck on the card plate 26 of the fixing frame B25, so as to fix the limit frame 3, at this time, the driving wheel 32 and the auxiliary wheel 52 will move to the two sides of the arc welding gun, and then the electromagnet 212 is powered off. At this time, the electromagnet 212 loses its magnetism, and the magnet can adsorb the metal limit rod 221, so that the metal limit rod 221 is pulled out from the receiving groove 211 of the shaft 21 and embedded in the pulley A22. At this time, the shaft 21 and the pulley A22 are transformed into a rotating connection structure again. At this time, during the operation of the motor 27, the pulley A22 can be driven to rotate alone, and the driving wheel 32 can be driven to rotate by the transmission belt 39, and the arc welding gun can perform welding work on the arc plate-shaped workpiece.

[0037] Combined with Figure 1 , Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, the shaft 21 is fixedly connected to a limiting frame 3, the limiting frame 3 is provided with a card slot 31, the limiting frame 3 is rotatably connected to a driving wheel 32, the driving wheel 32 is provided with a plurality of spiral limiting slots 33, the limiting slots 33 are slidably connected with guide plates 34, both sides of the inner bottom wall of the limiting slots 33 are fixedly connected with air bags 35, and the top of the air bags 35 is fixedly docked with the bottom of the guide plate 34, the driving wheel 32 is provided with a plurality of connecting holes 36 connected with the air bags 35, the driving wheel 32 is provided with an air cavity 37 connected with the connecting holes 36, the end of the driving wheel 32 away from the limiting frame 3 is fixedly connected with a pulley B38, and a transmission belt 39 is provided between the pulley B38 and the pulley A22;

[0038] An outer tube 4 is fixedly connected to the limiting frame 3, and the outer tube 4 is communicated with the air cavity 37. A sealing plate 41 is slidably connected inside the outer tube 4, a push rod 42 is fixedly connected to the sealing plate 41, and one end of the push rod 42 away from the sealing plate 41 is fixedly connected to a fixing plate 43, and an electric telescopic rod 44 is fixedly connected between the fixing plate 43 and the limiting frame 3.

[0039] Further, after the driving wheel 32 and the auxiliary wheel 52 are moved to both sides of the arc welding gun, the arc-shaped plate-shaped workpiece is placed between the driving wheel 32 and the auxiliary wheel 52, and the welding parts of the two arc-shaped plate-shaped workpieces are stacked, and then the motor 27 is started, so that the pulley A22 cooperates with the transmission belt 39 to drive the pulley B38 and the driving wheel 32 to rotate. During the rotation process, the driving wheel 32 can cooperate with the auxiliary wheel 52 to drive the arc-shaped plate-shaped workpiece to swing, and at this time, the arc welding gun can be used to weld the swinging arc-shaped plate-shaped workpiece;

[0040] It is worth noting that the directions of the two driving wheels 32 are mirror images, so the limiting grooves 33 of the two driving wheels 32 are in opposite directions to the guide plates 34, and when using one of the guide plates 34, the guide plate 34 on the other side should be retracted to prevent affecting the movement of the arc-shaped plate-like workpiece.

[0041] Furthermore, when the section on the arc-shaped plate-like workpiece to be welded is an oblique section, the electric telescopic rod 44 is started to shrink. The electric telescopic rod 44 can use the fixed plate 43 to drive the push rod 42 and the sealing plate 41 to move along the outer tube 4 and move toward the air cavity 37. At this time, the air in the outer tube 4 is squeezed into the air cavity 37 and enters the airbag 35 through the connecting hole 36. The airbag 35 will expand after being filled with gas, and at the same time, the guide plate 34 will be pushed out of the limit groove 33. At this time, the protruding spiral guide plate 34 can make the arc-shaped plate-like workpiece move horizontally during the swinging process when it rotates with the driving wheel 32. When the electric telescopic rod 44 is extended, the fixed plate 43 can be used to drive the push rod 42 and the sealing plate 41 to move in the opposite direction, so that the gas in the airbag 35 is drawn into the outer tube 4. At this time, due to the loss of gas in the airbag 35, it will shrink and drive the guide plate 34 to shrink into the limiting groove 33. At this time, the surface of the driving wheel 32 is a smooth structure. Using this principle, through the cooperation of the driving wheels 32 on both sides of the arc welding gun, the arc-shaped plate-like workpiece can be appropriately moved back and forth according to the inclination of the bevel cut of the arc-shaped plate-like workpiece. Then, during the process of the arc-shaped plate-like workpiece rotating and moving back and forth, the arc-shaped plate-like workpiece with the bevel cut can be welded.

[0042] Combined with Figure 1 and Figure 3As shown, the limiting frame 3 is fixedly connected to the supporting frame 5, both ends of the supporting frame 5 are slidably connected to the mounting seats 51, the mounting seats 51 are rotatably connected to the auxiliary wheels 52, and the mounting seats 51 are threadedly connected to the knobs 53.

[0043] Furthermore, when clamping and fixing the arc-shaped plate-like workpiece, by turning the knob 53, the mounting seat 51 can be moved along the support frame 5, so as to adjust the spacing between the auxiliary wheels 52, so that the spacing between the driving wheel 32 and the auxiliary wheel 52 can adapt to arc-shaped plate-like workpieces of different sizes. When welding two arc-shaped plate workpieces of different sizes, the position of each auxiliary wheel 52 is adjusted separately according to the size of the two workpieces, so that the spacing between the driving wheel 32 and the auxiliary wheel 52 on both sides of the arc welding gun can be the same as the size of the workpiece placed on the same side, so that two workpieces of different sizes can be placed, and the workpieces are swung, and then the arc welding gun is used for welding.

[0044] Combined with Figure 1 and Figure 2 As shown, one end of the mounting bracket 1 away from the split welding clamp 12 is rotatably connected to a primary mechanical arm 7, the other end of the primary mechanical arm 7 is rotatably connected to a secondary mechanical arm 71, the other end of the secondary mechanical arm 71 is rotatably connected to a tertiary mechanical arm 72, and the bottom of the tertiary mechanical arm 72 is rotatably connected to a base 73;

[0045] The secondary robot arm 71 is fixedly connected with a mounting plate 8 , the mounting plate 8 is fixedly connected with a welding transformer 81 , and the welding transformer 81 is connected to the split welding clamp 12 via a plurality of cables.

[0046] Furthermore, the primary robot arm 7, the secondary robot arm 71, the tertiary robot arm 72 and the base 73 are all equipped with built-in driving parts. When welding, the base 73 can be used to drive the remaining parts to rotate in the horizontal direction, and the horizontal angle of the robot can be adjusted. At the same time, the cooperation of the primary robot arm 7, the secondary robot arm 71 and the tertiary robot arm 72 can greatly improve the degree of freedom of the robot, improve the working efficiency of the welding work, and further improve the auxiliary function of the robot in the welding work.

[0047] Furthermore, by installing the welding transformer 81 on the secondary robot arm 71 through the mounting plate 8, the weight of the split welding clamp 12 can be reduced without affecting the normal operation of the welding transformer 81, thereby improving the efficiency of the robot when performing welding work. When performing welding work, the welding transformer 81 can be used to assist in the split welding clamp 12 to weld the workpiece.

[0048] Combined with Figure 1 , Fig. 9 and Fig.10As shown, the bottom of the mounting bracket 1 is fixedly connected to a support plate 9, both ends of the bottom of the support plate 9 are fixedly connected to spring telescopic rods 91, and the spring telescopic rods 91 are assembled by a spring sleeve arranged outside the telescopic rod, the bottom of the spring telescopic rods 91 are fixedly connected to a load-bearing frame 92, the load-bearing frame 92 is rotatably connected to a limiting plate 94, and the limiting plates 94 are rotatably connected to limiting wheels 96, the inner top wall of the load-bearing frame 92 is fixedly connected to a limiting strip A93, and the top of the limiting plate 94 is fixedly connected to a limiting strip B95.

[0049] Furthermore, when welding an arc-shaped plate-like workpiece, the limit plate 94 is rotated so that the limit plate 94 is in a vertical downward position. At this time, the limit wheel 96 can be attached to the top of the arc-shaped plate-like workpiece by utilizing the retractable characteristics of the spring telescopic rod 91, and the overlapping part of the two arc-shaped plate-like workpieces can be squeezed and limited to improve the stability of the arc-shaped plate-like workpiece during welding. When welding a normal plate-like workpiece, the limit plate 94 can be rotated so that it is at a right angle to the load-bearing frame 92. At this time, the distance between the split welding clamps 12 can be increased, and welding work can be performed on a normal plate-like workpiece.

[0050] Working principle: First, the robot is installed at the designated position and powered on, and at the same time, the limit frame 3 is placed on the fixed frame A24, so that the driving wheel 32 and the auxiliary wheel 52 are moved away from the two sides of the split welding clamp 12. At this time, the split welding clamp 12 can be used to perform welding work normally. After that, the robot is set according to the type of workpiece to be welded. After the setting is completed, the welding transformer 81 can be used to assist the split welding clamp 12 or the arc welding gun to weld the metal workpiece;

[0051] When welding of the arc-shaped plate-shaped workpiece is required, the electromagnet 212 is energized. At this time, the magnetism of the electromagnet 212 is greater than that of the magnet. Therefore, the electromagnet 212 can pull the metal limit rod 221 out of the pulley A22 and insert the metal limit rod 221 into the receiving groove 211 of the shaft 21. At this time, the metal limit rod 221 cooperates with the receiving groove 211 to fix the shaft 21 and the pulley A22. At this time, the motor 27 is started to drive the pulley A22, the shaft 21 and the mounting column 2 to move forward. The limit frame 3 is rotated so that the card slot 31 of the limit frame 3 is stuck on the card plate 26 of the fixing frame B25, so as to fix the limit frame 3. At this time, the driving wheel 32 and the auxiliary wheel 52 will move to the two sides of the split welding clamp 12, and then the electromagnet 212 is powered off. At this time, the electromagnet 212 loses its magnetism, and the magnet can absorb the metal limit rod 221, so that the metal limit rod 221 is pulled out from the storage groove 211 of the shaft rod 21 and embedded in the pulley A22. At this time, the shaft rod 21 and the pulley A22 are re-connected to form a rotating connection structure;

[0052] Then, by rotating the knob 53, the mounting seat 51 can be moved along the support frame 5 to adjust the spacing between the auxiliary wheels 52. Then, the arc-shaped plate-like workpiece is placed between the driving wheel 32 and the auxiliary wheel 52, and the rotating limit plate 94 is rotated to make the limit plate 94 in a vertical downward state. At this time, the limit wheel 96 can be attached to the top of the arc-shaped plate-like workpiece by utilizing the retractable characteristics of the spring telescopic rod 91, and the overlapping part of the two arc-shaped plate-like workpieces is squeezed and limited. Then, the motor 27 is started. During the operation of the motor 27, the pulley A22 can be driven to rotate alone, and the driving wheel 32 can be driven to rotate by the transmission belt 39. During the rotation process, the driving wheel 32 can cooperate with the auxiliary wheel 52 to drive the arc-shaped workpiece to swing. At this time, the arc welding gun can be used to perform multi-point welding on the rotating arc-shaped workpiece;

[0053] When welding an arc-shaped plate-shaped workpiece with a beveled cross section, the electric telescopic rod 44 is first started to shrink. The electric telescopic rod 44 can use the fixed plate 43 to drive the push rod 42 and the sealing plate 41 to move along the outer tube 4 and toward the air cavity 37. At this time, the air in the outer tube 4 is squeezed into the air cavity 37 and enters the air bag 35 through the connecting hole 36. The air bag 35 will expand after being filled with gas, and at the same time, the guide plate 34 will be pushed out of the limit groove 33. Then, the arc-shaped plate-shaped workpiece is placed between the driving wheel 32 and the auxiliary wheel 52. At this time, the protruding spiral guide plate 34 can make the arc-shaped plate-shaped workpiece swing when it rotates with the driving wheel 32. During the movement, it moves horizontally, and when the electric telescopic rod 44 is extended, the fixed plate 43 can be used to drive the push rod 42 and the sealing plate 41 to move in the opposite direction, so that the gas in the airbag 35 is sucked into the outer tube 4. At this time, due to the loss of gas in the airbag 35, it will shrink and drive the guide plate 34 to shrink into the limit groove 33. At this time, the surface of the driving wheel 32 is a smooth structure. Using this principle, through the cooperation of the driving wheels 32 on both sides of the arc welding gun, the arc-shaped plate-shaped workpiece can be appropriately moved back and forth according to the inclination of the bevel cut of the arc-shaped plate-shaped workpiece. Then, during the process of the arc-shaped plate-shaped workpiece rotating and moving back and forth, the arc-shaped plate-shaped workpiece with the bevel cut can be welded;

[0054] When welding two arc-shaped plate workpieces of different sizes, the position of each auxiliary wheel 52 is adjusted separately according to the size of the two workpieces, so that the distance between the driving wheel 32 and the auxiliary wheel 52 on both sides of the arc welding gun can be the same as the size of the workpieces placed on the same side, so that two workpieces of different sizes can be placed, and the workpieces can be swung, and then the arc welding gun can be used for welding;

[0055] When the welding work is completed, the electromagnet 212 is energized again, and the metal limit rod 221 is pulled out from the pulley A22 by the electromagnet 212, and the metal limit rod 221 is inserted into the storage groove 211 of the shaft 21 to fix the shaft 21 and the pulley A22. Then, the motor 27 is controlled to rotate in the opposite direction, and the motor 27 is used to drive the pulley A22, the shaft 21 and the mounting column 2 to rotate in the opposite direction, so that the limit frame 3 is re-mounted on the fixing frame A24, and then the electromagnet 212 is de-energized, and the metal limit rod 221 is pulled out from the storage groove 211 of the shaft 21 again by the magnet, so as to facilitate subsequent use.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An integrated welding robot, comprising a mounting bracket (1) and a light-load robot, wherein a split welding clamp (12) is mounted at the front end of the mounting bracket (1), and a rear end of the mounting bracket (1) is connected to the light-load robot, and the split welding clamp (12) is electrically connected to a welding transformer (81), characterized in that: Also includes, A balancer (6), wherein the balancer (6) is fixedly connected to the split welding clamp (12) and is used to balance the weight of the split welding clamp (12); The light-load robot comprises a primary mechanical arm (7), a secondary mechanical arm (71), a tertiary mechanical arm (72) and a base (73); one end of the primary mechanical arm (7) is fixedly connected to the mounting bracket (1); the other end of the primary mechanical arm (7) is rotatably connected to the secondary mechanical arm (71); the other end of the secondary mechanical arm (71) is rotatably connected to the tertiary mechanical arm (72); the bottom of the tertiary mechanical arm (72) is rotatably connected to the base (73); a mounting plate (8) is fixedly connected to the secondary mechanical arm (71); the mounting plate (8) is used to mount a welding transformer (81); The split welding tongs (12) is replaced with an arc welding gun, the mounting bracket (1) is further provided with a mounting hole (11), a mounting column (2) is rotatably connected in the mounting hole (11), both ends of the mounting column (2) are fixedly connected with a shaft (21), the end of the shaft (21) away from the mounting column (2) is provided with a receiving groove (211), an electromagnet (212) is fixedly connected in the receiving groove (211), and the shaft (21) The end away from the mounting column (2) is rotatably connected to a pulley A (22), and the end of the pulley A (22) close to the receiving groove (211) is embedded with a metal limit rod (221) slidably connected thereto, and the inner wall of the receiving groove (211) is embedded with a magnet; the shaft rod (21) is fixedly connected to a limit frame (3), the limit frame (3) is provided with a slot (31), and the limit frame (3) is rotatably connected to a driving wheel (32); The driving wheel (32) is provided with a plurality of spiral limiting grooves (33), each of which is slidably connected to a guide plate (34), both sides of the inner bottom wall of the limiting groove (33) are fixedly connected to air bags (35), and the top of the air bag (35) is fixedly connected to the bottom of the guide plate (34), the driving wheel (32) is provided with a plurality of connecting holes (36) connected to the air bags (35), the driving wheel (32) is provided with an air cavity (37) connected to the connecting holes (36), and one end of the driving wheel (32) away from the limiting frame (3) is fixedly connected to a pulley B (38), and a transmission belt (39) is provided between the pulley B (38) and the pulley A (22).

2. The integrated welding robot according to claim 1, characterized in that: The limiting frame (3) is fixedly connected to an outer tube (4), and the outer tube (4) is communicated with the air cavity (37); a sealing plate (41) is slidably connected inside the outer tube (4); a push rod (42) is fixedly connected to the sealing plate (41); an end of the push rod (42) away from the sealing plate (41) is fixedly connected to a fixing plate (43); and an electric telescopic rod (44) is fixedly connected between the fixing plate (43) and the limiting frame (3).

3. The integrated welding robot according to claim 2, characterized in that: The end of the pulley A (22) away from the shaft (21) is rotatably connected to a mounting plate (23); a fixing frame A (24) and a fixing frame B (25) are respectively fixedly connected between the mounting plate (23) and the mounting bracket (1); a clamping plate (26) is fixedly connected to the fixing frame B (25), and the clamping plate (26) is located in a clamping groove (31) of the limiting frame (3) on the same side; a motor (27) is fixedly connected to the mounting plate (23) at one end of the mounting column (2), and an output end of the motor (27) is fixedly connected to the pulley A (22) on the same side.

4. The integrated welding robot according to claim 3, characterized in that: The limiting frame (3) is fixedly connected to a support frame (5), the support frame (5) is slidably connected to a mounting seat (51), the mounting seat (51) is rotatably connected to an auxiliary wheel (52), and the mounting seat (51) is threadedly connected to a knob (53).

5. The integrated welding robot according to claim 4, characterized in that: The bottom of the mounting bracket (1) is fixedly connected to a support plate (9), both ends of the bottom of the support plate (9) are fixedly connected to spring telescopic rods (91), and the spring telescopic rods (91) are assembled by spring sleeves arranged outside the telescopic rods, the bottom of the spring telescopic rods (91) are fixedly connected to a load-bearing frame (92), the load-bearing frame (92) is rotatably connected to a limit plate (94), and the limit plates (94) are rotatably connected to limit wheels (96), the inner top wall of the load-bearing frame (92) is fixedly connected to a limit strip A (93), and the top of the limit plate (94) is fixedly connected to a limit strip B (95).

6. The integrated welding robot according to claim 1, characterized in that: The split welding tongs (12) are composed of an upper tongs body (121) and a lower tongs body (122); the upper part of the mounting bracket (1) is slidably connected to the upper part of the welding tongs body (121); the lower tongs body (122) is fixedly connected to the mounting bracket (1), and the lower tongs body (122) is located below the upper tongs body (121).

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