Laser self-melting welding robot and working method thereof

Abstract

The present invention belongs to the technical field of self-melting welding, and in particular discloses a laser self-melting welding robot and a working method thereof, the laser self-melting welding robot comprises a manipulator, and a laser welding head mounted on the output shaft of the manipulator, the manipulator is mounted on a bottom plate, and the first side plate and the second side plate are respectively arranged on both sides of the top surface of the bottom plate, and a cylinder is installed on the outer side of the first side plate. The present invention uses the spiral cooperation of the rotating rod and the slip ring to make multiple limiting frames cooperate to limit welding parts with different outer diameters, and the elastic force of the spring is used to avoid multiple clamping frames from limiting and jamming the welding parts. When the welding parts rotate, the manipulator makes the laser output end of the laser welding head always correspond to the annular weld of the welding parts, so that the welding parts can be conveniently rotated on the inner side of the inner grooves of multiple clamping frames through the circular ring. The limitation of multiple clamping frames makes the welding parts rotate smoothly on the inner side of the limiting head, and the annular weld of the welding parts can be quickly and comprehensively welded.

Description

Technical Field

[0001] The invention belongs to the technical field of autogenous welding, and in particular relates to a laser autogenous welding robot and a working method thereof. Background Art

[0002] The laser self-melting welding robot adopts the wire-free technology and uses the arc to enhance the laser effect. The power density of the laser spot irradiated on the workpiece surface reaches 106W / cm 2 When the above conditions are met, the workpiece is rapidly heated under the irradiation of the laser, and its surface temperature rises to the boiling point in a very short time, causing the metal to melt and vaporize, resulting in rapid welding of the weld.

[0003] Among them, when laser welding is performed on the welded parts to be welded, the staff is required to adjust the position of the welded parts several times so that the weld seam of the welded parts needs to correspond to the laser welding head, which is not convenient for actual operation. Summary of the invention

[0004] In view of the above problems, the present invention provides a laser self-melting welding robot and a working method thereof to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A laser self-melting welding robot comprises a manipulator and a laser welding head installed on the output shaft of the manipulator, the manipulator is installed on a base plate, and a first side plate and a second side plate are respectively arranged on both sides of the top surface of the base plate, a cylinder is installed on the outer side of the first side plate, a telescopic rod is installed on the output end of the cylinder, and a limiting head is installed on the inner end of the telescopic rod, a motor is installed on the outer side of the second side plate, a rotating shaft is rotatably clamped at the center of the second side plate, the output end of the motor is connected to the center of the outer side surface of the rotating shaft, a clamping head is arranged on the inner side surface of the rotating shaft, and a welding piece to be welded is arranged between the clamping head and the limiting head, one end of the welding piece is located on the inner side of the limiting head, and the other end of the welding piece is located on the inner side of the clamping head, the welding piece is arranged correspondingly by two sleeves arranged in parallel, and an annular weld is formed between the two sleeves, and the output end of the laser welding head welds the annular weld of the welding piece correspondingly.

[0007] Furthermore, a ring is provided on the outer side of the limiting head, the inner end of the telescopic rod is correspondingly inserted into the inner side of the ring, a cross bar is horizontally inserted at the center of the ring, and when the cylinder is working, the output end of the cylinder uses the telescopic rod and the ring to drive the limiting head to move horizontally on the top of the base plate.

[0008] Furthermore, the inner side surface of the limiting head is provided with multiple annular parallel limiting frames, the inner concave surfaces of the multiple limiting frames surround the end of the welding part, a square rod passes through the center of the limiting frame, a circular plate is fixed to the outer end of the square rod, a spring is sleeved on the surface of the square rod, the inner end of the spring is connected to the outer part of the limiting frame, and the outer end of the spring is connected to the inner side of the circular plate, a clamping frame is provided on the inner end of the square rod, an inner groove is provided on the inner side of the clamping frame, a circular ring is sleeved on the end of the welding part, multiple clamping frames are all buckled on the outer side of the circular ring of the welding part by means of the inner groove, and the welding part rotates on the inner side of the inner grooves of multiple clamping frames by means of the circular ring.

[0009] Furthermore, a plurality of through grooves are provided on the circumferential outer side surface of the limiting head, and the plurality of through grooves correspond one-to-one to the plurality of limiting frames, and a plurality of side grooves are provided on the inner side surface of the limiting head, and a slip ring is provided inside the through groove, and the circumferential outer side surface of the slip ring is connected to the limiting frame by a connecting rod, and a rotating rod is rotatably clamped on the inner side of the through groove, and the slip ring is spirally sleeved on the surface of the rotating rod, and the rotating rotating rod enables the slip ring to move inside the through groove, and the moving slip ring drives the limiting frame to move synchronously by the connecting rod, and the connecting rod moves inside the side groove.

[0010] Furthermore, a cross is arranged on the inner side of the clamping head, and the end face of the welding part is fitted with the inner side face of the cross, an inner ring block is arranged on the inner side of the clamping head, a slot corresponding to the cross is arranged at the center of the inner ring block, the cross comprises four side plates, a waist-shaped sleeve penetrating the limiting head is fixed on the inner side face of the side plate, an inner rod is arranged at the center of the waist-shaped sleeve, a pressure plate is fixed on the inner end of the inner rod, two pressure blocks are fixed on the outer end of the inner rod, the two pressure blocks are respectively located on both sides of the inner rod, and the two pressure blocks are connected to the inner rod by means of side rods, a sliding groove corresponding to the inner rod is arranged at the center of the side plate, the pressure block is located on the outer side of the side plate, vertical grooves corresponding to the side rods are arranged on both sides of the sliding groove, an elastic member is arranged on the inner side of the vertical groove, one end of the elastic member is connected to the inner rod, and the other end of the elastic member is connected to the inner bottom face of the vertical groove,

[0011] Furthermore, a plurality of waisted sleeves surround the outside of the welding piece, and the inner concave surface of the pressing plate corresponds to the welding piece.

[0012] Furthermore, the surface of the inner ring block is provided with an oblique ring surface, and the outer side surface of the pressing block corresponds to the oblique ring surface of the inner ring block.

[0013] The present invention also provides a working method of the laser self-melting welding robot, using the above-mentioned laser self-melting welding robot, the working method comprises the following steps:

[0014] S1. Connect the two sleeves to each other and weld them into a weldment by spot welding. Insert the end of the weldment with the circular ring into the limiting head. Turn the rotating rod. The rotating rotating rod and the spiral fit of the slip ring make the slip ring move inside the through groove of the limiting head. The slip ring drives the limiting frame to approach the weldment by the connecting rod until the inner groove inside the clamping frame is buckled on the surface of the circular ring, thus completing the preliminary limitation of the end of the weldment.

[0015] S2. The other end of the weldment is aligned with the clamping head, and the cylinder is working. The telescopic rod at the output end of the cylinder drives the weldment to move synchronously by using multiple clamps on the inner side of the limiting head until the other end face of the weldment fits with the inner side face of the cross. The weldment continues to move, and the moving weldment pushes the cross to move. The cross drives the pressing block to move synchronously until the outer side face of the pressing block fits with the ring bevel. At this time, the cross gradually enters the inside of the clamping slot.

[0016] S3, when the cross enters the slot, the cross drives the pressure block to slide on the ring bevel of the inner ring block. Due to the limitation of the ring bevel on the pressure block, the moving pressure block drives the side rod to move inside the vertical slot. The moving pressure block drives the inner rod to move inside the waist sleeve by the side rod. The moving inner rod drives the pressure plate to approach the weldment until multiple pressure plates are clamped with the outer side surface of the weldment by the inner concave surface, and the cylinder stops working.

[0017] S4. The multiple pressing plates squeeze the weldment to a horizontal state, and the rotating rod is continuously rotated. The spiral fit between the rotating rod and the slip ring enables the slip ring to use the connecting rod to drive the limiting frame to continue to approach the weldment. Since the weldment uses the circular ring to limit the clamping frame, the limiting frame slides on the surface of the square rod, and the moving limiting frame cooperates with the circular plate to pull the spring on the surface of the square rod until the end of the weldment carrying the circular ring is limited inside the limiting head.

[0018] S5. The manipulator aligns the laser output end of the laser welding head with the annular weld. When the laser welding head uses the laser to weld the annular weld, the motor is started. The motor output end drives the rotating shaft to rotate. The rotating shaft drives the welded part to rotate using multiple clamps on the inner side of the clamping head. The rotating welded part rotates inside the inner grooves of the multiple clamps using circular rings. At this time, the laser welding head performs welding processing on the rotating annular weld until the two sleeves are completely welded together to form an integrated welded part. The cylinder works by pulling the limiting head close to the first side plate using the telescopic rod. The limiting head drives the welded part away from the clamping head using multiple clamps. The rotating rod is rotated in the opposite direction. The spiral fit between the rotating rod and the slip ring makes the limiting frame away from the welded part, which is convenient for removing the welded part after welding. Then the welded part to be welded is re-limited between the limiting head and the clamping head.

[0019] Technical effects and advantages of the present invention:

[0020] 1. The present invention uses the spiral cooperation of the rotating rod and the slip ring to make multiple limiting frames cooperate to limit welding parts with different outer diameters. The elastic force of the spring can prevent the welding parts from being stuck by multiple clamping frames. When the welding parts rotate, the laser output end of the laser welding head is always corresponding to the annular weld of the welding parts through the manipulator, which facilitates the welding parts to rotate inside the inner grooves of multiple clamping frames through the circular ring. The limitation of multiple clamping frames allows the welding parts to rotate smoothly inside the limiting head, so that the annular weld of the welding parts can be quickly and comprehensively welded.

[0021] 2. The present invention places the weldment in a horizontal state through the extrusion of multiple pressing plates, thereby preventing the weldment from being offset during rotation and facilitating the end of the weldment to be confined inside the clamping head.

[0022] 3. The present invention adjusts the relative distance between the limiting frame and the welded part by rotating the rotating rod and utilizing the spiral fit between the rotating rod and the slip ring, thereby facilitating the limiting head to fit and limit welded parts with different outer diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is an overall schematic diagram of a laser self-melting welding robot according to an embodiment of the present invention;

[0024] Figure 2 Schematic diagram of a limiting head and a limiting welding head in an embodiment of the present invention;

[0025] Figure 3 is a schematic perspective cross-sectional view of an overall limiting head according to an embodiment of the present invention;

[0026] Figure 4 is an overall schematic diagram of a limiting frame according to an embodiment of the present invention;

[0027] Figure 5 Schematic diagram of a cross connected to the inside of a clamping head according to an embodiment of the present invention;

[0028] Figure 6 is a schematic diagram of the internal structure of a clamping head according to an embodiment of the present invention;

[0029] Figure 7 is a schematic diagram of the cooperation between the cross and the pressing plate in an embodiment of the present invention;

[0030] Figure 8 is an overall schematic diagram of a cross according to an embodiment of the present invention;

[0031] In the figure: 1. manipulator; 2. laser welding head; 3. bottom plate; 4. first side plate; 5. second side plate; 6. cylinder; 7. telescopic rod; 8. limiting head; 9. motor; 10. rotating shaft; 11. clamping head; 12. welding piece; 13. collar; 14. cross bar; 15. limiting frame; 16. square and round rod; 17. spring; 18. bracket; 19. inner groove; 20. circular ring; 21. through groove; 22. slip ring; 23. rotating rod; 24. cross; 25. inner ring block; 26. waist round sleeve; 27. inner rod; 28. pressure plate; 29. ​​pressure block; 30. vertical groove; 31. elastic member. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0033] The present invention provides a laser self-melting welding robot, such as Figures 1 to 5As shown, it includes a manipulator 1 and a laser welding head 2 installed on the output shaft of the manipulator 1, the manipulator 1 is installed on a base plate 3, and the first side plate 4 and the second side plate 5 are respectively arranged on both sides of the top surface of the base plate 3, a cylinder 6 is installed on the outer side of the first side plate 4, a telescopic rod 7 is installed on the output end of the cylinder 6, and a limiting head 8 is installed on the inner end of the telescopic rod 7, a motor 9 is installed on the outer side of the second side plate 5, a rotating shaft 10 is rotatably clamped at the center of the second side plate 5, and the output end of the motor 9 is connected to the center of the outer side of the rotating shaft 10, a clamping head 11 is arranged on the inner side of the rotating shaft 10, and a welding piece 12 to be welded is arranged between the clamping head 11 and the limiting head 8, one end of the welding piece 12 is on the inner side of the limiting head 8, and the other end of the welding piece 12 is on the inner side of the clamping head 11, the welding piece 12 is arranged correspondingly by two sleeves arranged in parallel, and an annular weld is formed between the two sleeves, and the output end of the laser welding head 2 welds the annular weld of the welding piece 12 correspondingly. Connect the two sleeves to each other, and use spot welding to weld the two sleeves into a weldment 12. Insert one end of the weldment 12 into the inner side of the limiting head 8. The cylinder 6 works, and the telescopic rod 7 at the output end of the cylinder 6 drives the weldment 12 to move by using the limiting head 8, until the other end of the weldment 12 is inserted into the inner side of the clamping head 11, until the limiting head 8 cooperates with the clamping head 11 to limit the weldment 12, so that the weldment 12 is in a horizontal state at the top of the bottom plate 3. The manipulator 1 makes the laser output end of the laser welding head 2 correspond to the annular weld. When the laser welding head 2 uses laser to weld the annular weld, the electric Machine 9, the output end of the motor 9 drives the rotating shaft 10 to rotate, and the rotating shaft 10 drives the welding piece 12 to rotate by means of the clamping head 11. One end of the welding piece 12 rotates inside the limiting head 8. At this time, the laser welding head 2 performs welding processing on the rotating annular weld until the two sleeves are completely welded together to form an integrated welding piece 12. The cylinder 6 works by using the telescopic rod 7 to pull the limiting head 8 close to the first side plate 4. The limiting head 8 pulls the welding piece 12 away from the clamping head 11, and then the welded welding piece 12 is removed from the inside of the limiting head 8, and then the welding piece 12 to be welded is re-defined between the limiting head 8 and the clamping head 11.

[0034] exist Figures 1 to 3 In the embodiment, the outer side of the limiting head 8 is provided with a collar 13, the inner side end of the telescopic rod 7 is correspondingly inserted into the inner side of the collar 13, and a cross bar 14 is horizontally inserted at the center of the collar 13. When the cylinder 6 is working, the output end of the cylinder 6 drives the limiting head 8 to move horizontally on the top of the bottom plate 3 by using the telescopic rod 7 and the collar 13. According to the outer diameter of the welded part 12, a suitable limiting head 8 is selected, and the collar 13 on the outer side of the limiting head 8 is correspondingly sleeved on the inner side end of the telescopic rod 7, and the cross bar 14 is used to pass through the collar 13 and the telescopic rod 7. Through the limitation of the cross bar 14, the connection between the limiting head 8 and the inner side end of the telescopic rod 7 is completed, and the cylinder 6 is working, and the output end of the cylinder 6 uses the telescopic rod 7 to mobilize the limiting head 8 to move.

[0035] exist Figures 2 to 4In the figure, a plurality of annular parallel limiting frames 15 are arranged on the inner side surface of the limiting head 8, and the inner concave surfaces of the plurality of limiting frames 15 surround the end of the welding part 12. A square rod 16 runs through the center of the limiting frame 15, and a circular plate is fixed on the outer end of the square rod 16. A spring 17 is sleeved on the surface of the square rod 16, and the inner end of the spring 17 is connected to the outer part of the limiting frame 15, and the outer end of the spring 17 is connected to the inner side surface of the circular plate. A clamping frame 18 is arranged on the inner end of the square rod 16, and an inner groove 19 is arranged on the inner side surface of the clamping frame 18. A circular ring 20 is sleeved on the end of the welding part 12, and a plurality of clamping frames 18 are all buckled on the outer side of the circular ring 20 of the welding part 12 by means of the inner groove 19, and the welding part 12 rotates on the inner side of the inner groove 19 of the plurality of clamping frames 18 by means of the circular ring 20. The outer circumferential surface of the limiting head 8 is provided with a plurality of through grooves 21, and the plurality of through grooves 21 correspond one to one with the plurality of limiting frames 15, and the inner surface of the limiting head 8 is provided with a plurality of side grooves, and a slip ring 22 is provided inside the through groove 21, and the outer circumferential surface of the slip ring 22 is connected to the limiting frame 15 by a connecting rod, and a rotating rod 23 is rotatably clamped on the inner side of the through groove 21, and the slip ring 22 is spirally sleeved on the surface of the rotating rod 23, and the rotating rotating rod 23 makes the slip ring 22 move inside the through groove 21, and the moving slip ring 22 drives the limiting frame 15 to move synchronously by the connecting rod, and the connecting rod moves inside the side groove. Insert the end of the weldment 12 carrying the circular ring 20 into the limiting head 8, turn the rotating rod 23, and the spiral fit of the rotating rotating rod 23 and the slip ring 22 makes the slip ring 22 move inside the through groove 21 of the limiting head 8. The slip ring 22 drives the limiting frame 15 to approach the weldment 12 by means of the connecting rod, until the inner groove 19 inside the clamping frame 18 is buckled on the surface of the circular ring 20, thus completing the preliminary limit of the end of the weldment 12. Continue to rotate the rotating rod 23, and the spiral fit of the rotating rod 23 and the slip ring 22 makes the slip ring 22 drive the limiting frame 15 to continue to approach the weldment 12 by means of the connecting rod. Since the weldment 12 uses the circular ring 20 to limit the clamping frame 18, the limiting frame 15 slides on the surface of the square rod 16 at this time, and the moving limiting frame 15 cooperates with the circular plate to pull the spring 17 on the surface of the square rod 16, until the end of the weldment 12 carrying the circular ring 20 is limited inside the limiting head 8.

[0036] Through the spiral cooperation between the rotating rod 23 and the slip ring 22, multiple limiting frames 15 cooperate to limit welding parts 12 with different outer diameters. The elastic force of the spring 17 can prevent the welding parts 12 from being stuck by multiple clamping frames 18. When the welding parts 12 rotate, it is convenient for the welding parts 12 to rotate inside the inner grooves 19 of the multiple clamping frames 18 through the circular ring 20. The limitation of the multiple clamping frames 18 allows the welding parts 12 to rotate smoothly inside the limiting head 8.

[0037] exist Figure 1 , Figures 5 to 8In the embodiment, a cross 24 is arranged on the inner side of the clamping head 11, and the end face of the welding piece 12 is fitted with the inner side face of the cross 24. An inner ring block 25 is arranged on the inner side of the clamping head 11, and a slot corresponding to the cross 24 is arranged at the center of the inner ring block 25. The cross 24 includes four side plates, and a waist sleeve 26 penetrating the limiting head 8 is fixed on the inner side face of the side plate. An inner rod 27 is arranged at the center of the waist sleeve 26, and a pressure plate 28 is fixed on the inner side end of the inner rod 27. Two pressure blocks 29 are fixed on the outer side end of the inner rod 27. The two pressure blocks 29 are fixed on the outer side end of the inner rod 27. 9 are respectively located on both sides of the inner rod 27, and the two pressing blocks 29 are connected to the inner rod 27 by the side rod. A sliding groove corresponding to the inner rod 27 is arranged at the center of the side plate. The pressing block 29 is located on the outside of the side plate. Vertical grooves 30 corresponding to the side rods are arranged on both sides of the sliding groove. An elastic member 31 is arranged inside the vertical groove 30. One end of the elastic member 31 is connected to the inner rod 27, and the other end of the elastic member 31 is connected to the inner bottom surface of the vertical groove 30. A plurality of waist round sleeves 26 surround the outside of the welding member 12, and the inner concave surface of the pressing plate 28 corresponds to the welding member 12. The surface of the inner ring block 25 is provided with an oblique annular surface, and the outer side surface of the pressing block 29 corresponds to the oblique annular surface of the inner ring block 25. The other end of the welding piece 12 is aligned with the clamping head 11, and the cylinder 6 is working. The telescopic rod 7 at the output end of the cylinder 6 uses the multiple clamping frames 18 on the inner side of the limiting head 8 to drive the welding piece 12 to move synchronously until the other end face of the welding piece 12 is in contact with the inner side face of the cross 24. The welding piece 12 continues to move, and the moving welding piece 12 pushes the cross 24 to move. The cross 24 drives the pressing block 29 to move synchronously until the outer side face of the pressing block 29 is in contact with the annular inclined surface. At this time, the cross 24 gradually enters the inside of the clamping groove. During the process of the cross 24 entering the slot, the cross 24 drives the pressure block 29 to slide on the ring inclined surface of the inner ring block 25. Due to the limitation of the ring inclined surface on the pressure block 29, the moving pressure block 29 drives the side rod to move inside the vertical groove 30. The moving pressure block 29 uses the side rod to drive the inner rod 27 to move inside the waist sleeve 26. The moving inner rod 27 drives the pressure plate 28 to approach the weldment 12 until multiple pressure plates 28 use the inner concave surface to clamp the outer side surface of the circumference of the weldment 12, and the cylinder 6 stops working.

[0038] The pressing of the plurality of pressing plates 28 causes the welding piece 12 to be in a horizontal state, so that the other end of the welding piece 12 can be conveniently confined inside the clamping head 11 .

[0039] The present invention also provides a working method of a laser self-melting welding robot, referring to Figures 1 to 8 As shown, the working method uses the above-mentioned laser self-melting welding robot and includes the following steps:

[0040] S1. Connect the two sleeves to each other and weld them into a weldment 12 by spot welding. Insert the end of the weldment 12 carrying the circular ring 20 into the limiting head 8. Twist the rotating rod 23. The spiral fit between the rotating rotating rod 23 and the slip ring 22 enables the slip ring 22 to move inside the through groove 21 of the limiting head 8. The slip ring 22 drives the limiting frame 15 to approach the weldment 12 by the connecting rod until the inner groove 19 on the inner side of the clamping frame 18 is buckled on the surface of the circular ring 20, thereby completing the preliminary limitation of the end of the weldment 12.

[0041] S2, the other end of the welding piece 12 is aligned with the clamping head 11, the cylinder 6 is working, and the telescopic rod 7 at the output end of the cylinder 6 drives the welding piece 12 to move synchronously by using the multiple clamping frames 18 on the inner side of the limiting head 8, until the other end face of the welding piece 12 is in contact with the inner side face of the cross 24, the welding piece 12 continues to move, the moving welding piece 12 pushes the cross 24 to move, and the cross 24 drives the pressing block 29 to move synchronously, until the outer side face of the pressing block 29 is in contact with the ring bevel, at which time the cross 24 gradually enters the inside of the clamping groove;

[0042] S3, when the cross 24 enters the slot, the cross 24 drives the pressure block 29 to slide on the ring bevel of the inner ring block 25. Due to the limitation of the ring bevel on the pressure block 29, the moving pressure block 29 drives the side rod to move inside the vertical slot 30. The moving pressure block 29 drives the inner rod 27 to move inside the waist sleeve 26 by using the side rod. The moving inner rod 27 drives the pressure plate 28 to approach the welding part 12 until multiple pressure plates 28 are clamped with the outer side surface of the circumference of the welding part 12 by using the inner concave surface, and the cylinder 6 stops working.

[0043] S4, the multiple pressing plates 28 squeeze the weldment 12 to be in a horizontal state, and the rotating rod 23 is continuously rotated. The spiral cooperation between the rotating rod 23 and the slip ring 22 enables the slip ring 22 to use the connecting rod to drive the limiting frame 15 to continue to approach the weldment 12. Since the weldment 12 uses the circular ring 20 to limit the clamping frame 18, the limiting frame 15 slides on the surface of the square rod 16 at this time, and the moving limiting frame 15 cooperates with the circular plate to pull the spring 17 on the surface of the square rod 16 until the end of the weldment 12 carrying the circular ring 20 is limited to the inner side of the limiting head 8;

[0044] S5. The manipulator 1 makes the laser output end of the laser welding head 2 correspond to the annular weld. When the laser welding head 2 uses the laser to weld the annular weld, the motor 9 is started. The output end of the motor 9 drives the rotating shaft 10 to rotate. The rotating rotating shaft 10 drives the welding part 12 to rotate by using the multiple clamping frames 18 on the inner side of the clamping head 11. The rotating welding part 12 rotates inside the inner groove 19 of the multiple clamping frames 18 by using the circular ring 20. At this time, the laser welding head 2 performs welding processing on the rotating annular weld until the two sleeves are completely welded together to form an integrated welding part 12. The cylinder 6 works by using the telescopic rod 7 to pull the limiting head 8 close to the first side plate 4. The limiting head 8 drives the welding part 12 away from the clamping head 11 by using the multiple clamping frames 18, and rotates the rotating rod 23 in the opposite direction. The spiral cooperation between the rotating rod 23 and the slip ring 22 makes the limiting frame 15 away from the welding part 12, which is convenient for removing the welded welding part 12, and then the welding part 12 to be welded is re-defined between the limiting head 8 and the clamping head 11.

[0045] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. A laser self-melting welding robot, comprising a manipulator (1) and a laser welding head (2) mounted on an output shaft of the manipulator (1), characterized in that: The manipulator (1) is mounted on a base plate (3), and a first side plate (4) and a second side plate (5) are respectively arranged on both sides of the top surface of the base plate (3), a cylinder (6) is mounted on the outer side of the first side plate (4), a telescopic rod (7) is mounted on the output end of the cylinder (6), and a limiting head (8) is mounted on the inner side end of the telescopic rod (7), a motor (9) is mounted on the outer side of the second side plate (5), a rotating shaft (10) is rotatably connected at the center of the second side plate (5), and the output end of the motor (9) is connected to the outer side of the rotating shaft (10). At the center of the side, a clamping head (11) is provided on the inner side of the rotating shaft (10), and a welding piece (12) to be welded is provided between the clamping head (11) and the limiting head (8), one end of the welding piece (12) is located inside the limiting head (8), and the other end of the welding piece (12) is located inside the clamping head (11), the welding piece (12) is correspondingly provided by two sleeves arranged in parallel, and an annular weld is formed between the two sleeves, and the output end of the laser welding head (2) corresponds to the annular weld of the welding piece (12); A cross (24) is arranged on the inner side of the clamping head (11), and the end face of the welding piece (12) is in contact with the inner side face of the cross (24); the movement of the welding piece (12) can push the cross (24) to move; an inner ring block (25) is arranged on the inner side of the clamping head (11); a slot corresponding to the cross (24) is arranged at the center of the inner ring block (25); the cross (24) comprises four side plates; a waist sleeve (26) penetrating the clamping head (11) is fixed on the inner side face of the side plate; an inner rod (27) is arranged at the center of the waist sleeve (26); the inner rod (27) can move inside the waist sleeve (26); the inner rod A pressure plate (28) is fixed to the inner end of the inner rod (27), and two pressure blocks (29) are fixed to the outer end of the inner rod (27), the two pressure blocks (29) are respectively located on both sides of the inner rod (27), and the two pressure blocks (29) are connected to the inner rod (27) by means of a side rod, a sliding groove corresponding to the inner rod (27) is arranged at the center of the side plate, the pressure block (29) is located on the outer side of the side plate, and vertical grooves (30) corresponding to the side rods are arranged on both sides of the sliding groove, and an elastic member (31) is arranged inside the vertical groove (30), one end of the elastic member (31) is connected to the inner rod (27), and the other end of the elastic member (31) is connected to the inner bottom surface of the vertical groove (30); A plurality of waisted sleeves (26) surround the outside of the welding piece (12), and the inner concave surface of the pressing plate (28) corresponds to the welding piece (12); The inner ring block (25) is provided with an oblique annular surface on its surface, and the outer side surface of the pressing block (29) corresponds to the oblique annular surface of the inner ring block (25).

2. The laser self-melting welding robot according to claim 1, characterized in that: The outer side surface of the limiting head (8) is provided with a collar (13), the inner end of the telescopic rod (7) is correspondingly inserted into the inner side of the collar (13), and a cross bar (14) is inserted horizontally at the center of the collar (13). When the cylinder (6) is working, the output end of the cylinder (6) drives the limiting head (8) to move horizontally on the top of the bottom plate (3) by using the telescopic rod (7) and the collar (13).

3. The laser self-melting welding robot according to claim 2, characterized in that: The inner side surface of the limiting head (8) is provided with a plurality of annular parallel limiting frames (15), the inner concave surfaces of the plurality of limiting frames (15) surround the end of the welding piece (12), a square rod (16) passes through the center of the limiting frame (15), a round plate is fixed to the outer end of the square rod (16), a spring (17) is sleeved on the surface of the square rod (16), the inner end of the spring (17) is connected to the outer part of the limiting frame (15), and the outer end of the spring (17) is connected to the inner side surface of the round plate, a clamping frame (18) is provided on the inner end of the square rod (16), and an inner groove (19) is provided on the inner side surface of the clamping frame (18), a circular ring (20) is sleeved on the end of the welding piece (12), the plurality of clamping frames (18) are all buckled on the outer side of the circular ring (20) of the welding piece (12) by means of the inner groove (19), and the welding piece (12) rotates inside the inner grooves (19) of the plurality of clamping frames (18) by means of the circular ring (20).

4. The laser self-melting welding robot according to claim 3 is characterized in that: The limiting head (8) is provided with a plurality of through grooves (21) on the circumferential outer side surface, the plurality of through grooves (21) correspond one-to-one to the plurality of limiting frames (15), and the limiting head (8) is provided with a plurality of side grooves on the inner side surface, a slip ring (22) is provided inside the through groove (21), the circumferential outer side surface of the slip ring (22) is connected to the limiting frame (15) by means of a connecting rod, and a rotating rod (23) is rotatably engaged inside the through groove (21), the slip ring (22) is spirally sleeved on the surface of the rotating rod (23), the rotating rotating rod (23) causes the slip ring (22) to move inside the through groove (21), the moving slip ring (22) drives the limiting frame (15) to move synchronously by means of the connecting rod, and the connecting rod moves inside the side groove.

5. A working method of a laser self-melting welding robot, characterized in that: Using the laser self-melting welding robot described in claim 4, the working method comprises the following steps: S1. Connect the two sleeves to each other and weld them into a welded part (12) by spot welding. Insert the end of the welded part (12) carrying the circular ring (20) into the limiting head (8) accordingly. Twist the rotating rod (23). The spiral fit between the rotating rotating rod (23) and the slip ring (22) causes the slip ring (22) to move inside the through groove (21) of the limiting head (8). The slip ring (22) drives the limiting frame (15) to approach the welded part (12) by means of the connecting rod until the inner groove (19) inside the clamping frame (18) is buckled on the surface of the circular ring (20), thereby completing the preliminary limitation of the end of the welded part (12). S2, the other end of the welding piece (12) is aligned with the clamping head (11), the cylinder (6) is working, and the telescopic rod (7) at the output end of the cylinder (6) drives the welding piece (12) to move synchronously by using the multiple clamping frames (18) on the inner side of the limiting head (8) until the other end face of the welding piece (12) is in contact with the inner side face of the cross (24), the welding piece (12) continues to move, the moving welding piece (12) pushes the cross (24) to move, and the cross (24) drives the pressing block (29) to move synchronously until the outer side face of the pressing block (29) is in contact with the oblique annular face, at which time the cross (24) gradually enters the inside of the clamping groove; S3, when the cross (24) enters the slot, the cross (24) drives the pressure block (29) to slide on the oblique ring surface of the inner ring block (25). Due to the limitation of the oblique ring surface on the pressure block (29), the moving pressure block (29) drives the side rod to move inside the vertical groove (30). The moving pressure block (29) drives the inner rod (27) to move inside the waist sleeve (26) by using the side rod. The moving inner rod (27) drives the pressure plate (28) to approach the welded part (12), until the multiple pressure plates (28) are all clamped with the outer side surface of the circumference of the welded part (12) by using the inner concave surface, and the cylinder (6) stops working; S4, the multiple pressure plates (28) squeeze the weld (12) to a horizontal state, and the rotating rod (23) continues to rotate. The spiral cooperation between the rotating rod (23) and the slip ring (22) enables the slip ring (22) to use the connecting rod to drive the limiting frame (15) to continue to approach the weld (12). Since the weld (12) uses the circular ring (20) to limit the clamping frame (18), the limiting frame (15) slides on the surface of the square rod (16), and the moving limiting frame (15) cooperates with the circular plate to pull the spring (17) on the surface of the square rod (16) until the end of the weld (12) carrying the circular ring (20) is limited to the inner side of the limiting head (8); S5. The manipulator (1) places the laser output end of the laser welding head (2) in correspondence with the annular weld. When the laser welding head (2) uses laser to weld the annular weld, the motor (9) is started. The output end of the motor (9) drives the rotating shaft (10) to rotate. The rotating rotating shaft (10) drives the welded part (12) to rotate using multiple pressure plates (28) inside the clamping head (11). The rotating welded part (12) rotates inside the inner grooves (19) of the multiple clamping frames (18) using the circular ring (20). At this time, the laser welding head (2) performs welding processing on the rotating annular weld until the two sleeves are connected. The pipes are completely welded together to form an integrated welded part (12). The cylinder (6) works by using the telescopic rod (7) to pull the limiting head (8) close to the first side plate (4). The limiting head (8) uses a plurality of clamping frames (18) to drive the welded part (12) away from the clamping head (11). The rotating rod (23) is rotated in the opposite direction. The spiral fit between the rotating rod (23) and the slip ring (22) enables the limiting frame (15) to be away from the welded part (12), so that the welded part (12) can be removed easily after welding. Then, the welded part (12) to be welded is re-limited between the limiting head (8) and the clamping head (11).

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