A welding robot

Abstract

The present invention provides a welding robot, which relates to the field of laser welding technology, including: two vertical support frames are symmetrically arranged on the ground at adjacent positions on the rear side of the rectangular base, two horizontal support rail shafts are symmetrically welded between the two vertical support frames, and L-shaped slide bars are slidably installed on the two horizontal support rail shafts, and the head end of the L-shaped slide bar is threadedly fastened with a laser welding gun; the L-shaped calibration rod is used to calibrate and align the laser welding gun and the butt gap; when the L-shaped slide bar slides to the left and right end parts of the two horizontal support rail shafts, it abuts against the head ends of the two longitudinal support drive rods respectively. Through the power transmission of the longitudinal support drive rod, the sliding drive member can indirectly use the left and right sliding driving force of the L-shaped slide bar during the welding process to drive the slide toward or away from the vertical support plate, implement the empty position and the retraction and return drive of the L-shaped calibration rod, and compared with the existing technology of manually driving the L-shaped calibration rod to retract and return, it is convenient to operate and use.

Description

Technical Field

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

[0002] Welding robots are highly automated equipment that integrates mechanical, electronic, computer, sensor and other technologies, and are mainly used to perform welding operations. They can improve production efficiency, ensure the consistency of welding quality, reduce labor intensity, reduce labor costs, and can work in harmful environments, improving workers' working conditions.

[0003] Some existing welding robots are provided with a reference calibration component to achieve rapid calibration and alignment of the butt gap on the shell and the laser welding gun. The reference calibration component is mostly configured to be slidable and retractable to avoid obstruction and interference in the lifting and loading and unloading operations of the shell, or to avoid damage to the main body by collision with the shell during the loading and unloading process. However, the retraction operation of the reference calibration component when idle requires additional manual effort, which is cumbersome and inconvenient to operate. Moreover, when manually retracting the reference calibration component, there is a possibility that the retraction operation is forgotten, causing the reference calibration component to be accidentally broken and damaged. Summary of the invention

[0004] In view of this, the present invention provides a welding robot to solve the problem that the retraction operation of the reference calibration component when idle requires additional manual effort to implement, and the operation is relatively troublesome and inconvenient.

[0005] The technical solution proposed by the present invention is: a welding robot, specifically comprising: a rectangular base and a shell, wherein the shell is provided with a long strip-shaped butt joint gap to be welded;

[0006] Two vertical mounting frames are symmetrically arranged on the ground at adjacent positions on the left and right sides of the rectangular base. The vertical mounting frames are welded together by a vertical support plate and a T-shaped base. The upper half of the vertical support plate is welded with a hexagonal positioning shaft and a hexagonal track shaft at intervals. A longitudinal support driving rod is slidably mounted on the hexagonal track shaft, and a sliding driving member is slidably mounted on the hexagonal positioning shaft; an L-shaped calibration rod is slidably mounted on the top of the vertical support plate, and a limiting plate is welded to the tail end of the L-shaped calibration rod; the sliding driving member is composed of an upper and a lower A large and a small slip ring are welded together, the small slip ring is slidably matched with the hexagonal positioning shaft through a spring push, and the large slip ring is slidably matched with the horizontal support rod section of the L-shaped calibration rod; the part of the vertical support plate between the hexagonal positioning shaft and the hexagonal track shaft is provided with a rectangular sliding sleeve, a first connecting rod is symmetrically installed between the rectangular sliding sleeve and the small slip ring, and two second connecting rods are symmetrically connected between the rectangular sliding sleeve and the tail end of the longitudinal support driving rod; when the sliding drive member slides away from the vertical support plate, the large slip ring is in contact with the limit plate;

[0007] Two vertical support frames are symmetrically arranged on the ground at adjacent positions on the rear side of the rectangular base, two horizontal support rail shafts are symmetrically welded between the two vertical support frames, and L-shaped sliding rods are slidably installed on the two horizontal support rail shafts. The head end of the L-shaped sliding rod is threadedly fastened with a laser welding gun; the L-shaped calibration rod is used to calibrate and align the laser welding gun and the docking gap; when the L-shaped sliding rod slides to the left and right end parts of the two horizontal support rail shafts, it respectively comes into contact with the head ends of the two longitudinal support driving rods.

[0008] Furthermore, two arc-shaped supporting plates are symmetrically welded above the top ends of the two short side plates of the rectangular base, and the shell is supported and placed on the two arc-shaped supporting plates;

[0009] Three rubber guide wheels equidistantly arranged are rotatably mounted on the arc-shaped support plate, and the housing and the rubber guide wheels are in rolling contact;

[0010] The tail end of the rubber guide wheel shaft on the bottom side is sleeved with a driven synchronous wheel.

[0011] Furthermore, the vertical support frame is composed of a U-shaped vertical support frame and a ground contacting bottom plate welded to the bottom end of the U-shaped vertical support frame, the left and right ends of the horizontal support track shaft are correspondingly welded and fixed to the longitudinal support side rods of the two U-shaped vertical support frames, and a horizontal support screw is rotatably installed through the middle part of the longitudinal support side rods of the two U-shaped vertical support frames;

[0012] A first motor is fastened with a thread on the left side of the middle part of the longitudinal support side rod of the left U-shaped vertical support frame, and the first motor is connected with the horizontal support screw shaft for transmission.

[0013] Furthermore, a longitudinal support slide plate is welded to the tail end of the L-shaped slide bar, the longitudinal support slide plate is slidably matched with the two transverse support track shafts, and the transverse support screw and the middle part of the longitudinal support slide plate are penetrated and screwed together.

[0014] Furthermore, the two L-shaped calibration rods correspond to the laser welding gun in the up and down directions and are located on the same vertical reference plane. The cross brace section of the L-shaped calibration rod has a hexagonal structure, and the diameter of the large slip ring is larger than the width of the cross brace section of the L-shaped calibration rod.

[0015] Furthermore, a protruding mounting plate is welded on the left short side plate of the rectangular base, two vertical short support plates are symmetrically welded on the top of the protruding mounting plate, and a worm is rotatably installed between the tops of the two vertical short support plates;

[0016] Two vertical ear blocks are symmetrically welded at the middle positions of the top ends of the two short side plates of the rectangular base, a horizontal support shaft is rotatably installed between the two vertical ear blocks, a worm wheel is sleeved on the left end of the horizontal support shaft, and the worm wheel is meshed with the worm for transmission;

[0017] The right end and the left end of the cross-bracing rotating shaft are both sleeved with driving synchronous wheels, and a synchronous belt is tensionedly sleeved between the driving synchronous wheel and the driven synchronous wheel.

[0018] Furthermore, a second motor is threadedly fastened to the front side of the top end of the vertical short support plate on the front side, and the second motor is connected to the worm shaft for transmission.

[0019] Furthermore, a shaft cover is threadedly fastened at the top end of the rectangular base at the position where the horizontal support shaft is located. The cross-section of the shaft cover is a U-shaped structure, and the shaft cover is covered on the horizontal support shaft.

[0020] The welding robot provided by the present invention has the following beneficial effects:

[0021] 1. The L-shaped calibration rod can be used to conveniently and quickly align the butt joint and the laser welding gun for welding, which helps to indirectly improve the welding efficiency of the shell.

[0022] 2. Through the power transmission of the longitudinal support drive rod, the sliding drive member can indirectly use the left and right sliding driving force of the L-shaped sliding rod during the welding process to drive it to slide toward or away from the vertical support plate, implement the empty position and retraction and return drive of the L-shaped calibration rod. This saves the trouble of sliding the sliding drive member to the empty position and keeping the sliding drive member in the sliding empty position when the L-shaped calibration rod is calibrated and extended before each welding operation, and saves the trouble of additional manual effort to drive the L-shaped calibration rod to retract and return after each calibration operation is completed. Compared with the existing technology of manually driving the L-shaped calibration rod to retract and return, the operation is convenient and can be used, which avoids the situation where the L-shaped calibration rod is forgotten to be manually retracted and returned, resulting in the L-shaped calibration rod being damaged by the impact of the shell during the lifting and loading process, and has better practicality.

[0023] 3. The shaft cover is covered on the cross support shaft. First, it can implement anti-collision protection for the cross support shaft. Second, it can cover the gap between the cross support shaft and the ground to avoid the trouble of additional pulling and disassembly when the wire rope is passed through the bottom of the shell for loading and unloading of the shell. This helps to improve the convenience and efficiency of the shell lifting and unloading operations to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0025] The drawings described below are only related to some embodiments of the present invention, but are not intended to limit the present invention.

[0026] In the attached figure, the width direction of the rectangular base is marked as the front and back sides, and the length direction is marked as the left and right sides:

[0027] Figure 1 Shows the overall front-side structural schematic diagram of the present invention;

[0028] Figure 2 Shows the overall rear-side structural schematic diagram of the present invention;

[0029] Figure 3 Shows the schematic diagram of the installation position of the vertical mounting frame of the present invention;

[0030] Figure 4 Shows the schematic diagram of the installation position of the shaft cover of the present invention;

[0031] Figure 5 Shows the schematic diagram of the disassembled state of the shaft cover of the present invention;

[0032] Figure 6 Shows the schematic diagram of the sliding installation of the L-shaped sliding rod of the present invention;

[0033] Figure 7 Shows the schematic diagram of the sliding state of the sliding drive member of the present invention towards the vertical support plate;

[0034] Figure 8 Shows the schematic diagram of the initial state of the sliding drive member of the present invention;

[0035] Fig. 9 Shows the schematic diagram of the structure of the sliding drive member of the present invention.

[0036] List of reference numerals:

[0037] 1, rectangular base; 101, arc-shaped support plate; 102, rubber guide wheel; 1021, driven synchronous pulley; 103, protruding mounting plate; 104, vertical short support plate; 105, worm; 2, housing; 3, vertical mounting frame; 301, vertical support plate; 3011, hexagonal track shaft; 3012, hexagonal positioning shaft; 302, T-shaped base; 303, L-shaped calibration rod; 3031, limit disk; 304, longitudinal support drive rod; 305, sliding drive member; 306, rectangular sliding sleeve; 307, first connecting rod; 308, second connecting rod; 4, L-shaped sliding rod; 401, longitudinal support sliding plate; 5, shaft cover; 6, laser welding gun; 7, vertical support support frame; 701, U-shaped vertical support frame; 702, transverse track shaft; 703, transverse lead screw; 8, transverse rotating shaft; 801, driving synchronous pulley; 802, worm gear;

[0038] 9, first motor; 11, second motor. Detailed implementation manners

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Please refer to Figures 1 to 9 , an embodiment provided by the present invention:

[0041] The present invention proposes a welding robot, comprising: a rectangular base 1 and a shell 2, wherein the shell 2 is provided with a long strip-shaped butt joint gap to be welded; two arc-shaped supporting plates 101 are symmetrically welded above the top ends of two short side plates of the rectangular base 1, and the shell 2 is supported and placed on the two arc-shaped supporting plates 101; three rubber guide wheels 102 arranged at equal intervals are rotatably mounted on the arc-shaped supporting plates 101, and the shell 2 rolls against and contacts the rubber guide wheels 102; a driven synchronous wheel 1021 is sleeved on the tail end of the rotating shaft of the bottom rubber guide wheel 102;

[0042] The rubber guide wheels 102 on the two arc-shaped support plates 101 are used to roll and guide the shell 2, which is convenient for rotating and adjusting the shell 2 in the circumferential direction, and calibrating and aligning the butt joint gap and the laser welding gun 6; the shell 2 is hoisted by steel wire ropes to load and unload on the two arc-shaped support plates 101;

[0043] Two vertical mounting frames 3 are symmetrically arranged on the ground at adjacent positions on the left and right sides of the rectangular base 1. The vertical mounting frame 3 is composed of a vertical support plate 301 and a T-shaped base 302 welded together. The upper half of the vertical support plate 301 is welded with a hexagonal positioning shaft 3012 and a hexagonal track shaft 3011 at intervals in the upper and lower parts. A longitudinal support driving rod 304 is slidably mounted on the hexagonal track shaft 3011, and a sliding driving member 305 is slidably mounted on the hexagonal positioning shaft 3012; an L-shaped calibration rod 303 is slidably mounted on the top of the vertical support plate 301, and a limiting plate 3031 is welded to the tail end of the L-shaped calibration rod 303; the sliding driving member 305 is composed of an upper and lower The two slip rings, one large and one small, are welded together. The small slip ring is slidably matched with the hexagonal positioning shaft 3012 through a spring push, and the large slip ring is slidably matched with the horizontal support rod section of the L-shaped calibration rod 303; the part of the vertical support plate 301 between the hexagonal positioning shaft 3012 and the hexagonal track shaft 3011 is provided with a rectangular sliding sleeve 306, and a first connecting rod 307 is symmetrically rotated between the rectangular sliding sleeve 306 and the small slip ring, and two second connecting rods 308 are symmetrically rotated between the rectangular sliding sleeve 306 and the tail end of the longitudinal support driving rod 304; when the sliding driving member 305 slides away from the vertical support plate 301, the large slip ring is in contact with the limit plate 3031;

[0044] Two vertical support frames 7 are symmetrically arranged on the ground at adjacent positions on the rear side of the rectangular base 1, and two horizontal support rail shafts 702 are symmetrically welded between the two vertical support frames 7. L-shaped slide bars 4 are slidably installed on the two horizontal support rail shafts 702, and the head ends of the L-shaped slide bars 4 are threadedly fastened with laser welding guns 6; the two L-shaped calibration rods 303 correspond to the laser welding guns 6 in the up and down directions and are located on the same vertical reference plane; the L-shaped calibration rods 303 are used to calibrate and align the laser welding guns 6 and the docking gap; when the L-shaped slide bar 4 slides to the left and right ends of the two horizontal support rail shafts 702, it abuts against the head ends of the two longitudinal support drive rods 304 respectively;

[0045] When welding the butt joint gap, the butt joint gap and the laser welding gun 6 need to be calibrated and aligned; since the two L-shaped calibration rods 303 correspond to the laser welding gun 6 in the up and down directions and are located on the same vertical reference plane, the shell 2 is rotated and adjusted to align the butt joint gap on it with the vertical rod section of the L-shaped calibration rod 303, so that the butt joint gap can be indirectly aligned with the laser welding gun 6; the butt joint and the laser welding gun 6 can be conveniently and quickly calibrated and aligned by the L-shaped calibration rod 303 for welding, which helps to indirectly improve the welding processing efficiency of the shell 2; when the L-shaped calibration rod 303 is used for calibration and alignment, it slides out toward the shell 2, and the vertical rod section at the head end abuts against the left end or the right end of the shell 2;

[0046] The two first connecting rods 307, the rectangular sliding sleeves 306 and the sliding drive member 305 are connected together to form a crank slider mechanism, through which the rectangular sliding sleeve 306 can be slid downward to drive the sliding drive member 305 to slide toward the vertical support plate 301, and the rectangular sliding sleeve 306, the second connecting rod 308 and the longitudinal support driving rod 304 are connected together to form a crank slider mechanism, through which the longitudinal support driving rod 304 can be slid toward the vertical support plate 301 to drive the rectangular sliding sleeve 306 to slide upward, thereby controlling the sliding drive member 305 to slide toward the vertical support plate 301; when the sliding drive member 305 slides toward the vertical support plate 301, the spring on the hexagonal positioning shaft 3012 is compressed, and a movable margin is left on the L-shaped calibration rod 303 for the L-shaped calibration rod 303 to slide out toward the housing 2 (refer to Figure 7 ); When the longitudinal support driving rod 304 is released, the spring on the hexagonal positioning shaft 3012 loses the pushing and holding force from the longitudinal support driving rod 304, and can automatically rebound to drive the sliding driving member 305 to slide away from the vertical support support plate 301 and reset. When the sliding driving member 305 slides and resets, it abuts against the limit plate 3031, pushing and driving the L-shaped calibration rod 303 to slide away from the vertical support support plate 301 and retract to reset to the initial state (refer to Figure 8 ), and the sliding driving member 305 can push and drive the rectangular sliding sleeve 306 to slide upward and reset when sliding and resetting, and push and drive the longitudinal support driving rod 304 to slide away from the vertical support plate 301 and reset;

[0047] The vertical support frame 7 is composed of a U-shaped vertical support frame 701 and a ground contacting bottom plate welded to the bottom end of the U-shaped vertical support frame 701. The left and right ends of the horizontal support track shaft 702 are correspondingly welded and fixed to the longitudinal support side rods of the two U-shaped vertical support frames 701, and a horizontal support screw 703 is rotatably installed through the middle part of the longitudinal support side rods of the two U-shaped vertical support frames 701; the left middle part of the longitudinal support side rod of the left U-shaped vertical support frame 701 is threadedly fastened with a first motor 9, and the first motor 9 is axially connected with the horizontal support screw 703 for transmission; the tail end of the L-shaped slide bar 4 is welded with a longitudinal support slide plate 401, and the longitudinal support slide plate 401 is slidably matched with the two transverse support track shafts 702, and the transverse support screw 703 is screwed through the middle part of the longitudinal support slide plate 401;

[0048] Through the cross support screw 703, the first motor 9 can rotate forward and reverse to drive the L-shaped slide bar 4 and the laser welding gun 6 to slide back and forth along the butt joint gap to weld the butt joint gap; when one welding is completed, the L-shaped slide bar 4 and the laser welding gun 6 are pushed and driven to the left or right end of the two cross support track shafts 702 and separated from the shell 2, the L-shaped slide bar 4 and the head end of the longitudinal support drive rod 304 are in contact (refer to Figure 1 ), can push and drive the longitudinal support driving rod 304 to slide away from the vertical support support plate 301, control the sliding driving member 305 to compress the spring on the hexagonal positioning shaft 3012, and slide toward the vertical support support plate 301, so as to prepare for the sliding extension and calibration of the L-shaped calibration rod 303 when it is used for welding again; before welding again, the L-shaped calibration rod 303 needs to be slid out and calibrated in advance, and then when welding again, the L-shaped slide bar 4 and the laser welding gun 6 are pushed to slide toward the shell 2, and the L-shaped slide bar 4 gradually separates from the longitudinal support driving rod 304. In this process, the spring on the hexagonal positioning shaft 3012 gradually loses the pushing and holding force from the L-shaped slide bar 4, and automatically rebounds and pushes to drive the sliding driving member 305 to slide and reset away from the vertical support support plate 301, and pushes to drive the L-shaped calibration rod 303 to retract and return to its position, and then the power transmission through the longitudinal support driving rod 304 The sliding drive member 305 can indirectly utilize the left and right sliding driving force of the L-shaped sliding rod 4 during the welding process to drive it to slide toward or away from the vertical support plate 301, thereby moving out of the empty position or retracting and returning the L-shaped calibration rod 303. This saves the trouble of sliding the L-shaped calibration rod 303 out and calibrating it before each welding operation, and saves the trouble of additional manual output to drive the sliding drive member 305 to slide into the empty position and keep the sliding drive member 305 in the sliding empty position state, and saves the trouble of additional manual output to drive the L-shaped calibration rod 303 to retract and return to its position after each calibration operation is completed. Compared with the existing technology of manually driving the L-shaped calibration rod 303 to retract and return to its position, the operation is convenient and can avoid the situation where the L-shaped calibration rod 303 is forgotten to be manually retracted and returned to its position, resulting in the L-shaped calibration rod 303 being hit and damaged by the shell 2 during the lifting and unloading process, and has better practicality.

[0049] It is worth noting that: the side on which the L-shaped slide bar 4 and the laser welding gun 6 stop should be selected for calibration, and when the laser welding gun 6 is driven to disengage from the butt gap and complete the welding of the butt gap, the welding circuit formed between the laser welding gun 6 and the shell 2 is disconnected and the welding output is automatically stopped; when one welding is completed, the L-shaped slide bar 4 and the laser welding gun 6 are pushed and driven to the left or right end of the two cross-bracing track shafts 702, the first motor 9 should be manually turned off in time to prevent the L-shaped slide bar 4 from being continuously pushed to slide and come into contact with the longitudinal support side rods of the vertical support frame 7, thereby blocking and restricting the normal rotation of the cross-bracing screw 703 and the first motor 9, causing the first motor 9 to be overloaded and burned.

[0050] Preferably, the cross brace section of the L-shaped calibration rod 303 is a hexagonal structure, and the diameter of the large slip ring is greater than the width of the cross brace section of the L-shaped calibration rod 303 .

[0051] Preferably, a protruding mounting plate 103 is welded on the left short side plate of the rectangular base 1, and two upright short support plates 104 are symmetrically welded on the top of the protruding mounting plate 103, and a worm 105 is rotatably installed between the tops of the two upright short support plates 104; two upright ear blocks are symmetrically welded at the middle position of the top ends of the two short side plates of the rectangular base 1, and a cross-bracing shaft 8 is rotatably installed between the two upright ear blocks, and a worm gear 802 is mounted on the left end of the cross-bracing shaft 8, which meshes with the worm 105 for transmission; an active synchronous wheel 801 is mounted on the right end and the left end of the cross-bracing shaft 8, and a synchronous belt is tensioned between the active synchronous wheel 801 and the driven synchronous wheel 1021.

[0052] Preferably, the second motor 11 is threadedly fastened to the front side of the top end of the front vertical short support plate 104, and the second motor 11 is axially connected to the worm 105 for transmission;

[0053] The worm 105 and the worm wheel 802 together constitute a worm gear mechanism. Through the worm gear mechanism, the second motor 11 can drive the cross support shaft 8 to rotate forward and reverse. Through two synchronous belts, the cross support shaft 8 can drive the two rubber guide wheels 102 on the bottom side of the two arc-shaped support plates 101 to rotate forward and reverse. The forward and reverse rotation of the two rubber guide wheels 102 on the bottom side can roll and drive the shell 2 to rotate forward and reverse, and calibrate and align the docking gap and the laser welding gun 6; through the self-locking characteristics of the worm gear mechanism, the shell 2 can be positioned in real time during the rotation adjustment process, and the docking gap can be kept in a calibrated and aligned state with the laser welding gun 6.

[0054] Preferably, the top of the rectangular base 1 is located at the position where the horizontal support shaft 8 is located, and a shaft cover 5 is threadedly fastened thereto. The cross section of the shaft cover 5 is a U-shaped structure, and the shaft cover 5 is sleeved on the horizontal support shaft 8;

[0055] The shaft cover 5 is covered on the cross-bracing shaft 8. First, it can provide anti-collision protection for the cross-bracing shaft 8. Second, it can cover the gap between the cross-bracing shaft 8 and the ground to avoid the trouble of the head end of the wire rope being accidentally passed through the gap between the cross-bracing shaft 8 and the ground when the shell 2 is lifted and unloaded through the bottom of the shell 2, which requires additional pulling and removal. This helps to improve the convenience and efficiency of the lifting and unloading operations of the shell 2 to a certain extent.

[0056] The forward and reverse control circuits of the first motor 9 and the second motor 11, the types of electrical components (such as contactors, buttons, thermal relays, etc.) used in the circuits, and the connection and wiring methods between the electrical components are all existing technologies and will not be described in detail here.

[0057] Working principle: The shell 2 is supported and placed on two arc-shaped support plates 101. The shell 2 is loaded and unloaded on the two arc-shaped support plates 101 by means of a steel wire hoist. When welding the butt joint gap, the butt joint gap and the laser welding gun 6 need to be calibrated and aligned. Since the two L-shaped calibration rods 303 correspond to the laser welding gun 6 in the up and down directions and are located on the same vertical reference plane, the shell 2 is rotated and adjusted to align the butt joint gap on it with the vertical rod section of the L-shaped calibration rod 303, so that the butt joint gap can be indirectly aligned with the laser welding gun 6. When the L-shaped calibration rod 303 is used for calibration and alignment, it slides and extends toward the shell 2, and the vertical rod section at the head end abuts against the left end or the right end of the shell 2.

[0058] The two first connecting rods 307, the rectangular sliding sleeves 306 and the sliding drive member 305 are connected together to form a crank slider mechanism, through which the rectangular sliding sleeve 306 can be slid downward to drive the sliding drive member 305 to slide toward the vertical support plate 301, and the rectangular sliding sleeve 306, the second connecting rod 308 and the longitudinal support driving rod 304 are connected together to form a crank slider mechanism, through which the longitudinal support driving rod 304 can be slid toward the vertical support plate 301 to drive the rectangular sliding sleeve 306 to slide upward, thereby controlling the sliding drive member 305 to slide toward the vertical support plate 301; when the sliding drive member 305 slides toward the vertical support plate 301, the spring on the hexagonal positioning shaft 3012 is compressed, and a movable margin is left on the L-shaped calibration rod 303 for the L-shaped calibration rod 303 to slide out toward the housing 2 (refer to Figure 7 ); When the longitudinal support driving rod 304 is released, the spring on the hexagonal positioning shaft 3012 loses the pushing and holding force from the longitudinal support driving rod 304, and can automatically rebound to drive the sliding driving member 305 to slide away from the vertical support support plate 301 and reset. When the sliding driving member 305 slides and resets, it abuts against the limit plate 3031, pushing and driving the L-shaped calibration rod 303 to slide away from the vertical support support plate 301 and retract to reset to the initial state (refer to Figure 8), and the sliding driving member 305 can push and drive the rectangular sliding sleeve 306 to slide upward and reset when sliding and resetting, and also push and drive the longitudinal support driving rod 304 to slide away from the vertical support plate 301 and reset;

[0059] Through the cross support screw 703, the first motor 9 can rotate forward and reverse to drive the L-shaped slide bar 4 and the laser welding gun 6 to slide back and forth along the butt joint gap to weld the butt joint gap. Through the cross support screw 703, the first motor 9 can rotate forward and reverse to drive the L-shaped slide bar 4 and the laser welding gun 6 to slide back and forth along the butt joint gap to weld the butt joint gap. When one welding is completed, the L-shaped slide bar 4 and the laser welding gun 6 are pushed and driven to the left or right end of the two cross support track shafts 702 and separated from the shell 2, the L-shaped slide bar 4 is in contact with the head end of the longitudinal support drive rod 304 (refer to Figure 1 ), can push and drive the longitudinal support driving rod 304 to slide away from the vertical support support plate 301, control the sliding driving member 305 to compress the spring on the hexagonal positioning shaft 3012 to slide towards the vertical support support plate 301, and keep it in the use state of the sliding empty position, so as to prepare for the sliding extension calibration of the L-shaped calibration rod 303 when it is used for welding again; when welding is performed again, the L-shaped slide bar 4 and the laser welding gun 6 are pushed to slide toward the shell 2 (before welding is performed again, the L-shaped calibration rod 303 is in the state of sliding extension calibration), the L-shaped slide bar 4 gradually separates from the longitudinal support driving rod 304, and in this process, the spring on the hexagonal positioning shaft 3012 gradually loses the pushing and holding force from the L-shaped slide bar 4, automatically rebounds and pushes to drive the sliding driving member 305 to slide and reset away from the vertical support plate 301, and pushes and drives the L-shaped calibration rod 303 to retract and return to its position;

[0060] The worm 105 and the worm wheel 802 together constitute a worm gear mechanism. Through the worm gear mechanism, the second motor 11 can drive the cross support shaft 8 to rotate forward and reverse. Through two synchronous belts, the cross support shaft 8 can drive the two rubber guide wheels 102 on the bottom side of the two arc-shaped support plates 101 to rotate forward and reverse. The forward and reverse rotation of the two rubber guide wheels 102 on the bottom side can roll and drive the shell 2 to rotate forward and reverse, and calibrate and align the docking gap and the laser welding gun 6; through the self-locking characteristics of the worm gear mechanism, the shell 2 can be positioned in real time during the rotation adjustment process, and the docking gap can be kept in a calibrated and aligned state with the laser welding gun 6.

[0061] In this article, there are a few points to note:

[0062] 1. The drawings of the embodiments of the present invention only involve structures related to the embodiments of the present invention, and other structures can refer to the general design.

[0063] 2. In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0064] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A welding robot, comprising: A rectangular base (1) and a shell (2), wherein the shell (2) is provided with a long strip-shaped butt joint gap to be welded; The invention is characterized in that two vertical mounting frames (3) are symmetrically arranged on the ground at adjacent positions on the left and right sides of the rectangular base (1); the vertical mounting frames (3) are integrally formed by welding a vertical support plate (301) and a T-shaped base (302); the upper half of the vertical support plate (301) is welded with a hexagonal positioning shaft (3012) and a hexagonal track shaft (3011) at intervals in the upper and lower parts; a longitudinal support driving rod (304) is slidably mounted on the hexagonal track shaft (3011); a sliding driving member (305) is slidably mounted on the hexagonal positioning shaft (3012); an L-shaped calibration rod (303) is slidably mounted on the top end of the vertical support plate (301); a limiting plate (3031) is welded to the rear end of the L-shaped calibration rod (303); the sliding driving member (30 5) The whole is composed of two upper and lower slip rings, one large and one small, which are welded together. The small slip ring is slidably matched with the hexagonal positioning shaft (3012) through spring pushing, and the large slip ring is slidably matched with the cross brace section of the L-shaped calibration rod (303); the sliding sleeve of the part of the vertical support plate (301) between the hexagonal positioning shaft (3012) and the hexagonal track shaft (3011) is provided with a rectangular sliding sleeve (306), a first connecting rod (307) is symmetrically rotated between the rectangular sliding sleeve (306) and the small slip ring, and two second connecting rods (308) are symmetrically rotated between the rectangular sliding sleeve (306) and the tail end of the longitudinal support driving rod (304); when the sliding driving member (305) slides away from the vertical support plate (301), the large slip ring is in contact with the limit plate (3031); Two vertical support frames (7) are symmetrically arranged on the ground at adjacent positions on the rear side of the rectangular base (1); two horizontal support rail shafts (702) are symmetrically welded between the two vertical support frames (7); an L-shaped slide bar (4) is slidably mounted on the two horizontal support rail shafts (702); a laser welding gun (6) is threadedly fastened to the head end of the L-shaped slide bar (4); the L-shaped calibration rod (303) is used to calibrate and align the laser welding gun (6) and the butt joint gap; when the L-shaped slide bar (4) slides to the left and right end portions of the two horizontal support rail shafts (702), it comes into contact with the head ends of the two vertical support drive rods (304) respectively.

2. A welding robot according to claim 1, characterized in that: Two arc-shaped support plates (101) are symmetrically welded above the top ends of the two short side plates of the rectangular base (1), and the shell (2) is supported and placed on the two arc-shaped support plates (101); Three rubber guide wheels (102) equidistantly arranged at three locations are rotatably mounted on the arc-shaped support plate (101), and the housing (2) and the rubber guide wheels (102) are in rolling contact with each other; A driven synchronous wheel (1021) is sleeved on the tail end of the rotating shaft of the rubber guide wheel (102) on the bottom side.

3. A welding robot according to claim 1, characterized in that: The vertical support frame (7) is composed of a U-shaped vertical support frame (701) and a ground contacting bottom plate welded to the bottom end of the U-shaped vertical support frame (701); the left and right ends of the horizontal support track shaft (702) are correspondingly welded and fixed to the longitudinal support side rods of the two U-shaped vertical support frames (701); and a horizontal support screw (703) is rotatably installed through the middle parts of the longitudinal support side rods of the two U-shaped vertical support frames (701); A first motor (9) is threadedly fastened to the middle portion of the longitudinal support side rod of the left side U-shaped vertical support frame (701), and the first motor (9) is axially connected to the horizontal support lead screw (703) for transmission.

4. A welding robot according to claim 1, characterized in that: A longitudinal support slide plate (401) is welded to the tail end of the L-shaped slide bar (4), the longitudinal support slide plate (401) is slidably matched with two transverse support track shafts (702), and the transverse support screw (703) is screwed through and matched with the middle part of the longitudinal support slide plate (401).

5. A welding robot according to claim 1, characterized in that: The two L-shaped calibration rods (303) correspond to the laser welding gun (6) in the up-down direction and are located on the same vertical reference plane; the cross bracing rod section of the L-shaped calibration rod (303) has a hexagonal structure; and the diameter of the large slip ring is greater than the width of the cross bracing rod section of the L-shaped calibration rod (303).

6. A welding robot according to claim 2, characterized in that: A protruding mounting plate (103) is welded to the left short side plate of the rectangular base (1), two vertical short supporting plates (104) are symmetrically welded to the top of the protruding mounting plate (103), and a worm (105) is rotatably installed through the tops of the two vertical short supporting plates (104); Two vertical ear blocks are symmetrically welded at the middle positions of the top ends of the two short side plates of the rectangular base (1), a horizontal support shaft (8) is rotatably installed between the two vertical ear blocks, a worm wheel (802) is sleeved on the left end of the horizontal support shaft (8), and the worm wheel (802) is meshed with the worm (105) for transmission; The right end and the left end of the cross-bracing rotating shaft (8) are both sleeved with a driving synchronous wheel (801), and a synchronous belt is tensionedly sleeved between the driving synchronous wheel (801) and the driven synchronous wheel (1021).

7. A welding robot according to claim 6, characterized in that: A second motor (11) is threadedly fastened to the front side of the top end of the vertical short support plate (104) on the front side, and the second motor (11) is axially connected to the worm (105) for transmission.

8. A welding robot according to claim 6, characterized in that: The top end of the rectangular base (1) is located at the position where the cross-bracing rotating shaft (8) is located, and a shaft cover (5) is threadedly fastened thereto. The cross-section of the shaft cover (5) is a U-shaped structure, and the shaft cover (5) is sleeved on the cross-bracing rotating shaft (8).

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