A multi-degree-of-freedom welding intelligent robot

Abstract

The present invention relates to the field of welding technology, and in particular to a multi-degree-of-freedom welding intelligent robot, comprising a base plate, side seats are fixedly connected to the outer sides of the adjacent ends of the base plate, and an intermediate seat is fixedly connected between the inner sides of the ends of the base plate. The upper surface of each side seat is connected to an L-shaped plate through a first horizontal and vertical distance adjustment mechanism, and the upper surface of the intermediate seat and the side surfaces corresponding to each L-shaped plate are connected to a lower plate through a second horizontal and vertical distance adjustment mechanism. The outer surface of the lower plate is provided with an adjustment frame through a fine-tuning mechanism, and an upper plate is fixedly connected to the upper surface of one side surface of the adjustment frame. During welding, the present invention can perform contact clamping on window frame profiles at more points, and compared with ordinary two-ply plate fixing, it can effectively prevent the profile from being deformed or curled due to clamping; it has the function of flexible adaptation and positioning for the profile, and can ensure stability during welding; the welding head has a high degree of freedom, and is flexible and convenient to use during spot welding.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to a multi-degree-of-freedom welding intelligent robot. Background Art

[0002] For metal window frames, such as steel or aluminum alloy window frames, welding is a common connection method. Welding can ensure the stability of the window frame, especially in situations where it needs to withstand greater wind pressure or requires higher safety.

[0003] Window frame profiles are important materials that constitute window frames. They are of various types and have different properties, suitable for different scenarios and needs. In the welding of larger window frame profiles, a clamp is usually used to position the profile, and then the worker uses a handheld welding gun to spot weld the two interfaces of the aluminum profile together to form a local connection point. This has the advantages of fast processing speed and low production cost. Due to the small heat input, the deformation of the window frame is also small.

[0004] However, during the welding process, since the surface of the profile has protruding edges and recessed positions, the profile surface is easily deformed or curled when clamped by the fixture, affecting the quality of the window frame. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the background technology and propose a multi-degree-of-freedom welding intelligent robot.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a multi-degree-of-freedom welding intelligent robot, comprising a base plate, side seats are fixedly connected to the outer sides of the adjacent ends of the base plate, and a middle seat is fixedly connected between the inner sides of the ends of the base plate, the upper surface of each side seat is connected to the L-shaped plate through a first horizontal and vertical distance adjustment mechanism, the upper surface of the middle seat and the side surfaces corresponding to each L-shaped plate are connected to the lower plate through a second horizontal and vertical distance adjustment mechanism, the outer surface of the lower plate is provided with an adjustment frame through a fine-tuning mechanism, the upper surface of one side surface of the adjustment frame is fixedly connected to the upper plate, a welding mechanism is arranged at the corner of the middle seat, the upper surface of the base plate is connected to a support plate through a telescopic mechanism, and the two ends of the support plate extend to the lower part between the lower plate and the L-shaped plate respectively.

[0007] Preferably, the first horizontal and vertical distance adjusting mechanism includes a first lifting plate arranged above the side seat, a plurality of first guide columns are fixedly connected to the lower surface of the first lifting plate, the lower end of the first guide column slides through the upper surface of the side seat, a first threaded column is rotatably connected to the lower surface of the first lifting plate, the lower end of the first threaded column threadably penetrates the upper surface of the side seat, a first cylinder is fixedly connected to the upper surface of the first lifting plate, the telescopic end of the first cylinder is fixedly connected to the inner surface of the L-shaped plate, the inner surface of the L-shaped plate is fixedly connected to the first guide rod, the outer surface of the first guide rod is slidably sleeved with a plurality of first guide plates, and the lower end of the first guide plate is fixedly connected to the upper surface of the first lifting plate.

[0008] Preferably, the second horizontal and vertical distance adjusting mechanism includes a second lifting plate arranged above the middle seat, a plurality of second guide columns are fixedly connected to the lower surface of the second lifting plate, the lower end of the second guide column slides through the upper surface of the middle seat, a second threaded column is rotatably connected to the lower surface of the second lifting plate, the lower end of the second threaded column threadably penetrates the upper surface of the middle seat, a second cylinder is fixedly connected to the upper surface of the second lifting plate, the telescopic end of the second cylinder is fixedly connected to the side surface of the lower plate, the side surface of the lower plate is fixedly connected to the second guide rod, the outer surface of the second guide rod is slidably sleeved with a plurality of second guide plates, and the lower end of the second guide plate is fixedly connected to the upper surface of the second lifting plate.

[0009] Preferably, the fine-tuning mechanism includes an adjusting column that rotates and penetrates the upper surface of the adjusting frame, the adjusting column thread penetrates the upper surface of the lower plate, and the upper end of the adjusting column is fixedly connected with a rotary head.

[0010] Preferably, a groove is provided on the upper surface of the adjustment frame corresponding to the position of the rotary head, and a plurality of fixing columns are fixedly connected to the inner side of the adjustment frame, and the fixing columns slide through the upper surface of the lower plate.

[0011] Preferably, the welding mechanism includes a telescopic cylinder fixedly embedded in the upper surface of the middle seat, the telescopic end of the telescopic cylinder is rotatably connected to connecting plates on both sides, a welding head is rotatably connected at the front end between the connecting plates on both sides, a telescopic rod is rotatably connected at the telescopic end of the telescopic cylinder and close to the two connecting plates, and the telescopic end of the telescopic rod is rotatably connected to the rear end of the welding head.

[0012] Preferably, the telescopic mechanism includes a recessed portion opened on the upper surface of the base plate, a lifting cylinder is fixedly installed on the inner side of the recessed portion, the telescopic end of the lifting cylinder is fixedly connected to the lower surface of the support plate, a plurality of vertical guide columns are fixedly connected to the lower surface of the support plate, and the lower ends of the vertical guide columns slide through the upper surface of the base plate.

[0013] Preferably, a pad is fixedly connected to the end of the lower surface of the bottom plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The present invention can perform contact clamping on the window frame profile at more points during welding, which can effectively prevent the profile from being deformed or curled due to clamping compared to the conventional two-piece clamping method;

[0016] 2. The present invention has the function of flexible adaptation and positioning for profiles and can ensure the stability during welding;

[0017] 3. The welding head of the present invention has a high degree of freedom and is flexible and convenient to use during spot welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural schematic diagram of a multi-degree-of-freedom welding intelligent robot according to the present invention;

[0019] Figure 2 This is a schematic diagram of the partial structure of a multi-degree-of-freedom welding intelligent robot of the present invention;

[0020] Figure 3 It is a schematic diagram of a first horizontal and vertical distance adjustment mechanism and a second horizontal and vertical distance adjustment mechanism of a multi-degree-of-freedom welding intelligent robot of the present invention;

[0021] Figure 4 This is a schematic diagram of a first horizontal and vertical distance adjustment mechanism of a multi-degree-of-freedom welding intelligent robot according to the present invention;

[0022] Figure 5 This is a schematic diagram of a second horizontal and vertical distance adjustment mechanism of a multi-degree-of-freedom welding intelligent robot according to the present invention;

[0023] Figure 6 This is a schematic diagram of a support plate of a multi-degree-of-freedom welding intelligent robot according to the present invention;

[0024] Figure 7 This is a schematic diagram of a multi-degree-of-freedom welding intelligent robot in use according to the present invention;

[0025] Figure 8 This is a partial cross-sectional view of a multi-degree-of-freedom welding intelligent robot during profile positioning according to the present invention.

[0026] 1. Bottom plate; 2. Side seat; 3. Middle seat; 4. First lifting plate; 5. First threaded column; 6. First guide column; 7. First cylinder; 8. L-shaped plate; 9. First guide rod; 10. First guide plate; 11. Second lifting plate; 12. Second threaded column; 13. Second guide column; 14. Second cylinder; 15. Adjustment frame; 16. Lower plate; 17. Upper plate; 18. Adjustment column; 19. Fixed column; 20. Rotary head; 21. Groove; 22. Second guide rod; 23. Second guide plate; 24. Recessed part; 25. Lifting cylinder; 26. Vertical guide column; 27. Support plate; 28. Welding head; 29. ​​Telescopic cylinder; 30. Connecting plate; 31. Telescopic rod; 32. Pad. DETAILED DESCRIPTION

[0027] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0028] like Figure 1-Figure 8 A multi-degree-of-freedom welding intelligent robot is shown, comprising a base plate 1, side seats 2 are fixedly connected to the outer sides of the adjacent ends of the base plate 1, and an intermediate seat 3 is fixedly connected between the inner sides of the ends of the base plate 1, the upper surface of each side seat 2 is connected to an L-shaped plate 8 through a first horizontal and vertical distance adjusting mechanism, the upper surface of the intermediate seat 3 and the side surfaces corresponding to each L-shaped plate 8 are connected to a lower plate 16 through a second horizontal and vertical distance adjusting mechanism, the outer surface of the lower plate 16 is provided with an adjustment frame 15 through a fine-tuning mechanism, an upper plate 17 is fixedly connected to the upper side of one side surface of the adjustment frame 15, a welding mechanism is arranged at the corner of the intermediate seat 3, the upper surface of the base plate 1 is connected to a support plate 27 through a telescopic mechanism, and the two ends of the support plate 27 extend to the lower part between the lower plate 16 and the L-shaped plate 8 respectively.

[0029] like Figure 2 , Figure 3 , Figure 4 As shown, the first horizontal and vertical distance adjustment mechanism includes a first lifting plate 4 arranged above the side seat 2, a plurality of first guide posts 6 are fixedly connected to the lower surface of the first lifting plate 4, the lower end of the first guide post 6 slides through the upper surface of the side seat 2, a first threaded post 5 is rotatably connected to the lower surface of the first lifting plate 4, the lower end of the first threaded post 5 is threaded through the upper surface of the side seat 2, and the first guide post 6 plays a role in improving the stability of the first lifting plate 4 when it moves up and down, a first cylinder 7 is fixedly connected to the upper surface of the first lifting plate 4, the telescopic end of the first cylinder 7 is fixedly connected to the inner surface of the L-shaped plate 8, the inner surface of the L-shaped plate 8 is fixedly connected to the first guide rod 9, the outer surface of the first guide rod 9 is slidably sleeved with a plurality of first guide plates 10, and the lower end of the first guide plate 10 is fixedly connected to the upper surface of the first lifting plate 4. The lateral movement of the L-shaped plate 8 is controlled by the telescopic movement of the first cylinder 7, and the first guide rod 9 plays a guiding role in this process, thereby improving the stability of the L-shaped plate 8 during movement.

[0030] like Figure 2 , Figure 3 , Figure 5As shown, the second horizontal and vertical distance adjustment mechanism includes a second lifting plate 11 arranged above the middle seat 3, a plurality of second guide posts 13 are fixedly connected to the lower surface of the second lifting plate 11, the lower end of the second guide post 13 slides through the upper surface of the middle seat 3, and the second guide post 13 plays a role in improving the stability of the second lifting plate 11 when it moves up and down, a second threaded column 12 is rotatably connected to the lower surface of the second lifting plate 11, and the lower end of the second threaded column 12 threads through the upper surface of the middle seat 3, and a second cylinder 14 is fixedly connected to the upper surface of the second lifting plate 11, and the telescopic end of the second cylinder 14 is fixedly connected to the side surface of the lower plate 16, and the side surface of the lower plate 16 is fixedly connected to the second guide rod 22, and the outer surface of the second guide rod 22 is slidably sleeved with a plurality of second guide plates 23, and the lower end of the second guide plate 23 is fixedly connected to the upper surface of the second lifting plate 11. The second cylinder 14 is used to control the lateral movement of the lower plate 16, and the second guide rod 22 plays a role in improving the stability of the lower plate 16 when it moves in this process.

[0031] like Figure 5 As shown, the fine adjustment mechanism includes an adjustment column 18 that rotates and penetrates the upper surface of the adjustment frame 15, the adjustment column 18 is threaded through the upper surface of the lower plate 16, and the upper end of the adjustment column 18 is fixedly connected with a screw head 20. The shape of the screw head 20 can be designed as a regular hexagonal prism, which is convenient for use with a wrench.

[0032] A groove 21 is provided on the upper surface of the adjustment frame 15 corresponding to the position of the screw head 20. The two side walls of the groove 21 can prevent the wrench from rotating the screw head 20 too much, and play a limiting role, so that each adjustment is fine-tuned. A plurality of fixing columns 19 are fixedly connected to the inner side of the adjustment frame 15, and the fixing columns 19 slide through the upper surface of the lower plate 16. The fixing columns 19 play a guiding role, and improve the stability of the adjustment frame 15 when it moves up and down.

[0033] like Figure 1 As shown, the welding mechanism includes a telescopic cylinder 29 fixedly embedded on the upper surface of the middle seat 3, and the two sides of the telescopic end of the telescopic cylinder 29 are rotatably connected with connecting plates 30 respectively, and the front end between the connecting plates 30 on both sides is rotatably connected with a welding head 28, and the telescopic end of the telescopic cylinder 29 is rotatably connected with a telescopic rod 31 near the two connecting plates 30, and the telescopic end of the telescopic rod 31 is rotatably connected to the rear end of the welding head 28. The welding head 28 uses a laser welding head with welding wire conveying, which can accurately convey the welding wire to the welding area during the laser welding process, and work together with the laser heat source to achieve the connection of the weldment. The telescopic cylinder 29 and the telescopic rod 31 can both use electric cylinders to improve the accuracy of controlling the movement of the welding head 28. This part is designed to improve the flexibility of the welding head 28 during welding.

[0034] like Figure 6As shown, the telescopic mechanism includes a recessed portion 24 provided on the upper surface of the bottom plate 1, a lifting cylinder 25 is fixedly installed inside the recessed portion 24, the telescopic end of the lifting cylinder 25 is fixedly connected to the lower surface of the support plate 27, a plurality of vertical guide columns 26 are fixedly connected to the lower surface of the support plate 27, and the lower end of the vertical guide column 26 slides through the upper surface of the bottom plate 1. The lifting cylinder 25 is a hydraulic cylinder, which is used to improve the stability of the support plate 27 when it is lifted or lowered.

[0035] like Figure 1 As shown, a pad 32 is fixedly connected to the end of the lower surface of the bottom plate 1 to raise the height of the bottom plate 1 and prevent the lower surface of the recessed portion 24 from directly contacting the ground, thereby making the bottom plate 1 unstable.

[0036] The user places the window frame profile on the upper surface of the support plate 27, with the ends of the two profiles in vertical contact, and then controls the extension of the first cylinder 7 and the second cylinder 14 to make the L-shaped plate 8 approach the lower plate 16, so as to clamp and fix the profile. Since the lower plate 16 and the upper plate 17 can be clamped in the concave position of the side of the profile, the corner of the L-shaped plate 8 contacts the inner surface of the profile. The state of positioning is as follows: Figure 7 , Figure 8 As shown, it has a more adaptable and stable clamping method to ensure the stability of the profile during welding. In addition, compared with the ordinary two-piece clamping, the contact clamping at more points can effectively prevent the profile from being deformed or curled due to clamping.

[0037] The user rotates the first threaded column 5 to move the L-shaped plate 8 up and down, ensuring that the L-shaped plate 8 fits the inner corner of the profile to ensure the stability of the clamping. The user rotates the second threaded column 12 to adjust the lower plate 16 up and down until the lower surface of the lower plate 16 contacts the bottom surface of the recessed position of the profile. After that, the user rotates the rotary head 20 to rotate the adjustment column 18, thereby moving the adjustment frame 15 up and down, changing the distance between the upper plate 17 and the lower plate 16, ensuring that the upper surface of the upper plate 17 contacts the top surface of the recessed position of the profile to ensure the stability of the clamping. Therefore, it has the function of flexible adaptation to welding and can ensure the stability during welding.

[0038] By controlling the extension and retraction of the telescopic rod 31, the welding head 28 is rotated. Due to the existence of the connecting plate 30, the welding head 28 will move relatively in the front and rear directions while rotating. Combined with the extension and retraction of the telescopic cylinder 29, the welding head 28 can change its position up and down. The combined action allows the welding head 28 to perform multi-point welding on the connection positions of two profiles. The welding head 28 has a high degree of freedom and is flexible and convenient to use.

[0039] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A multi-degree-of-freedom welding intelligent robot, comprising a base plate (1), characterized in that: The outer sides of the adjacent ends of the bottom plate (1) are respectively fixedly connected with side seats (2), the inner sides of the ends of the bottom plate (1) are commonly fixedly connected with an intermediate seat (3), the upper surface of each side seat (2) is respectively connected with an L-shaped plate (8) via a first horizontal and vertical distance adjustment mechanism, the upper surface of the intermediate seat (3) and the side surfaces corresponding to each L-shaped plate (8) are respectively connected with a lower plate (16) via a second horizontal and vertical distance adjustment mechanism, the outer surface of the lower plate (16) is sleeved with an adjustment frame (15) via a fine adjustment mechanism, the upper side of the adjustment frame (15) is fixedly connected with an upper plate (17), a welding mechanism is provided at the corner of the intermediate seat (3), the upper surface of the bottom plate (1) is connected with a support plate (27) via a telescopic mechanism, and the two ends of the support plate (27) respectively extend to the lower part between the lower plate (16) and the L-shaped plate (8); The first horizontal and vertical distance adjustment mechanism comprises a first lifting plate (4) arranged above the side seat (2), a plurality of first guide pillars (6) being fixedly connected to the lower surface of the first lifting plate (4), the lower end of the first guide pillar (6) slidingly passing through the upper surface of the side seat (2), a first threaded pillar (5) being rotatably connected to the lower surface of the first lifting plate (4), the lower end of the first threaded pillar (5) threadably passing through the upper surface of the side seat (2), a first cylinder (7) being fixedly connected to the upper surface of the first lifting plate (4), the telescopic end of the first cylinder (7) being fixedly connected to the inner surface of the L-shaped plate (8), the inner surface of the L-shaped plate (8) being fixedly connected to the first guide rod (9), the outer surface of the first guide rod (9) being slidably sleeved with a plurality of first guide plates (10), the lower end of the first guide plate (10) being fixedly connected to the upper surface of the first lifting plate (4); The second horizontal and vertical distance adjustment mechanism comprises a second lifting plate (11) arranged above the intermediate seat (3); a plurality of second guide pillars (13) are fixedly connected to the lower surface of the second lifting plate (11); the lower ends of the second guide pillars (13) slide through the upper surface of the intermediate seat (3); a second threaded column (12) is rotatably connected to the lower surface of the second lifting plate (11); the lower ends of the second threaded columns (12) threadably penetrate the upper surface of the intermediate seat (3); a second cylinder (14) is fixedly connected to the upper surface of the second lifting plate (11); the telescopic end of the second cylinder (14) is fixedly connected to the side surface of the lower plate (16); the side surface of the lower plate (16) is fixedly connected to a second guide rod (22); the outer surface of the second guide rod (22) is slidably sleeved with a plurality of second guide plates (23); the lower ends of the second guide plates (23) are fixedly connected to the upper surface of the second lifting plate (11); The fine adjustment mechanism comprises an adjustment column (18) which rotates and penetrates the upper surface of the adjustment frame (15); the adjustment column (18) is threadedly penetrated through the upper surface of the lower plate (16); and the upper end of the adjustment column (18) is fixedly connected to a screw head (20); The upper surface of the adjustment frame (15) is provided with a groove (21) corresponding to the position of the rotary head (20); a plurality of fixing columns (19) are fixedly connected to the inner side of the adjustment frame (15); the fixing columns (19) slide through the upper surface of the lower plate (16); The welding mechanism comprises a telescopic cylinder (29) fixedly embedded on the upper surface of the intermediate seat (3), the two sides of the telescopic end of the telescopic cylinder (29) are rotatably connected to connecting plates (30), the front end between the connecting plates (30) on both sides is rotatably connected to a welding head (28), the telescopic end of the telescopic cylinder (29) and close to the two connecting plates (30) is rotatably connected to a telescopic rod (31), and the telescopic end of the telescopic rod (31) is rotatably connected to the rear end of the welding head (28); The telescopic mechanism comprises a recessed portion (24) formed on the upper surface of the base plate (1), a lifting cylinder (25) being fixedly mounted on the inner side of the recessed portion (24), a telescopic end of the lifting cylinder (25) being fixedly connected to the lower surface of the support plate (27), a plurality of vertical guide columns (26) being fixedly connected to the lower surface of the support plate (27), and the lower ends of the vertical guide columns (26) slidingly passing through the upper surface of the base plate (1).

2. The multi-degree-of-freedom welding intelligent robot according to claim 1, characterized in that: A pad (32) is fixedly connected to the end of the lower surface of the bottom plate (1).

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