Bionic welding robot and method of using the same

Abstract

The present invention relates to the technical field of welding devices, and in particular to a bionic welding robot and a method for using the same, wherein the welding robot comprises a mounting base, a welding mechanical arm is arranged on the top of the mounting base, a welding assembly is arranged at the end of the welding mechanical arm, a welding wire reel is further arranged on the welding mechanical arm, a welding wire is arranged on the welding wire reel, the welding wire on the welding wire reel passes through the welding mechanical arm and enters into the welding assembly, the welding assembly comprises a welding gun, a connecting seat is arranged on the welding gun, the connecting seat is rotatably connected to the welding mechanical arm, and the welding state of the device at this time can be indirectly detected with the assistance of a smoke concentration sensor. When the detection value of the smoke concentration sensor gradually increases to a first threshold value, the device determines that fine seam welding of the workpiece is being performed at this time, and the distance between the smoke hood and the welding area is reduced with the assistance of an electromagnet, and the suction force of the smoke hood is increased to reduce smoke leakage.

Description

Technical Field

[0001] The invention relates to the technical field of welding devices, and in particular to a bionic welding robot and a use method thereof. Background Art

[0002] With the development of welding technology, especially with the development of welding automation, gas shielded consumable arc welding with high welding efficiency and good weld quality has been more and more widely used. Since the short-circuit transition used in gas shielded consumable arc welding has the disadvantages of large welding spatter, it has been found through research that two wire feeders, one in front and one behind, can synchronously drive the welding wire to periodically move forward and backward to achieve a low spatter working state.

[0003] Chinese patent CN201910101816.6 discloses a welding wire buffer device, a welding robot and a welding system, wherein the welding wire buffer device is arranged between a first wire feeding part and a second wire feeding part; the first wire feeding part feeds the welding wire to the buffer device; the second wire feeding part feeds the welding wire to the neck of the welding gun for welding; one end of the wire feeding inner tube is fixedly connected to the first wire feeding part, and the other end is a free end, which moves axially with the welding wire to provide buffering; however, when the device is in use, when there is welding slag on the welding wire, the welding wire will easily get stuck during feeding, thereby deteriorating the welding effect of the equipment.

[0004] Chinese patent CN201710474964.3 discloses a servo wire feeding device of an automatic welding robot, including a servo wire feeding welding gun body and a linear buffer connected to its tail end through a conductive cable; the servo wire feeding welding gun body includes a welding gun housing, a gun nozzle assembly installed on the front side of the welding gun housing, a servo wire feeding motor and a wire feeding wheel installed inside the welding gun housing through a top beam and a wire drawing base, and a bottom flange installed on the rear side of the welding gun housing. However, when the device is used, welding slag splashes easily adhere to the welding wire, thereby affecting the wire feeding effect of the welding wire.

[0005] During the welding process of the equipment, the welding gap is large or small. When the weld is small, the arc generated by the welding gun head and the welding area will heat the welding workpiece more during the welding process. If there is oil on the surface of the workpiece, the smoke generated during the welding process will increase. When the weld is large, the arc generated by the welding gun head and the welding area will heat the welding wire more during the welding process. At this time, the smoke generated during the welding process is mainly the smoke generated by the protective layer of the welding wire when it is heated. Therefore, the smoke is smaller. In addition, during the welding process, when the welding slag splashes and adheres to the welding wire, the welding wire is prone to jam when it moves with the assistance of the wire feeding unit, thereby affecting the welding process of the equipment. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a bionic welding robot and a method of using the same.

[0007] The bionic welding robot of the present invention comprises a mounting base, a welding mechanical arm is arranged on the top of the mounting base, a welding assembly is arranged at the end of the welding mechanical arm, a welding wire reel is also arranged on the welding mechanical arm, a welding wire is arranged on the welding wire reel, and the welding wire on the welding wire reel passes through the welding mechanical arm and enters the welding assembly;

[0008] The welding assembly comprises a welding gun, a connecting seat is arranged on the welding gun, the connecting seat is rotatably connected to the welding robot arm, a fume hood is slidably arranged on the welding gun, an electromagnet is arranged on a side of the connecting seat close to the fume hood, and a spring is arranged between the fume hood and the connecting seat;

[0009] A bracket is slidably arranged on the connecting seat, a ring sleeve is arranged on the bracket, a rotating shaft is rotatably arranged in the ring sleeve, a hole is arranged on the inner side of the rotating shaft, the welding wire passes through the hole of the rotating shaft, a brush is arranged in the hole, a fan blade is arranged on the outer side of the rotating shaft in the ring sleeve, and a smoke concentration sensor is arranged in the ring sleeve.

[0010] By setting up components such as electromagnets, smoke concentration sensors, fan blades, magnetic blocks and smoke hoods, the welding status of the equipment at this time can be indirectly detected with the assistance of the smoke concentration sensor. When the detection value of the smoke concentration sensor gradually increases to a first threshold value, the equipment determines that fine seam welding of the workpiece is being performed at this time, and the distance between the smoke hood and the welding area is reduced with the assistance of the electromagnet, and the suction force of the smoke hood is increased to reduce smoke leakage. When the detection value of the smoke concentration sensor gradually decreases to a second threshold value, the equipment determines that coarse seam welding of the workpiece is being performed or the posture of the welding gun head is upward, and with the assistance of the electromagnet and the further cooperation of the smoke concentration sensor, To judge the precise welding posture, when the equipment judges that it is fine seam welding, the electromagnet is powered off and the fume hood returns to its initial posture. When the equipment judges that the welding gun head is in an upward posture, the current of the electromagnet is further increased. With the assistance of the fume hood, on the one hand, the fume hood can more strongly suck the fume generated by welding. On the other hand, the distance between the fume hood and the welding area is reduced, and the fume hood will block the slag when it splashes, reducing the slag splashing area and the slag splashing on the welding wire, ensuring smooth feeding of the welding wire. In addition, through the rotation of the shaft, the brush in the shaft hole can clean the slag adhering to the outside of the welding wire, further ensuring smooth feeding of the welding wire.

[0011] Preferably, a driving assembly is provided on the ring sleeve, and the driving assembly includes a driving motor. The driving motor is provided at the side end of the ring sleeve, and a first bevel gear is provided at the output end of the driving motor. A second bevel gear is provided on the side where the rotating shaft passes through the ring sleeve, and the first bevel gear is meshed with the second bevel gear for transmission.

[0012] Preferably, a connecting pipe is provided on one side of the smoke hood close to the connecting seat, a limiting pipe is provided on the connecting pipe, the end of the limiting pipe is provided at the side end of the ring sleeve, and the ring sleeve and the smoke hood are connected through the connecting pipe and the limiting pipe.

[0013] Preferably, a welding gun head is arranged on a side of the welding gun away from the connecting seat, the welding gun head is arc-shaped, and the welding wire passes through the connecting seat, the welding gun and the welding gun head.

[0014] Preferably, the welding robot arm is a multi-axis robot arm, and each axis robot arm in the welding robot arm is provided with a driving unit, and the multiple driving units are used to drive the welding robot arm to operate at multiple angles.

[0015] Preferably, the fan blade is rotatably connected to the rotating shaft via a torsion spring, a magnetic block is provided on one side of the fan blade, and the smoke collecting hood is also magnetic.

[0016] Preferably, a filter is provided at the position where the connecting pipe is connected to the smoke hood, and when the smoke hood moves along the welding gun, the connecting pipe and the limiting pipe drive the ring sleeve to move, and the diameter of the hole on the rotating shaft is larger than the diameter of the welding wire.

[0017] The present invention also provides a method for using a bionic welding robot, comprising the following steps:

[0018] Step 1: Fix the workpiece on the processing table at the side of the equipment, input the 3D model of the workpiece into the computer by 3D scanning to determine the welding path, and control the equipment with the aid of computer;

[0019] Step 2: During welding, the welding state is indirectly judged with the assistance of the smoke concentration sensor, and then the electromagnet is controlled so that the smoke hood can be close to the welding area and the smoke hood can absorb the smoke to reduce the leakage of smoke;

[0020] Step 3: During the welding process in step 2, when the shaft rotates, the brush in the shaft hole will clean the welding wire to ensure smooth feeding of the welding wire;

[0021] Step 4. During the welding process of step 2, the distance between the fume hood and the welding area is changed by controlling the current of the electromagnet, so that the fume hood can perform different effects of slag blocking, smoke extraction and light blocking during welding in different welding states.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. With the assistance of the smoke concentration sensor, the welding status of the equipment can be indirectly detected. When the detection value of the smoke concentration sensor gradually increases to the first threshold, the equipment determines that the fine seam welding of the workpiece is being performed. With the assistance of the electromagnet, the distance between the smoke hood and the welding area is reduced, and the suction of the smoke hood is increased to reduce smoke leakage.

[0024] 2. When the detection value of the smoke concentration sensor gradually decreases to the second threshold value, the equipment determines that the rough seam welding of the workpiece is being performed or the welding gun head is in an upward position. The precise welding posture can be determined through the assistance of the electromagnet and the further cooperation of the smoke concentration sensor.

[0025] 3. When the equipment determines that it is fine seam welding, the electromagnet is powered off and the fume hood returns to its initial position. When the equipment determines that the welding gun head is facing upward, the current of the electromagnet is further increased. With the assistance of the fume hood, on the one hand, the fume hood can more strongly suck the fume generated by welding. On the other hand, the distance between the fume hood and the welding area is reduced, and the slag splashing will be blocked by the fume hood, reducing the slag splashing area and the slag splashing adhering to the welding wire, ensuring smooth feeding of the welding wire.

[0026] 4. Through the rotation of the shaft, the brush in the shaft hole can clean the welding slag adhered to the outside of the welding wire, further ensuring smooth feeding of the welding wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the smoke collecting hood and the connecting seat and other components of the present invention;

[0029] Figure 3 It is a structural schematic diagram of the smoke collecting hood and the connecting seat and other components of the present invention from another perspective;

[0030] Figure 4 The present invention Figure 2 The structural diagram at A in the middle;

[0031] Figure 5 The present invention Figure 3 Schematic diagram of the structure at B in the middle;

[0032] Figure 6 It is a schematic structural diagram of the fan blades, rotating shaft and other components of the present invention.

[0033] Figure numerals: 1. mounting base; 2. welding robot arm; 3. welding assembly; 4. welding wire; 301. welding gun; 302. connecting base; 303. fume hood; 304. electromagnet; 305. spring; 306. bracket; 307. ring sleeve; 308. rotating shaft; 309. fan blade; 310. driving motor; 311. first bevel gear; 312. second bevel gear; 313. connecting pipe; 314. limiting pipe; 315. welding gun head; 316. magnetic block. DETAILED DESCRIPTION

[0034] In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0035] like Figures 1 to 3 As shown, the bionic welding robot of the present invention comprises a mounting base 1, a welding mechanical arm 2 is arranged on the top of the mounting base 1, a welding assembly 3 is arranged at the end of the welding mechanical arm 2, a welding wire reel is also arranged on the welding mechanical arm 2, a welding wire 4 is arranged on the welding wire reel, the welding wire 4 on the welding wire reel passes through the welding mechanical arm 2 and enters the welding assembly 3, a mounting foot is arranged on the mounting base 1, the device is fixed with the aid of the mounting foot, and a limit rod is arranged on the mounting foot, the two limit rods are arranged side by side, and the mounting base 1 slides on the two limit rods, wherein, the mounting foot A driving member is provided in the mounting base 1 for driving the mounting base 1 to move on the limit rod, so that the mounting base 1 can move laterally along the limit rod, and then the position of the equipment can be adjusted. The welding robot arm 2 can be adjusted at multiple angles, so that the welding assembly 3 can also be convenient for welding complex workpieces. The welding wire reel is suspended on the welding robot arm 2. When the welding assembly 3 is welding, the welding wire 4 will be fed by the wire feeding unit in the welding assembly 3, and then the welding wire 4 enters the welding area of ​​the workpiece for auxiliary welding, thereby improving the convenience of equipment use.

[0036] The welding robot arm 2 is a multi-axis robot arm. A driving unit is provided on each axis robot arm in the welding robot arm 2. The multiple driving units are used to drive the welding robot arm 2 to operate at multiple angles. During the use of the welding robot arm 2, the driving units in the welding robot arm 2 are independent of each other. Each driving unit drives its corresponding robot arm respectively. In the process of operation of each driving unit, the welding assembly 3 at the end of the welding robot arm 2 can be conveniently moved, so that the welding assembly 3 can adapt to the welding of complex workpieces, thereby improving the convenience of equipment use.

[0037] The welding assembly 3 includes a welding gun 301, on which a connecting seat 302 is arranged, and the connecting seat 302 is rotatably connected to the welding robot arm 2. A welding gun head 315 is arranged on the side of the welding gun 301 away from the connecting seat 302. The welding gun head 315 is arc-shaped, and the welding wire 4 passes through the connecting seat 302, the welding gun 301 and the welding gun head 315. A wire feeding unit is arranged in the welding gun 301. During the welding process of the welding gun head 315, the wire feeding unit will be started, and with the assistance of the wire feeding unit, the welding wire 4 will be passed from the welding gun head 315 to the welding gun head 315. The welding wire 4 is melted and covers the welding area as the arc is generated between the welding gun head 315 and the area to be welded. The arc shape of the welding gun head 315 is conducive to inserting the welding gun head 315 into a dead angle for welding, so as to achieve better welding effect of the equipment. The connecting seat 302 is rotatably connected to the welding robot arm 2. The welding robot arm 2 is also provided with a unit for driving the connecting seat 302 to rotate, so that the welding assembly 3 can be adjusted so that the welding assembly 3 can always fit the area to be welded during welding.

[0038] During use of the present invention, the device is fixed on the workstation by the mounting feet on the mounting base 1, and then the workpiece to be welded is fixed in the welding area of ​​the device, and the three-dimensional model of the workpiece to be welded is input into the computer through image scanning, and the device determines the welding path with the assistance of the computer, and then the device is controlled with the assistance of the computer.

[0039] During the welding process of the equipment, the mounting base 1 can be moved along the limit rod, so that the position of the welding assembly 3 can be adjusted, and with the assistance of the welding robot arm 2, the welding gun head 315 in the welding assembly 3 can be closely fitted to the welding position of the workpiece for welding, making the welding of the equipment more precise.

[0040] When the welding assembly 3 is in the process of welding, the wire feeding unit will be started. With the assistance of the wire feeding unit, the welding wire 4 will extend from the welding gun head 315. As the arc is generated between the welding gun head 315 and the area to be welded, the welding wire 4 will melt and cover the area to be welded. The arc shape of the welding gun head 315 is conducive to inserting the welding gun head 315 into the dead corner for welding, so as to achieve a better welding effect of the equipment.

[0041] During the welding process of the equipment, the welding gap is large or small. When the weld is small, during the welding process, the welding gun head 315 and the arc generated in the welding area will heat the welding workpiece more. If there is oil on the surface of the workpiece, the smoke generated during the welding process will increase. When the weld is large, during the welding process, the welding gun head 315 and the arc generated in the welding area will heat the welding wire 4 more. At this time, the smoke generated during the welding process is mainly the smoke generated by the protective layer of the welding wire 4 when it is heated. Therefore, the smoke is small. In addition, during the welding process, when the welding slag splashes and adheres to the welding wire 4, the welding wire 4 is easily stuck when it is moved with the assistance of the wire feeding unit, thereby affecting the welding process of the equipment. For this reason, the following technical solutions are proposed:

[0042] like Figures 1 to 6 As shown, a smoke hood 303 is slidably provided on the welding gun 301, an electromagnet 304 is provided on one side of the connecting seat 302 close to the smoke hood 303, a spring 305 is provided between the smoke hood 303 and the connecting seat 302, the smoke hood 303 is also magnetic, and a smoke concentration sensor is provided in the ring sleeve 307. Smoke is generated during welding, and with the assistance of the smoke hood 303, the smoke generated during welding can be collected to prevent the workshop from being filled with smoke and affecting the health of patrol workers. After the electromagnet 304 is energized, a magnetic repulsion force is generated between the electromagnet 304 and the magnetic smoke hood 303, so that the smoke hood 303 moves away from the connecting seat 302, so that the smoke hood 303 is closer to the welding area, so that the smoke hood 303 has a better collection effect on the smoke, and after the electromagnet 304 is powered off, with the assistance of the spring 305, the smoke hood 303 will return to its original state, and the smoke concentration collected by the smoke hood 303 can be detected with the assistance of the smoke concentration sensor.

[0043] A bracket 306 is slidably provided on the connecting seat 302, and a ring sleeve 307 is provided on the bracket 306. A rotating shaft 308 is rotatably provided in the ring sleeve 307. A hole is provided on the inner side of the rotating shaft 308, and the welding wire 4 passes through the hole of the rotating shaft 308. A brush is provided in the hole, and a fan blade 309 is provided on the outer side of the rotating shaft 308 in the ring sleeve 307. During the rotation of the rotating shaft 308, the brush in the hole inside the rotating shaft 308 will clean the welding wire 4 to avoid the welding wire 4 from getting stuck during the feeding process. In addition, during the rotation of the rotating shaft 308, the fan blade 309 on the outer side of the rotating shaft 308 will also rotate. When the fan blade 309 rotates, wind force will be generated. With the assistance of the wind force, the smoke collecting hood 303 can assist in collecting smoke.

[0044] A driving assembly is provided on the ring sleeve 307, and the driving assembly includes a driving motor 310. The driving motor 310 is provided at the side end of the ring sleeve 307. A first bevel gear 311 is provided at the output end of the driving motor 310. A second bevel gear 312 is provided on one side of the rotating shaft 308 passing through the ring sleeve 307. The first bevel gear 311 and the second bevel gear 312 are meshed and transmitted. After the driving motor 310 is started, the output end of the driving motor 310 will drive the rotation of the first bevel gear 311. The rotation of the first bevel gear 311 drives the rotation of the second bevel gear 312 through the meshing transmission, thereby rotating the rotating shaft 308. The rotating shaft 308 is rotated with the assistance of the driving motor 310, so that the rotation of the rotating shaft 308 is more stable and controllable.

[0045] A connecting pipe 313 is provided on one side of the smoke hood 303 close to the connecting seat 302, and a limiting pipe 314 is provided on the connecting pipe 313. The end of the limiting pipe 314 is provided at the side end of the ring sleeve 307. The ring sleeve 307 and the smoke hood 303 are connected through the connecting pipe 313 and the limiting pipe 314. The wind force generated by the rotation of the fan blades 309 acts on the smoke hood 303 through the limiting pipe 314 and the connecting pipe 313, so that the smoke hood 303 can generate suction, so that the smoke hood 303 can better collect smoke.

[0046] The fan blade 309 is rotationally connected to the rotating shaft 308 via a torsion spring. A magnetic block 316 is provided on one side of the fan blade 309. When the electromagnet 304 is energized, magnetic force is generated between the electromagnet 304 and the magnetic block 316, thereby increasing the deflection angle of the fan blade 309 and increasing the wind force generated by the rotation of the fan blade 309.

[0047] A filter is provided at the position where the connecting pipe 313 and the smoke hood 303 are connected. When the smoke hood 303 moves along the welding gun 301, the ring sleeve 307 is driven to move through the connecting pipe 313 and the limiting pipe 314. The diameter of the hole on the rotating shaft 308 is larger than the diameter of the welding wire 4. When the smoke hood 303 collects smoke, it prevents welding slag from entering the connecting pipe 313 with the assistance of the filter, making the use of the equipment more convenient. When the smoke hood 303 moves under the action of the electromagnet 304, the smoke hood 303 drives the movement of the ring sleeve 307 with the assistance of the connecting pipe 313 and the limiting pipe 314, thereby changing the distance between the fan blade 309 and the electromagnet 304, thereby changing the deflection angle of the fan blade 309 under the action of the magnetic force.

[0048] During the use of the present invention, during the welding process of the welding component 3, smoke and splashing welding slag will be generated between the welding gun head 315 and the welding area of ​​the workpiece, and during the use of the equipment, the driving motor 310 will be started, thereby rotating the rotating shaft 308, and the rotation of the rotating shaft 308 will cause the fan blades 309 to rotate, thereby generating wind force, and the smoke hood 303 generates suction under the action of the wind force. Under the action of the suction force in the smoke hood 303, the smoke generated during the welding of the welding component 3 will be sucked into the smoke hood 303, and then the smoke will be discharged by the annulus 307, and the smoke discharged from the annulus 307 can be transferred to the outdoors by adding a pipe, thereby avoiding excessive smoke in the factory to affect the health of patrol workers.

[0049] During the rotation of the rotating shaft 308, the brush in the hole on the rotating shaft 308 will rub and clean the outside of the welding wire 4, and the welding slag adhering to the welding wire 4 will be cleaned, so that the welding wire 4 can be fed more smoothly with the assistance of the wire feeding unit, thereby ensuring the welding stability of the equipment.

[0050] When the smoke passes through the annulus 307, the smoke concentration sensor in the annulus 307 will detect the concentration of the smoke. When the welding gun head 315 performs fine seam welding, the welding point will cover more of the workpiece surface, and the oil stains on the workpiece surface are easy to form smoke under high temperature conditions. Therefore, when the welding gun head 315 performs fine seam welding, the smoke generated in the welding area is the sum of the oil stain smoke and the welding wire 4's own smoke. When the welding gun head 315 performs rough seam welding, the area covered by the welding point on the workpiece surface will be smaller. Therefore, when the welding gun head 315 performs rough seam welding, the smoke generated in the welding area is mainly the smoke of the welding wire 4 itself. Therefore, the detection value of the smoke concentration sensor can indirectly determine whether the welding gun head 315 is performing rough seam welding or fine seam welding at this time.

[0051] When the detection value of the smoke concentration sensor gradually increases to the first threshold value, the equipment determines that fine seam welding of the workpiece is being performed at this time. Since the welding area covers more of the workpiece, the oil stains on the workpiece are heated to generate smoke. At this time, the equipment controls the electromagnet 304 to be energized. After the electromagnet 304 is energized, a magnetic field is generated. Due to the influence of the magnetic repulsion between the electromagnet 304 and the magnetic smoke hood 303, the smoke hood 303 moves along the welding gun 301 toward the welding gun head 315. When the smoke hood 303 moves toward the welding gun head 315, the distance between the smoke hood 303 and the welding point is reduced. Therefore, the smoke hood 303 can absorb the smoke generated by welding more effectively, thereby reducing the leakage of smoke.

[0052] When the smoke hood 303 moves along the welding gun 301 toward the welding gun head 315, the smoke hood 303 moves with the ring sleeve 307 with the assistance of the limiting tube 314 and the connecting tube 313, and the ring sleeve 307 moves toward the connecting seat 302, so that the distance between the ring sleeve 307 and the electromagnet 304 is reduced, that is, the distance between the magnetic block 316 and the electromagnet 304 is reduced. After the distance between the magnetic block 316 and the electromagnet 304 is reduced, the magnetic force between the electromagnet 304 and the magnetic block 316 will increase, thereby increasing the deflection angle of the fan blade 309. After the deflection angle of the fan blade 309 is increased, the wind force generated by the rotation of the fan blade 309 will be strengthened, which will correspondingly increase the suction force of the smoke hood 303, so that the smoke hood 303 can absorb the increased smoke more strongly and reduce the leakage of smoke.

[0053] When the detection value of the smoke concentration sensor gradually decreases to the second threshold value, the equipment determines that the rough seam welding of the workpiece is being performed or the welding gun head 315 is in an upward position. When the rough seam welding is performed, the smoke is mainly the smoke of the welding wire 4, and when the welding gun head 315 is in an upward position, the smoke will float upward, thereby reducing the amount of smoke collected by the smoke hood 303. Therefore, in order to distinguish between these two states, the equipment will energize the electromagnet 304 to increase the wind force generated by the rotation of the fan blades 309. At the same time, the smoke hood 303 approaches the welding area to make the smoke hood 303 generate a stronger suction force. At this time, if the detection value of the smoke concentration sensor remains unchanged, the equipment determines that the welding at this time is rough seam welding. If the detection value of the smoke concentration sensor gradually increases, the equipment determines that the welding at this time is welding with the welding gun head 315 maintaining an upward position.

[0054] When the equipment determines that the welding is rough seam welding, the electromagnet 304 will be powered off, so that the smoke hood 303 and the fan blades 309 will return to their initial posture for operation. When the equipment determines that the welding is welding with the welding gun head 315 maintained in an upward posture, the equipment control increases the current of the electromagnet 304, so that the distance between the smoke hood 303 and the welding position is further reduced, and the deflection angle of the fan blades 309 is further increased, thereby further increasing the suction force of the smoke hood 303. On the one hand, the smoke hood 303 can more strongly suck the smoke generated by welding. On the other hand, the distance between the smoke hood 303 and the welding area is reduced, and the welding slag will be blocked by the smoke hood 303 when it splashes, thereby reducing the splashing area of ​​the welding slag and reducing the adhesion of the welding slag splashing to the welding wire 4, thereby ensuring smooth feeding of the welding wire 4.

[0055] The present invention also provides a method for using a bionic welding robot, comprising the following steps:

[0056] Step 1: Fix the workpiece on the processing table at the side of the equipment, input the 3D model of the workpiece into the computer by 3D scanning to determine the welding path, and control the equipment with the aid of computer;

[0057] Step 2: During welding, the welding state is indirectly judged with the assistance of the smoke concentration sensor, and then the electromagnet 304 is controlled so that the smoke hood 303 can be close to the welding area, and the smoke hood 303 can absorb the smoke to reduce the leakage of smoke;

[0058] Step 3: During the welding process of step 2, when the rotating shaft 308 rotates, the brush in the hole of the rotating shaft 308 cleans the welding wire 4 to ensure smooth feeding of the welding wire 4;

[0059] Step 4. During the welding process of step 2, the distance between the fume hood 303 and the welding area is changed by controlling the current of the electromagnet 304, so that the fume hood 303 can perform different effects of slag blocking, smoke extraction and light blocking during welding in different welding states.

[0060] The main functions realized by the present invention are as follows: by setting up components such as electromagnet 304, smoke concentration sensor, fan blade 309, magnetic block 316 and smoke hood 303, the welding state of the equipment at this time can be indirectly detected with the assistance of the smoke concentration sensor. When the detection value of the smoke concentration sensor gradually increases to a first threshold value, the equipment determines that fine seam welding of the workpiece is being performed at this time, and the distance between the smoke hood 303 and the welding area is reduced with the assistance of the electromagnet 304, and the suction force of the smoke hood 303 is increased to reduce smoke leakage. When the detection value of the smoke concentration sensor gradually decreases to a second threshold value, the equipment determines that coarse seam welding of the workpiece is being performed or the posture of the welding gun head 315 is upward, and with the assistance of the electromagnet 304 and the further The precise welding posture can be judged by the cooperation. When the equipment judges that it is fine seam welding, the electromagnet 304 is powered off and the smoke hood 303 returns to its initial posture. When the equipment judges that the welding gun head 315 is in an upward posture, the current of the electromagnet 304 is further increased. With the assistance of the smoke hood 303, on the one hand, the smoke hood 303 can more strongly suck the smoke generated by welding. On the other hand, the distance between the smoke hood 303 and the welding area is reduced. When the welding slag splashes, it will be blocked by the smoke hood 303, reducing the splashing area of ​​the welding slag and reducing the adhesion of the welding slag splashes to the welding wire 4, ensuring the smooth feeding of the welding wire 4. In addition, through the rotation of the rotating shaft 308, the brush in the hole of the rotating shaft 308 can clean the welding slag adhered to the outside of the welding wire 4, further ensuring the smooth feeding of the welding wire 4.

[0061] The installation method, connection method or setting method of the bionic welding robot of the present invention are all common mechanical methods, and can be implemented as long as they can achieve their beneficial effects.

[0062] All technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0063] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A bionic welding robot, comprising a mounting base (1), a welding mechanical arm (2) being arranged on the top of the mounting base (1), a welding assembly (3) being arranged at the end of the welding mechanical arm (2), characterized in that: The welding mechanical arm (2) is also provided with a welding wire reel, on which a welding wire (4) is provided, and the welding wire (4) on the welding wire reel passes through the welding mechanical arm (2) and enters into the welding assembly (3); The welding assembly (3) comprises a welding gun (301), a connecting seat (302) being provided on the welding gun (301), the connecting seat (302) being rotatably connected to the welding robot arm (2), a fume hood (303) being slidably provided on the welding gun (301), an electromagnet (304) being provided on a side of the connecting seat (302) close to the fume hood (303), and a spring (305) being provided between the fume hood (303) and the connecting seat (302); A bracket (306) is slidably arranged on the connecting seat (302), a ring sleeve (307) is arranged on the bracket (306), a rotating shaft (308) is rotatably arranged in the ring sleeve (307), a circular hole is arranged on the inner side of the rotating shaft (308), the welding wire (4) passes through the circular hole of the rotating shaft (308), a brush is arranged in the circular hole, a fan blade (309) is arranged on the outer side of the rotating shaft (308) in the ring sleeve (307), and a smoke concentration sensor is arranged in the ring sleeve (307); A connecting pipe (313) is provided on one side of the smoke collecting hood (303) close to the connecting seat (302); a limiting pipe (314) is provided on the connecting pipe (313); the end of the limiting pipe (314) is provided at the side end of the ring sleeve (307); the ring sleeve (307) and the smoke collecting hood (303) are connected via the connecting pipe (313) and the limiting pipe (314); A welding gun head (315) is provided on a side of the welding gun (301) away from the connecting seat (302); the welding gun head (315) is arc-shaped; the welding wire (4) passes through the connecting seat (302), the welding gun (301) and the welding gun head (315); The welding robot arm (2) is a multi-axis robot arm, and each axis robot arm in the welding robot arm (2) is provided with a driving unit, and the plurality of driving units are used to drive the welding robot arm (2) to operate at multiple angles; The fan blade (309) is rotatably connected to the rotating shaft (308) via a torsion spring; a magnetic block (316) is provided on one side of the fan blade (309); and the smoke collecting hood (303) is also magnetic.

2. The bionic welding robot according to claim 1, characterized in that: The ring sleeve (307) is provided with a driving assembly, the driving assembly comprising a driving motor (310), the driving motor (310) being arranged at a side end of the ring sleeve (307), the output end of the driving motor (310) being provided with a first bevel gear (311), a side of the rotating shaft (308) passing through the ring sleeve (307) being provided with a second bevel gear (312), the first bevel gear (311) and the second bevel gear (312) being meshed for transmission.

3. The bionic welding robot according to claim 1, characterized in that: A filter screen is provided at the position where the connecting pipe (313) is connected to the fume hood (303); when the fume hood (303) moves along the welding gun (301), the connecting pipe (313) and the limiting pipe (314) drive the ring sleeve (307) to move; and the diameter of the circular hole on the rotating shaft (308) is greater than the diameter of the welding wire (4).

4. A method for using the bionic welding robot as claimed in claim 1, characterized in that: The steps include: Step 1: Fix the workpiece on the processing table at the side of the equipment, input the 3D model of the workpiece into the computer by 3D scanning to determine the welding path, and control the equipment with the aid of computer; Step 2: During the welding process, the welding state is indirectly judged with the assistance of a smoke concentration sensor, and the electromagnet (304) is then controlled so that the smoke hood (303) can be close to the welding area, and the smoke hood (303) can extract the smoke to reduce the leakage of smoke; Step 3: During the welding process in step 2, when the rotating shaft (308) rotates, the brush in the circular hole of the rotating shaft (308) cleans the welding wire (4) to ensure smooth feeding of the welding wire (4); Step 4: During the welding process of step 2, the distance between the fume hood (303) and the welding area is changed by controlling the current of the electromagnet (304), so that the fume hood (303) can perform different effects of welding slag blocking, fume extraction and light blocking during welding in different welding states.

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