A welding robot arm for intelligent construction

Abstract

The present invention relates to the field of welding technology, and in particular to a welding robot arm for intelligent construction. It comprises: a mounting seat, a mobile robot arm is mounted on the mounting seat, the mobile robot arm is provided with a laser welding head, the laser welding head is fixedly connected to a connecting frame, the connecting frame is slidably connected to a sliding shell; a fixed shaft, fixedly connected in the sliding shell, the fixed shaft is provided with a support plate; a partition plate, slidably connected to the sliding shell, the partition plate is slidably connected to the fixed shaft, the sliding shell is slidably connected to two sliding frames, the sliding frames are slidably connected to a sliding rod, and the sliding rod is rotatably connected to a rotating wheel. The present invention fixes two thin plates by a rotating wheel and a supporting plate, and in combination with the movement of the partition plate, slightly adjusts the position of the thin plate joint in the sliding shell, so that the trajectory of laser welding and the thin plate joint remain overlapped, thereby ensuring the continuity of the welded thin plate weld and the stability of the weld quality.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a welding robot arm for intelligent construction. Background Art

[0002] The welding robot arm is an automated equipment used for efficient and precise welding operations in industrial manufacturing. The working process of the welding robot arm is usually as follows: first scan the joint to be welded, so as to locate and analyze the position of the joint, and then the robot arm controls the welding device to complete the welding operation along the set trajectory. When using a robot arm for intelligent construction to weld two tilted thin plates, the two thin plates need to be fixed by magnetic attraction first. After that, the welding robot arm for intelligent construction will scan the joint of the two thin plates, and then the robot arm controls the laser generator to perform laser welding on the joint of the two thin plates along the set trajectory. However, if the two thin plates are tilted, an angle is formed between the two thin plates. When the welding robot arm scans and locates the joint of two thin plates, since there are edge lines on the sides of the two thin plates close to the joint in addition to the joint line, and the spacing between the lines is small, the welding robot arm is prone to positioning deviations in the process of scanning and locating the joint line, causing the trajectory of the robot arm controlling the movement of the laser to be misaligned with the joint of the thin plates, resulting in discontinuity or insufficient strength of the thin plate welds, affecting the welding quality of the welding robot arm and increasing the possibility of scrapping the finished welded product. Summary of the invention

[0003] In view of the problem that the position of the gap between two tilted thin plates is prone to deviation when the welding robot arm scans and locates it, the present invention provides a welding robot arm for intelligent construction.

[0004] The technical implementation scheme of the present invention is: a welding robot arm for intelligent construction, comprising: a mounting seat, a mobile robot arm is mounted on the mounting seat, the mobile robot arm is provided with a laser welding head, the laser welding head is fixedly connected to a connecting frame, and the connecting frame is slidably connected to a sliding shell; a fixed shaft is fixedly connected in the sliding shell, and the fixed shaft is provided with two support plates for supporting two thin plates near the joint; a partition plate is slidably connected to the sliding shell, the partition plate is slidably connected to the fixed shaft, the sliding shell is slidably connected to two sliding frames, the sliding frame is slidably connected to a plurality of sliding rods, a spring is fixedly connected between the sliding rod and the sliding frame, a tension spring is fixedly connected between the sliding frame and the sliding shell, the sliding rod is rotatably connected to a rotating wheel, and the partition plate and the rotating wheel are used to fine-tune the position of the thin plate joint in the sliding shell; a positioning mechanism is arranged in the sliding shell, and is used to control the order in which the support plate and the rotating wheel contact the thin plate; a flattening mechanism is arranged at the connecting frame, and is used to eliminate the gap at the thin plate joint.

[0005] As a preferred embodiment of the present invention, the uppermost end of the partition plate is provided with two inclined surfaces in mirror-image distribution, and the distance between the two inclined surfaces gradually increases from top to bottom, so as to separate the two thin plates from the joint of the thin plates.

[0006] As a preferred embodiment of the present invention, the positioning mechanism includes: a sliding plate, which is slidably connected to the sliding shell, and the sliding plate is in contact with the fixed shaft to locate the position of the edge of the thin plate in the sliding shell; two limit blocks, both fixed to the sliding plate, and the limit blocks are limitedly matched with the sliding frame, and the limit blocks are provided with an inclined surface that is squeezed and matched with the sliding frame; an unlocking component is arranged on the sliding shell to change the relative locking state of the connecting frame and the sliding shell; a plurality of moving components, the number of which is the same as the number of the rotating wheels, and are respectively arranged on the corresponding rotating wheels, and are used to control the rotation of the rotating wheels to slightly move the thin plate.

[0007] As a preferred embodiment of the present invention, the unlocking component includes: an electric push rod fixedly connected to the sliding shell; a sliding baffle slidably connected in the sliding shell, the sliding baffle and the connecting frame are limitedly matched, the sliding baffle and the partition plate are extrusion-matched, a spring is fixed between the partition plate and the sliding shell, and the telescopic end of the electric push rod is fixedly connected to the sliding baffle.

[0008] As a preferred embodiment of the present invention, the moving assembly includes: a gear, rotatably connected to the rotating wheel, a spring fixedly connected between the gear and the rotating wheel for providing power for the rotation of the rotating wheel; a rack, fixedly connected to the sliding frame, the rack meshing with the gear.

[0009] As a preferred embodiment of the present invention, the tooth top circle diameter of the gear is smaller than the diameter of the rotating wheel, so as to prevent the gear from squeezing the thin plate and causing deformation of the thin plate.

[0010] As a preferred embodiment of the present invention, the flattening mechanism includes: two connecting sliders, which are slidably connected in the connecting frame, a spring is fixedly connected between the two connecting sliders, the connecting slider is limitedly slidably connected with a sliding support rod, a spring is fixedly connected between the sliding support rod and the connecting slider, and the sliding support rod is in contact with the sliding shell; two rotating rollers are ball-jointed to the lower ends of the sliding support rod, and the two rotating rollers are hinged to each other.

[0011] As a preferred embodiment of the present invention, the flattening mechanism further comprises: two guide plates fixedly connected in the sliding shell, and the guide plates are slidably matched with the sliding support rod.

[0012] As a preferred embodiment of the present invention, it also includes: an angle adjustment mechanism, which is arranged on the sliding shell and is used to change the angle between the two support plates, and the angle adjustment mechanism includes: a motor, which is fixed to the sliding shell, and the output shaft of the motor is fixed to a threaded rod rotatably connected to the sliding shell, the threaded rod is threadedly connected to a connecting plate, the connecting plate is slidably connected to the sliding shell, and the fixed shaft is rotatably connected to the support plate; two rotating rods, both of which are rotatably connected to the connecting plate, and the rotating rods are rotatably connected to the support plate.

[0013] As a preferred embodiment of the present invention, the rotating rod, the rotating axis of the connecting plate and the fixed axis are located on the same vertical plane, and are used to control the two support plates to swing synchronously at the same angle through the movement of the connecting plate.

[0014] Compared with the prior art, the present invention has at least the following advantages: 1. The present invention fixes two thin plates by rotating wheels and support plates, and slightly adjusts the position of the thin plate joints in the sliding shell in combination with the movement of the partition plate, so that the laser welding trajectory and the thin plate joints remain coincident, thereby ensuring the continuity of the welded thin plate welds and the stability of the weld quality.

[0015] 2. The present invention enables the rotating wheel to provide thrust for the two thin plates by rotating the gears in the moving assembly, so that the joints of the two thin plates are kept stably fitted, thereby reducing the possibility of gaps appearing when welding the joints of the two thin plates.

[0016] 3. The present invention flattens the joints of two thin plates with different angles by the relative rotation of two rotating rollers in the flattening mechanism, so that the joints of the two thin plates are fully fitted during welding, thereby ensuring the uniformity of the structural strength of the welds of the two thin plates.

[0017] 4. The present invention changes the position of the connecting plate and adjusts the angle between the two supporting plates by rotating the threaded rod in the angle adjustment mechanism, thereby expanding the application scope of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a three-dimensional structural schematic diagram of the parts of the laser welding head and the connecting frame of the present invention;

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the inner structure of the sliding shell of the present invention;

[0021] Figure 4 It is a three-dimensional structural schematic diagram of the parts at the sliding plate and the limit block of the present invention;

[0022] Figure 5 It is a cross-sectional view of the parts at the fixed shaft and the support plate of the present invention;

[0023] Figure 6 It is a three-dimensional structural schematic diagram of the parts of the sliding frame and the rotating wheel of the present invention;

[0024] Figure 7 It is a three-dimensional structural schematic diagram of the parts of the rotating wheel and the rack of the present invention;

[0025] Figure 8 It is a three-dimensional structural schematic diagram of the relative positions of the sliding frame and the limiting block of the present invention;

[0026] Fig. 9 It is a three-dimensional structural schematic diagram of the initial position of the sliding support rod of the present invention;

[0027] Fig.10 It is a three-dimensional structural schematic diagram of the parts of the sliding support rod and the rotating roller of the present invention;

[0028] Fig.11 It is a three-dimensional structural schematic diagram of the parts at the connecting plate and the rotating rod of the present invention.

[0029] The markings of the components in the accompanying drawings are as follows: 1-mounting base, 2-mobile robotic arm, 3-laser welding head, 4-connecting frame, 5-sliding shell, 6-fixed shaft, 7-support plate, 8-partition plate, 9-sliding frame, 10-sliding rod, 11-rotating wheel, 201-sliding plate, 202-limiting block, 301-electric push rod, 302-sliding baffle, 401-gear, 402-rack, 501-connecting slider, 502-sliding support rod, 503-rotating roller, 601-guide plate, 701-motor, 702-threaded rod, 703-connecting plate, 704-rotating rod. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1 -Attached Fig.11 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0031] Example 1: When the existing welding robot arm used in intelligent construction welds the joint of two thin plates that form an angle, when the welding robot arm scans and locates the joint of the two thin plates, since the joint of the two thin plates has not only the joint line but also the edge line of the side of the thin plates close to the joint, the distance between these lines is relatively close, which makes the scanning and positioning results of the welding robot arm prone to positioning deviation, resulting in discontinuity or insufficient strength of the joint of the thin plates welded by the robot arm, affecting the welding quality of the welding robot arm.

[0032] A welding robot arm for intelligent construction, please refer to the attached Figure 1 -Attached Figure 6 As shown, it includes: a mounting base 1, a mobile mechanical arm 2 is mounted on the mounting base 1, the mobile mechanical arm 2 is provided with a laser welding head 3, the laser welding head 3 is fixedly connected to a connecting frame 4, and the connecting frame 4 is slidably connected to a sliding shell 5; a fixed shaft 6, fixed in the sliding shell 5, the fixed shaft 6 is provided with two support plates 7 for supporting the two thin plates near the joint; a partition plate 8, slidably connected to the sliding shell 5, the partition plate 8 is slidably connected to the fixed shaft 6, the sliding shell 5 is slidably connected to two sliding frames 9, the sliding frame 9 is slidably connected to a plurality of sliding rods 10, and the sliding rods 10 are connected to the sliding frame 9 A spring is fixedly connected between the sliding frame 9 and the sliding shell 5, a tension spring is fixedly connected between the sliding frame 9 and the sliding shell 5, the sliding rod 10 is rotatably connected to the rotating wheel 11, the partition plate 8 and the rotating wheel 11 are used to fine-tune the position of the thin plate joint in the sliding shell 5; the positioning mechanism is arranged in the sliding shell 5, and is used to control the order in which the support plate 7 and the rotating wheel 11 contact the thin plate; the flattening mechanism is arranged at the connecting frame 4, and is used to eliminate the gap at the thin plate joint. The uppermost end of the partition plate 8 is provided with two inclined surfaces distributed in a mirror image, and the spacing between the two inclined surfaces gradually increases from top to bottom, which is used to separate the two thin plates from the thin plate joint.

[0033] In the above scheme, it is intended to solve the problem that when the welding robot arm welds the joint of two thin plates forming an angle, the positioning of the thin plate joint position is easily deviated due to the interference of the edge lines of the sides of the two thin plates close to the joint. A control panel is provided on the mobile robot arm 2, and the mobile robot arm 2, the laser welding head 3 and the unlocking component are electrically connected to the control panel. The connecting frame 4 is initially located at the right end of the sliding shell 5, and a through groove is provided on the upper side of the sliding shell 5. The connecting frame 4 slides in the through groove of the sliding shell 5. Initially, the connecting frame 4 and the sliding shell 5 are relatively fixed. When the mobile robot arm 2 drives the laser welding head 3 to move, the connecting frame 4 and the sliding shell 5 move synchronously with the laser welding head 3. The connecting frame 4 is in an N shape, and the laser welding head 3 penetrates the connecting frame 4, so that the laser emitted by the laser welding head 3 does not contact the connecting frame 4. The joint of the two thin plates is located below the through groove of the sliding shell 5, so that the laser welding head 3 drives the connecting frame 4 to move along the sliding shell 5. The cam 8 is arranged on the support frame 7 of the second frame 1 and the support frame 7 is arranged on the support frame 7. The cam 8 is arranged on the support frame 7 of the second frame 1 and the support frame 7 is arranged on the support frame 7. The cam 8 is arranged on the support frame 7 of the second frame 1 and the support frame 7 is arranged on the support frame 7.

[0034] Workflow: First, the operator fixes the two thin plates on the mounting base 1 by tilting them through magnetic attraction, and the edges of the two thin plates touch each other and form a certain angle. Then, the operator controls the mobile robot arm 2 through the control panel to scan and locate the joint position of the two thin plates. After that, the control panel controls the movement of the laser welding head 3 through the mobile robot arm 2, and the laser welding head 3 drives the sliding shell 5 to move synchronously through the connecting frame 4. The joint of the two thin plates enters the sliding shell 5, and the laser welding head 3 always remains in a vertical state, and the sliding shell 5 remains in a horizontal state. Then, the control panel controls the sliding shell 5 to move upward through the mobile robot arm 2, and the partition plate 8 is inserted into the two At the joint of the thin plates, the joints of the two thin plates are separated. When the support plate 7 is fully fitted with the two thin plates, the sliding shell 5 stops moving upward, and the control panel controls the sliding shell 5 to slide to the left by moving the mechanical arm 2, and the thin plate slides to the right relative to the support plate 7. When the thin plate releases the limit of the sliding frame 9 through the positioning mechanism, the two sliding frames 9 move into the sliding shell 5 under the tension of the connected tension springs. When the rotating wheel 11 contacts and squeezes the thin plate, the rotating wheel 11 stops moving, and the sliding frame 9 moves to compress the spring connected to the sliding rod 10. The rotating wheel 11 combines with the support plate 7 to fix the thin plate, and the positioning mechanism provides a rotating force for the rotating wheel 11.

[0035] After the rotating wheel 11 fixes the thin plate, the control panel moves the partition plate 8 downward through the positioning mechanism, and the partition plate 8 loses contact with the thin plate. The positioning mechanism controls the rotating wheel 11 to rotate, and the two thin plates approach each other at the same time until they stop after contacting each other, so that the joint of the two thin plates is accurately positioned on the symmetrical plane of the front and rear directions of the sliding shell 5. At this point, the position of the thin plate joint is fine-tuned, and the joint line of the two thin plates coincides with the moving trajectory of the laser welding head 3. Then the control panel controls the laser welding head 3 and the connecting frame 4 to move, and the connecting frame 4 slides to the left in the through groove of the sliding shell 5. The sliding shell 5 and the thin plate do not move due to the magnetic attraction. At the same time, the control panel starts the laser welding head 3 to weld the joint of the two thin plates, and the flattening mechanism moves with the connecting frame 4 to flatten the thin plate to make the joint of the thin plate fit together to prevent the occurrence of joint gaps until all welding operations are completed.

[0036] When the welding of the joint of the two thin plates is completed, the control panel closes the laser welding head 3, and at the same time, the control panel controls the laser welding head 3 and the connecting frame 4 to move and reset. Then, the control panel controls the positioning mechanism to re-lock the relative position of the connecting frame 4 and the sliding shell 5. The operator manually pulls up the two sliding frames 9, and the sliding frame 9 stretches the connected tension spring. At the same time, the control panel controls the sliding shell 5 to move to the right, and the welded thin plate is moved out of the sliding shell 5. The positioning mechanism resets and re-limits the sliding frame 9, and the sliding rod 10 moves and resets under the elastic force of the connected spring. At this point, all parts have returned to their initial positions.

[0037] Please refer to the attached Figure 1 -Attached Figure 4 and attached Figure 6 -Attached Figure 8 As shown, the positioning mechanism includes: a sliding plate 201, which is slidably connected to the sliding shell 5, and the sliding plate 201 is in contact with the fixed shaft 6 to locate the edge of the thin plate in the sliding shell 5; two limit blocks 202, both fixed to the sliding plate 201, the limit blocks 202 are limited and matched with the sliding frame 9, and the limit blocks 202 are provided with an inclined surface that is pressed and matched with the sliding frame 9; an unlocking component, which is arranged on the sliding shell 5, and is used to change the relative locking state of the connecting frame 4 and the sliding shell 5; a plurality of moving components, the number of which is the same as the number of rotating wheels 11, are respectively arranged on the corresponding rotating wheels 11, and are used to control the rotation of the rotating wheels 11 to slightly move the thin plate, and the unlocking component includes: an electric push rod 301, which is fixed to The sliding shell 5; the sliding baffle 302 is slidably connected in the sliding shell 5, the sliding baffle 302 is limitedly matched with the connecting frame 4, the sliding baffle 302 is squeezed and matched with the partition plate 8, a spring is fixedly connected between the partition plate 8 and the sliding shell 5, the telescopic end of the electric push rod 301 is fixedly connected to the sliding baffle 302, and the moving component includes: a gear 401, which is rotatably connected to the rotating wheel 11, and a spring is fixedly connected between the gear 401 and the rotating wheel 11, which is used to provide power for the rotation of the rotating wheel 11; a rack 402, which is fixedly connected to the sliding frame 9, the rack 402 is meshed with the gear 401, and the top circle diameter of the gear 401 is smaller than the diameter of the rotating wheel 11, which is used to prevent the gear 401 from squeezing the thin plate to cause the thin plate to deform.

[0038] In the above scheme, the purpose is to control the two thin plates to move slightly so that the joint of the two thin plates is located at the set position in the sliding shell 5, so as to achieve the purpose of completely coinciding the welding track of the laser welding head 3 with the joint of the thin plates. The sliding plate 201 is located in the right part of the sliding shell 5, and only the left side of the sliding plate 201 contacts and squeezes the right edge of the thin plate. The limit block 202 is provided with an inclined surface inclined from top to bottom to the right, and the inclined surface is pressed and matched with the sliding frame 9 to enable the limit block 202 to restore the limit position of the sliding frame 9. Figure 8 In order for the device to complete the state of fixing the thin plate, the limit block 202 releases the limit on the sliding frame 9. Initially, the sliding baffle 302 limits the connecting frame 4, and the connecting frame 4 is relatively fixed to the sliding shell 5. The upper side of the sliding baffle 302 is provided with an inclined surface from top to bottom to the right, and the inclined surface is squeezed and matched with the connecting frame 4. The sliding baffle 302 drives the partition plate 8 to move, and only the upper end of the partition plate 8 moves down to the fixed shaft 6, so that the two thin plates contact each other to produce a seam, and the elastic force of the spring connected to the rotating wheel 11 only pushes the two thin plates to move synchronously, so as to achieve the purpose of the two thin plates approaching and fitting each other. The elastic force of the spring connected to the rotating wheel 11 makes the seam of the two thin plates fit tightly, reducing the possibility of gaps in the seam of the thin plates during welding.

[0039] Working process: when the sliding shell 5 translates to the left, the edge of the thin plate contacts and squeezes the sliding plate 201, the sliding plate 201 moves to the right and compresses the connected spring, the sliding plate 201 drives the limit block 202 to move synchronously, the limit block 202 releases the limit on the sliding frame 9, the sliding frame 9 moves into the sliding shell 5 under the tension of the connected tension spring, after the rotating wheel 11 contacts and squeezes the thin plate, the sliding frame 9 continues to move, the sliding rod 10 moves inward relative to the sliding frame 9, the sliding frame 9 drives the rack 402 to move relative to the gear 401, the gear 401 rotates and compresses the connected spring The spring, the rotating wheel 11 provides a force for the two thin plates to move closer to each other under the elastic force of the connected spring, and then the control panel starts the electric push rod 301, the telescopic end of the electric push rod 301 contracts and drives the sliding baffle 302 to move downward, the limit of the connecting frame 4 is released, and at the same time, the partition plate 8 moves downward and compresses the connected spring, the partition plate 8 loses contact with the thin plate, and the rotating wheel 11 rotates and pushes the two thin plates closer to each other, the two thin plates contact to form a seam, and the seam is exactly located above the fixed axis 6, and then the above-mentioned welding of the thin plates and the resetting operation of the connecting frame 4 are repeated.

[0040] When the connecting frame 4 is reset, the control panel controls the sliding baffle 302 to reset through the electric push rod 301, and the sliding baffle 302 re-limits the connecting frame 4, and the connecting frame 4 and the sliding shell 5 return to their initial relatively fixed state. Then the operator manually pulls up the two sliding frames 9, and at the same time, the control panel controls the sliding shell 5 to move to the right by moving the mechanical arm 2. The thin plate loses contact with the sliding plate 201, and the sliding plate 201 is reset under the action of the connected spring force. The sliding frame 9 squeezes the inclined surface of the limit block 202, and the sliding frame 9 returns to the state of being limited by the limit block 202. The partition plate 8 moves and resets under the action of the connected spring force. At this point, all parts have returned to their initial positions.

[0041] Please refer to the attached Figure 3 , Attachment Figure 4 , Attachment Fig. 9 and attached Fig.10 As shown, the flattening mechanism includes: two connecting sliders 501, which are slidably connected in the connecting frame 4, a spring is fixed between the two connecting sliders 501, the connecting slider 501 is limitedly slidably connected with a sliding support rod 502, a spring is fixed between the sliding support rod 502 and the connecting slider 501, and the sliding support rod 502 is in contact with the sliding shell 5; two rotating rollers 503 are ball-connected to the lower end of the sliding support rod 502, and the two rotating rollers 503 are hinged to each other. The flattening mechanism also includes: two guide plates 601, which are fixed in the sliding shell 5, and the guide plates 601 are slidably matched with the sliding support rod 502.

[0042] In the above scheme, the problem that the joint formed by the edges of the two thin plates is still discontinuous when the edges of the thin plates are uneven is solved. The elastic coefficient of the spring between the sliding support rod 502 and the connecting slider 501 is greater than the elastic coefficient of the spring between the two connecting sliders 501, so that the two rotating rollers 503 can adapt to the angles of the thin plates at different angles, so that the rotating rollers 503 and the thin plates are fully fitted. If the rotating rollers 503 are fitted with the thin plates, the lower end of the sliding support rod 502 does not contact the thin plates. The distance between the two sliding support rods 502 is smaller than the distance between the two adjacent rotating wheels 11 in the front-to-back direction. When the sliding support rod 502 and the rotating roller 503 move, they do not contact the rotating wheels 11. The lower end of the sliding support rod 502 is provided with an inclined plate inclined from top to bottom to the left, which is used to squeeze and cooperate with the guide plate 601 to control the sliding support rod 502 to reset. The rotating roller 503 is always located on the left side of the laser welding head 3. The guide plate 601 is used to guide the sliding support rod 502 so that the rotating roller 503 directly contacts the edge of the right side of the thin plate. The spring connected to the sliding support rod 502 is initially in a compressed state. The sliding support rod 502 drives the rotating roller 503 to squeeze the joint of the two thin plates, so that the edge of the joint of the thin plates is flattened, ensuring that the joint of the thin plates is fully fitted during welding, reducing the possibility of gaps in the joint of the thin plates, and improving the stability of the strength of the weld welded by this device.

[0043] Working process: When the laser welding head 3 drives the connecting frame 4 to slide to the left in the through groove of the sliding shell 5, the lower end of the sliding support rod 502 switches from contacting with the sliding shell 5 to contacting with the guide plate 601, and then the lower end of the sliding support rod 502 slides to the left along the two guide plates 601. When the sliding support rod 502 is aligned with the right edge of the thin plate, the sliding support rod 502 loses contact with the guide plate 601, and the two sliding support rods 502 move downward under the elastic force of the connected springs, and the rotating roller 503 contacts and squeezes the surface of the thin plate. The sliding support rod 502 pushes the rotating roller 503 to fully fit the thin plate. The angle between the two rotating rollers 503 is the same as the angle between the two thin plates. At the same time, the sliding support rod 502 drives the two connecting sliders 501 to approach each other. The spring between the two connecting sliders 501 is compressed, so that the two rotating rollers 503 can adapt to the angles of thin plates of different sizes. As the connecting frame 4 moves to the left, the rotating roller 503 rolls along the edge of the seam of the thin plate to flatten the edge of the thin plate, thereby reducing the possibility of gaps at the seams of the thin plates.

[0044] When the movable mechanical arm 2 drives the connecting frame 4 to move through the laser welding head 3, the control panel starts the laser welding head 3, and the laser welding head 3 emits laser to weld the flattened thin plate joints. When all welding at the thin plate joints is completed, the control panel closes the laser welding head 3 and controls the movable mechanical arm 2 to drive the connecting frame 4 to translate to the left to restore the initial position, the lower end inclined plate of the sliding support rod 502 squeezes the guide plate 601, the sliding support rod 502 moves upward and compresses the connected spring, and the two connecting sliders 501 move and reset under the action of the connected spring. Finally, the control panel starts the electric push rod 301, the telescopic end of the electric push rod 301 extends out and drives the sliding baffle 302 to move upward and reset, the upper side inclined surface of the sliding baffle 302 squeezes and pushes the connecting frame 4, the connecting frame 4 restores the initial position with the sliding shell 5, the connecting frame 4 is re-limited, the connecting frame 4 and the sliding shell 5 restore the initial relative fixed state, and at the same time, the partition plate 8 moves upward and resets under the action of the spring elastic force, and the reset operation of the above-mentioned sliding frame 9 related parts is repeated, and all parts are restored to their initial positions.

[0045] In the above-mentioned embodiment, the connection relationship between the fixed shaft 6 and the support plate 7 can be regarded as a fixed connection. However, in the following embodiments, the connection relationship between the fixed shaft 6 and the support plate 7 is a rotational connection.

[0046] Example 2: Based on Example 1, please refer to the attached Figure 4 and attached Fig.11 As shown, it also includes: an angle adjustment mechanism, which is arranged on the sliding shell 5 and is used to change the angle between the two support plates 7. The angle adjustment mechanism includes: a motor 701, which is fixed to the sliding shell 5. The output shaft of the motor 701 is fixed to a threaded rod 702 that is rotatably connected to the sliding shell 5. The threaded rod 702 is threadedly connected to a connecting plate 703. The connecting plate 703 is slidably connected to the sliding shell 5, and the fixed shaft 6 is rotatably connected to the support plate 7; two rotating rods 704, which are both rotatably connected to the connecting plate 703. The rotating rod 704 is rotatably connected to the support plate 7. The rotating axes of the rotating rod 704 and the connecting plate 703 and the axis of the fixed shaft 6 are located on the same vertical plane, and are used to control the two support plates 7 to swing synchronously at the same angle through the movement of the connecting plate 703.

[0047] In the above scheme, the purpose is to further improve the application scope of the device for welding two thin plates, so that the device can achieve the same welding quality for two thin plates with different angles. The lengths of the two rotating rods 704 are exactly the same, and the two support plates 7 are distributed in front and back mirror images. The moving range of the connecting plate 703 on the threaded rod 702 is fixed, so that the angle between the two support plates 7 is always within the angle range formed by the two rotating rollers 503. The position of the connecting plate 703 is locked after movement to ensure that the two support plates 7 are relatively fixed when the rotating wheel 11 squeezes the thin plate. By changing the position of the connecting plate 703 on the threaded rod 702, the angle between the two support plates 7 is adjusted, so that the device can weld the joints of two thin plates with various angles.

[0048] Working process, before the joint of the two thin plates enters the sliding shell 5, the control panel first starts the motor 701, the output shaft of the motor 701 drives the threaded rod 702 to rotate, the threaded rod 702 drives the connecting plate 703 to move, and the connecting plate 703 controls the two support plates 7 to swing synchronously in the same direction through the two rotating rods 704, and adjusts the angle between the two support plates 7. When the angle between the two support plates 7 is the same as the angle between the two thin plates to be welded, the control panel turns off the motor 701, the position of the connecting plate 703 on the threaded rod 702 is fixed, and the two support plates 7 are relatively fixed to ensure that the angle between the two thin plates remains unchanged during the subsequent fine-tuning of the thin plate joint. Then, the above-mentioned thin plate joint position adjustment, welding and resetting operations are repeated to complete the laser welding of the two thin plates.

[0049] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A welding robot arm for intelligent construction, characterized in that: include: A mounting seat (1), a mobile mechanical arm (2) being mounted on the mounting seat (1), the mobile mechanical arm (2) being provided with a laser welding head (3), the laser welding head (3) being fixedly connected to a connecting frame (4), and the connecting frame (4) being slidably connected to a sliding shell (5); A fixed shaft (6) is fixedly connected in the sliding shell (5), and the fixed shaft (6) is provided with two support plates (7) for supporting the two thin plates near the joint; A partition plate (8) is slidably connected to the sliding shell (5), the partition plate (8) is slidably connected to the fixed shaft (6), the sliding shell (5) is slidably connected to two sliding frames (9), the sliding frames (9) are slidably connected to a plurality of sliding rods (10), a spring is fixedly connected between the sliding rods (10) and the sliding frames (9), a tension spring is fixedly connected between the sliding frames (9) and the sliding shell (5), the sliding rods (10) are rotatably connected to a rotating wheel (11), and the partition plate (8) and the rotating wheel (11) are used to fine-tune the position of the thin plate joint in the sliding shell (5); A positioning mechanism, disposed in the sliding shell (5), for controlling the order in which the support plate (7) and the rotating wheel (11) contact the thin plate; A flattening mechanism, arranged at the connecting frame (4), for eliminating gaps at the joints of the thin plates; The positioning mechanism comprises: A sliding plate (201) is slidably connected in the sliding shell (5), the sliding plate (201) being in contact with the fixed shaft (6) and being used to locate the position of the edge of the thin plate in the sliding shell (5); Two limit blocks (202) are both fixedly connected to the sliding plate (201), the limit blocks (202) are in position-limiting cooperation with the sliding frame (9), and the limit blocks (202) are provided with an inclined surface that is pressed and cooperated with the sliding frame (9); An unlocking component, arranged on the sliding shell (5), and used for changing the relative locking state between the connecting frame (4) and the sliding shell (5); a plurality of moving components, the number of which is the same as the number of the rotating wheels (11), which are respectively arranged corresponding to the rotating wheels (11) and are used to control the rotation of the rotating wheels (11) to slightly move the thin plate; The unlocking component comprises: An electric push rod (301) fixedly connected to the sliding shell (5); A sliding baffle (302) is slidably connected in the sliding shell (5), the sliding baffle (302) is limitedly matched with the connecting frame (4), the sliding baffle (302) is pressed and matched with the partition plate (8), a spring is fixedly connected between the partition plate (8) and the sliding shell (5), and the telescopic end of the electric push rod (301) is fixedly connected to the sliding baffle (302); The flattening mechanism comprises: Two connecting sliders (501) are slidably connected in the connecting frame (4), a spring is fixedly connected between the two connecting sliders (501), the connecting sliders (501) are limitedly slidably connected to a sliding support rod (502), a spring is fixedly connected between the sliding support rod (502) and the connecting slider (501), and the sliding support rod (502) is in contact with the sliding shell (5); Two rotating rollers (503) are ball-connected to the lower end of the sliding support rod (502), and the two rotating rollers (503) are hinged to each other.

2. The welding robot arm for intelligent construction according to claim 1, characterized in that: The uppermost end of the separation plate (8) is provided with two inclined surfaces distributed in a mirror image, and the distance between the two inclined surfaces gradually increases from top to bottom, and is used to separate the two thin plates from the joint of the thin plates.

3. The welding robot arm for intelligent construction according to claim 1, characterized in that: The mobile assembly comprises: a gear (401) rotatably connected to the rotating wheel (11); a spring is fixedly connected between the gear (401) and the rotating wheel (11) and is used to provide power for the rotating wheel (11) to rotate; The rack (402) is fixedly connected to the sliding frame (9), and the rack (402) is meshed with the gear (401).

4. The welding robot arm for intelligent construction according to claim 3, characterized in that: The diameter of the tooth top circle of the gear (401) is smaller than the diameter of the rotating wheel (11), so as to prevent the gear (401) from squeezing the thin plate and causing the thin plate to deform.

5. The welding robot arm for intelligent construction according to claim 1, characterized in that: The flattening mechanism also includes: Two guide plates (601) are fixedly connected in the sliding shell (5), and the guide plates (601) are slidably matched with the sliding support rod (502).

6. The welding robot arm for intelligent construction according to claim 5, characterized in that: Also includes: An angle adjustment mechanism is provided on the sliding shell (5) and is used to change the angle between the two support plates (7), the angle adjustment mechanism comprising: A motor (701) is fixedly connected to the sliding shell (5); an output shaft of the motor (701) is fixedly connected to a threaded rod (702) rotatably connected to the sliding shell (5); the threaded rod (702) is threadedly connected to a connecting plate (703); the connecting plate (703) is slidably connected to the sliding shell (5); and the fixed shaft (6) is rotatably connected to the support plate (7); The two rotating rods (704) are both rotatably connected to the connecting plate (703), and the rotating rods (704) are rotatably connected to the supporting plate (7).

7. The welding robot arm for intelligent construction according to claim 6, characterized in that: The rotating rod (704) and the rotating axis of the connecting plate (703) and the axis of the fixed shaft (6) are located on the same vertical plane, and are used to control the two supporting plates (7) to swing synchronously at the same angle by moving the connecting plate (703).

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