Double-ground-rail deep penetration welding robot

Abstract

The invention relates to the technical field of welding robots, in particular to a double-ground-rail deep penetration welding robot which comprises a deep penetration welding mechanical arm, a mistaken welding push-off mechanism arranged outside the deep penetration welding mechanical arm, a boosting mechanism installed under the deep penetration welding mechanical arm and a bearing mechanism installed outside the boosting mechanism, and the mistaken welding push-off mechanism is movably installed on the boosting mechanism. When the deep welding mechanical arm transversely moves along a fixed weldment, along with continuous welding of a welding seam, once the welding object of the welding seam is excessively bulged due to abnormal movement of the robot, the excessively bulged welding object reversely applies pressure to the mistaken welding push-away mechanism, and finally the deep welding mechanical arm is pushed away from the weldment. Therefore, the problem that the damage degree of the weldment is increased due to the fact that the weld joint of the weldment is continuously welded by the deep welding mechanical arm moving in the abnormal state is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, in particular to a double-ground-rail deep-penetration welding robot. Background Art

[0002] The track-type welding robot is a welding device that provides precise, efficient and consistent welding for welded parts. It plays a vital role in the manufacturing industry. The quality and accuracy of the welding robot need to rely on real-time tracking and capture by infrared cameras.

[0003] At present, there are certain defects in the operation of ground-track welding robots on welded parts, mainly incomplete penetration, air holes, cutting seams and excessive spatter. Different from some existing defects, when performing orbital welding operations on fixed weldments, once the robot's force arm moves horizontally with the track and an abnormality occurs, it will cause the weld on the weld to be too protruding, and in severe cases, it will cause local fusion welding of the weldment.

[0004] In view of the above, the present invention designs a double ground rail deep penetration welding robot to solve the above problems. Summary of the invention

[0005] The present invention aims to solve one of the technical problems existing in the prior art or related technology.

[0006] To this end, the technical solution adopted in the present invention is:

[0007] A double ground rail deep penetration welding robot comprises a deep welding mechanical arm, a mis-welding pushing away mechanism arranged outside the deep welding mechanical arm, a boosting mechanism installed directly below the deep welding mechanical arm, and a bearing mechanism installed outside the boosting mechanism, wherein the mis-welding pushing away mechanism is movably installed on the boosting mechanism;

[0008] The boost mechanism includes a support plate, a protective pad arranged on the top of the support plate, two extended guide rods installed inside the protective pad, a compression spring arranged outside the extended guide rod, a column installed on the top of the protective pad, and a locking pin installed in the column;

[0009] The number of the compression springs is two;

[0010] The mis-welding push-off mechanism comprises a connecting rod penetrating into the deep welding robot arm, a limit rail arranged outside the connecting rod, a shaft installed inside the limit rail, two outer frames installed on the shaft, and a projection welding scraper fixedly installed in the outer frame and attached to the surface of the weldment;

[0011] A fan-shaped scraper is installed at the outer end of the projection welding scraper.

[0012] In a preferred example, the present invention can be further configured as follows: the supporting mechanism includes a ground rail, a clamp installed at one end of the ground rail, a bearing installed inside the clamp, a machine base fixed to the other end of the ground rail by bolts, a servo motor fixedly installed inside the machine base, and a screw installed on the transmission shaft inside the servo motor.

[0013] In a preferred example, the present invention can be further configured as follows: a semi-cylindrical transverse groove recessed inwards is provided in the middle of the top surface of the floor rail, and the screw rod is located in the middle of the semi-cylindrical transverse groove.

[0014] In a preferred example, the present invention can be further configured as follows: the boosting mechanism further includes a storage plate movably mounted on the top of the support plate and a crossbeam mounted in the column head at the bottom of the storage plate;

[0015] The threaded sections at both ends of the crossbeam are respectively connected with two limiting nuts.

[0016] In a preferred example, the present invention can be further configured as follows: the boosting mechanism also includes a base fixedly mounted in the middle of the bottom surface of the support plate, and a threaded hole adapted for the screw rod is provided inside the base.

[0017] In a preferred example, the present invention can be further configured as follows: a slide groove adapted to the crossbeam is provided inside the support plate, and the column head at the bottom of the storage plate is adapted to penetrate into the slot hole at the top of the support plate.

[0018] In a preferred example, the present invention can be further configured as follows: the support plate, the storage plate and the protective pad are all made of stainless steel.

[0019] In a preferred example, the present invention can be further configured as follows: the miswelding push-off mechanism also includes a slider fixedly mounted on the bottom of the outer frame, two clamps fixedly mounted on the projection welding scraper, and a detector fixedly mounted in the two clamps.

[0020] In a preferred example, the present invention can be further configured as follows: a fastening bolt is connected to the end of the shaft rod that passes through the outside of one of the outer frames.

[0021] In a preferred example, the present invention can be further configured as follows: a screw hole is opened on one side of the top of the slider, and a lock buckle is provided on the top of the two sliders, and the lock buckle is fixed to the two sliders by bolts;

[0022] A pin hole adapted to be clamped on a locking pin is provided inside the lock buckle.

[0023] By adopting the above technical solution, the beneficial effects achieved by the present invention are:

[0024] 1. When the deep welding robot moves laterally along the fixed weldment, as the weld continues to weld, once the weld material of the weld is too protruding due to abnormal movement of the robot, the overly protruding weld material will exert reverse pressure on the mis-welding push-off mechanism, and eventually push the deep welding robot arm away from the weldment, thereby preventing the weld of the weldment from being continuously welded by the deep welding robot arm moving in an abnormal state, which in turn causes the weldment to be damaged more severely.

[0025] 2. The present invention pre-adjusts the tilt angle of the welding end of the deep welding robot arm, and uses fastening bolts to fix the tilted limit rail on the top of the two outer frames. When the equipment performs welding operations on the weldment along the track, the deep welding robot arm with selective angle adjustment can adaptively fit the weld of the weldment, thereby ensuring that the device cooperates with the robot to protect the welding of various parts of the weldment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the present invention when used;

[0027] Figure 2 is a schematic diagram of the carrying mechanism of the present invention;

[0028] Figure 3 For the present invention Figure 2 The enlarged schematic diagram of point A in the middle;

[0029] Figure 4 It is a dispersed schematic diagram of the boosting mechanism of the present invention;

[0030] Figure 5 For the present invention Figure 4 Schematic diagram of local dispersion;

[0031] Figure 6 It is a partial schematic diagram of the present invention;

[0032] Figure 7 It is a scattered schematic diagram of the miswelding push-off mechanism of the present invention;

[0033] Figure 8 For the present invention Figure 7 The enlarged schematic diagram of point B in the middle;

[0034] Fig. 9 For the present invention Figure 7 Enlarged schematic diagram of point C in the middle.

[0035] Reference numerals:

[0036] 100, bearing mechanism; 110, ground rail; 120, fixture; 130, bearing; 140, machine base; 150, servo motor; 160, screw rod;

[0037] 200, booster mechanism; 210, base; 220, support plate; 230, storage plate; 240, crossbeam; 250, protective pad; 260, extended guide rod; 270, compression spring; 280, column; 290, locking pin;

[0038] 300, deep welding robot arm;

[0039] 400, mis-welding push-off mechanism; 410, slider; 420, lock; 430, outer frame; 440, projection welding scraper; 450, clamp; 460, detector; 470, shaft rod; 480, limit rail; 490, connecting rod. DETAILED DESCRIPTION

[0040] To make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below in combination with specific implementations and with reference to the accompanying drawings. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0041] It is to be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention.

[0042] A dual ground rail deep penetration welding robot provided by some embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0043] Embodiment 1:

[0044] Combination Figure 1-Figure 9 As shown, a dual ground rail deep penetration welding robot provided by the present invention comprises a deep welding mechanical arm 300, a mis-welding pushing away mechanism 400 arranged outside the deep welding mechanical arm 300, a boosting mechanism 200 installed directly below the deep welding mechanical arm 300, and a bearing mechanism 100 installed outside the boosting mechanism 200, and the mis-welding pushing away mechanism 400 is movably installed on the boosting mechanism 200;

[0045] The supporting mechanism 100 includes a ground rail 110, a clamp 120, a bearing 130, a machine base 140, a servo motor 150 and a screw 160. The boosting mechanism 200 includes a base 210, a support plate 220, a storage plate 230, a cross beam 240, a protective pad 250, an extended guide rod 260, a compression spring 270, a column 280 and a locking pin 290. The mis-welding push-off mechanism 400 includes a slider 410, a lock 420, an outer frame 430, a convex welding scraper 440, a clamp 450, a detector 460, a shaft 470, a limit rail 480 and a connecting rod 490.

[0046] The boosting mechanism 200 includes a support plate 220, a protective pad 250 arranged on the top of the support plate 220, two extended guide rods 260 installed inside the protective pad 250, a compression spring 270 arranged outside the extended guide rod 260, a column 280 installed on the top of the protective pad 250, and a locking pin 290 installed in the column 280. The number of the compression springs 270 is two. The mis-welding push-off mechanism 400 includes a connecting rod 490 that passes through the deep welding robot arm 300, a limiting rail 480 arranged outside the connecting rod 490, a shaft 470 installed inside the limiting rail 480, two outer frames 430 installed on the shaft 470, and a convex welding scraper 440 fixedly installed in the outer frame 430 and attached to the surface of the weld, and a fan-shaped scraper is installed at the outer end of the convex welding scraper 440.

[0047] When today's rail-type welding robots are performing welding operations on weldments, they are affected by the shaking of the robotic arm or the unstable movement of the robot on the rail. The weld material on the weld will be too protruding, thus forming a convex weld. The robot moves passively along the rail, so the convex weld problem will continue on the weld of the weldment, thereby increasing the subsequent processes of the weldment. In severe cases, once the robot is stranded, it will cause local fusion welding to occur in the weld.

[0048] The device is used to cooperate with the deep welding robot arm 300. When the welding end on the deep welding robot arm 300 is adjusted according to the weld of the weldment, the limit rail 480 and the two outer frames 430 constrained by the fastening bolts can provide support for the robot arm of the deep welding robot arm 300. When the weld is too protruding, the two protruding welding scrapers 440 arranged on both sides of the welding end will be subjected to reverse extrusion force by the overly protruding weld. When the locking pin 290 is pressed and withdrawn from the internal pin hole of the lock buckle 420, the two outer frames 430 will cooperate with the limit rail 480 and the connecting rod 490 to push the deep welding robot arm 300 outward, which can eventually avoid the abnormal movement of the deep welding robot arm 300 and the abnormal welding problem of the weld of the weldment.

[0049] Embodiment 2:

[0050] Combination Figure 2-Figure 6 As shown, based on the first embodiment, the supporting mechanism 100 includes a ground rail 110, a clamp 120 installed at one end of the ground rail 110, a bearing 130 installed inside the clamp 120, a base 140 fixed to the other end of the ground rail 110 by bolts, a servo motor 150 fixedly installed inside the base 140, and a screw 160 installed on the internal transmission shaft of the servo motor 150.

[0051] A semi-cylindrical transverse groove recessed inwards is provided in the middle of the top surface of the ground rail 110 , and the screw rod 160 is located in the middle of the semi-cylindrical transverse groove.

[0052] By pre-fixing two ground rails 110 on the ground of the working area, and using multiple bolts to fix the machine base 140 on one end of the ground rail 110, as the servo motor 150 is started, its internal transmission shaft will drive the screw 160 to rotate, and the base 210 will move along the semi-cylindrical horizontal groove on the top of the ground rail 110. At this time, the passively boosted support plate 220 and the base 210 can provide a sufficiently stable support platform for the operation of the deep welding robot arm 300 to avoid abnormal shaking during the movement of the deep welding robot arm 300.

[0053] Embodiment three:

[0054] Combination Figure 2-Figure 7 As shown, based on the first embodiment, the boosting mechanism 200 further includes a storage plate 230 movably mounted on the top of the support plate 220 and a crossbeam 240 mounted in the column head at the bottom of the storage plate 230;

[0055] The threaded sections at both ends of the crossbeam 240 are respectively connected to two limiting nuts.

[0056] The boosting mechanism 200 further includes a base 210 fixedly mounted on the middle portion of the bottom surface of the support plate 220 , and a threaded hole adapted to fit the screw rod 160 is provided inside the base 210 .

[0057] A sliding groove adapted to the cross beam 240 is provided inside the support plate 220 , and the column head at the bottom of the storage plate 230 is adapted to penetrate into the slot hole at the top of the support plate 220 .

[0058] The support plate 220 , the storage plate 230 and the protective pad 250 are all made of stainless steel.

[0059] The protective pad 250 is fixedly installed on the top of the support plate 220 by two locking bolts. At this time, the two transverse grooves inside the protective pad 250 will remain symmetrical with the grooves on the top of the support plate 220. At this time, the two sliders 410 can be calibrated and constrained. At the same time, the two extended guide rods 260 are combined to provide support for the two sliders 410. When external force squeezes and causes the lock 420 on the slider 410 to disengage from the locking pin 290, the two compressed compression springs 270 will quickly push the two sliders 410 outward until the deep welding robot arm 300 is forced to withdraw from the weld area of ​​the weldment, so as to ensure that the abnormal welding robot maintains a sufficiently safe distance from the weldment to avoid the problem of continuous damage to the weldment.

[0060] Embodiment 4:

[0061] Combination Figure 6-Figure 9 As shown, based on the first embodiment, the miswelding push-off mechanism 400 further includes a slider 410 fixedly mounted on the bottom of the outer frame 430 , two clamps 450 fixedly mounted on the projection welding scraper 440 , and a detector 460 fixedly mounted in the two clamps 450 .

[0062] The shaft rod 470 passes through one of the outer frames 430 and is connected to an end thereof with a fastening bolt.

[0063] A screw hole is provided on one side of the top of the slider 410, and a lock 420 is provided on the top of the two sliders 410. The lock 420 is fixed to the two sliders 410 by bolts.

[0064] The lock buckle 420 has a pin hole therein adapted to be engaged with the locking pin 290 .

[0065] The weld is detected in real time by using the detector 460 installed in the two clamps 450. When the weld material of the weld is too convex and the welding fails to meet the standards, a convex welding scraper 440 that is in contact with the surface of the weld will be subjected to a reverse extrusion force at its outer end fan-shaped scraper, which will eventually provide initial kinetic energy for the deep welding robot arm 300 to detach. At the same time, the angle-adjustable fixed outer frame 430 and the limit rail 480 can also provide sufficiently stable support for the deep welding robot arm 300 after the robot arm is tilted, so as to avoid the deep welding robot arm 300 from shaking due to malfunction.

[0066] The working principle and use process of the present invention are as follows: the connecting rod 490 is movably installed in the hole of the deep welding robot arm 300 in advance, and the connecting rod 490 is movably installed in the slideway inside the limit rail 480, and the combined limit rail 480 is movably installed on the top of the two outer frames 430 through the shaft rod 470, and one end of the shaft rod 470 is bound by a fastening bolt to ensure that the limit rail 480 and the deep welding robot arm 300 with the adjusted inclination angle are fixed, and then the projection welding scraper 440 is fixedly installed in the outer frame 430, and the two clamps 450 are fixedly installed in the two horizontal holes at the outer end of the projection welding scraper 440, and the detector 460 is fixedly installed in the inside of the two clamps 450, and then the two sliders 410 are respectively welded to the bottom ends of the two outer frames 430, and the lock buckle 420 is fixedly installed by multiple The two bolts are installed on two adjacent sliders 410. At this time, the two sliders 410 are respectively located in the two transverse grooves inside the protective pad 250, and the bottom ends of the two sliders 410 fit into the two grooves at one end of the support plate 220. At this time, the protective pad 250 and the support plate 220 fixed by the two locking bolts can limit the two groups of sliders 410 and the outer frame 430 after the combination, and the two extended guide rods 260 that penetrate into the protective pad 250 cooperate with the two compression springs 270 to apply a constant elastic force to the two sliders 410. Then, the lock buckle 420 is locked on the column head at the outer end of the locking pin 290. At this time, the deep welding robot arm 300 that has been pre-adjusted, its welding end is in contact with the weldment, and the fan-shaped scraper at the outer end of the projection welding scraper 440 will fit the outside of the weld.

[0067] During use, as the servo motor 150 runs, its internal transmission shaft will rotate in conjunction with the screw 160, and the base 210 and the support plate 220 will move horizontally at a uniform speed along the top of the ground rail 110, and the calibrated storage plate 230 will drive the deep welding robot arm 300 to move horizontally along the outside of the weldment. As the welding on the weld progresses, once the welding part on the weld is too convex, the two convex welding scrapers 440 on both sides of the welding end of the deep welding robot arm 300 can fit the convex part on the weld in real time. Once the welding protrusion is too convex due to abnormal welding, the abnormal welding protrusion will apply a reverse force to the convex welding scraper 440, and then the locking pin 290 will be squeezed out from the inside of the convex welding scraper 440. Finally, the outer frame 430 pushed horizontally by the two columns 280 will drive the limit rail 480 and the deep welding robot arm 300 to separate from the weldment to avoid continuous damage to the weldment caused by abnormal welding.

[0068] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A double ground rail deep penetration welding robot, comprising a deep welding robot arm (300), characterized in that: The invention also comprises a mis-welding push-off mechanism (400) arranged outside the deep welding robot arm (300), a boosting mechanism (200) installed directly below the deep welding robot arm (300), and a bearing mechanism (100) installed outside the boosting mechanism (200), wherein the mis-welding push-off mechanism (400) is movably installed on the boosting mechanism (200); The boost mechanism (200) comprises a support plate (220), a protective pad (250) arranged on the top of the support plate (220), two extended guide rods (260) installed inside the protective pad (250), a compression spring (270) arranged outside the extended guide rod (260), a column (280) installed on the top of the protective pad (250), and a locking pin (290) installed in the column (280); The mis-welding push-off mechanism (400) comprises a connecting rod (490) penetrating into the deep welding robot arm (300), a limit rail (480) arranged outside the connecting rod (490), a shaft rod (470) installed inside the limit rail (480), two outer frames (430) installed on the shaft rod (470), and a projection welding scraper (440) fixedly installed in the outer frame (430) and attached to the surface of the weldment.

2. A dual ground rail deep penetration welding robot according to claim 1, characterized in that: The bearing mechanism (100) comprises a ground rail (110), a clamp (120) mounted at one end of the ground rail (110), a bearing (130) mounted inside the clamp (120), a machine base (140) fixed to the other end of the ground rail (110) by bolts, a servo motor (150) fixed inside the machine base (140), and a screw rod (160) mounted on a transmission shaft inside the servo motor (150).

3. A dual ground rail deep penetration welding robot according to claim 2, characterized in that: A semi-cylindrical transverse groove recessed inwards is provided in the middle of the top surface of the ground rail (110), and the screw rod (160) is located in the middle of the semi-cylindrical transverse groove.

4. A dual ground rail deep penetration welding robot according to claim 1, characterized in that: The boosting mechanism (200) further comprises a storage plate (230) movably mounted on the top of the support plate (220) and a crossbeam (240) mounted in the column head at the bottom of the storage plate (230); The threaded sections at both ends of the crossbeam (240) are respectively connected to two limiting nuts.

5. A dual ground rail deep penetration welding robot according to claim 1, characterized in that: The boosting mechanism (200) further comprises a base (210) fixedly mounted on the middle portion of the bottom surface of the support plate (220), and a threaded hole adapted to fit the screw rod (160) is provided inside the base (210).

6. A dual ground rail deep penetration welding robot according to claim 5, characterized in that: The interior of the support plate (220) is provided with a slide groove adapted to fit the crossbeam (240), and the column head at the bottom of the storage plate (230) is adapted to penetrate into the slot hole at the top of the support plate (220).

7. A dual ground rail deep penetration welding robot according to claim 5, characterized in that: The support plate (220), the storage plate (230) and the protective pad (250) are all made of stainless steel material, and the number of the compression springs (270) is two.

8. A dual ground rail deep penetration welding robot according to claim 1, characterized in that: The mis-welding push-off mechanism (400) further comprises a slider (410) fixedly mounted on the bottom of an outer frame (430), two clamps (450) fixedly mounted on a projection welding scraper (440), and a detector (460) fixedly mounted in the two clamps (450); a fan-shaped scraper is mounted on the outer end of the projection welding scraper (440).

9. A dual ground rail deep penetration welding robot according to claim 1, characterized in that: The shaft rod (470) passes through the end of one of the outer frames (430) and is connected to a fastening bolt.

10. A dual ground rail deep penetration welding robot according to claim 9, characterized in that: A screw hole is provided on one side of the top of the slider (410), and a lock buckle (420) is provided on the top of the two sliders (410), and the lock buckle (420) is fixed to the two sliders (410) by bolts; The lock buckle (420) is provided with a pin hole inside thereof for being adapted to be snap-connected to the locking pin (290).

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