Welding mechanical arm for new energy automobile maintenance

Abstract

The invention discloses a welding mechanical arm for new energy automobile maintenance, which comprises a flaw detector main body arranged on a turning rod, a flaw detection probe is arranged at the push rod end part of a first electric push rod, the flaw detection probe is connected with the flaw detector main body through a signal connecting line, and the flaw detection probe is attached to a welding part. Welding maintenance needing to be maintained can be rapidly obtained, the situation that a new energy automobile is too large in size and needs to be manually inspected for a long time during maintenance is avoided, further, an adjusting assembly is arranged, the angle of the flaw detection probe is conveniently adjusted, the flaw detection probe is better attached to the maintenance position, and a wire bunching assembly is further arranged; in the extending and retracting process of the flaw detection probe, the signal connecting line is limited and prevented from shaking and falling off at will, and the stability of the line is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and in particular to a welding robot arm for repairing new energy vehicles. Background Art

[0002] New energy vehicles refer to vehicles that use unconventional automotive fuels as their power source, including pure electric vehicles, extended-range electric vehicles, hybrid vehicles, fuel cell electric vehicles, hydrogen engine vehicles, etc. In order to improve energy utilization and reduce environmental pollution, new energy vehicles are widely promoted and applied. In the production process of new energy vehicles, welding manipulators, also known as welding robots, are used. They are multi-purpose, reprogrammable automatic control operating machines with three or more programmable axes, used in the field of industrial automation. When repairing new energy vehicles, some cases require welding new or repaired parts together, and other cases require manual flaw detection, then grinding and eliminating the damaged parts, and finally manual repair welding.

[0003] The existing welding robot arm needs to perform manual flaw detection and eliminate damaged welding points first, and the spatial coordinates of the welding position need to be input into the operating machine. The operation time is long and the maintenance efficiency of new energy vehicles is low. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a welding robot arm for repairing new energy vehicles.

[0005] A welding mechanical arm for repairing new energy vehicles provided by the present invention comprises a base, a rotatable swivel seat is provided at the top of the base, a rotatable turning rod is provided at the top of the swivel seat, a small arm mounting seat is provided at one end of the turning rod, a rotatable small arm is provided at the small arm mounting seat away from the turning rod end, a rotatable welding gun is provided at the small arm away from the small arm mounting seat end, and the welding mechanical arm further comprises a flaw detection mechanism for flaw detection, and the flaw detection mechanism comprises:

[0006] The flaw detection main body comprises a flaw detector main body arranged on the turning rod, a first electric push rod is arranged on one side of the forearm, a flaw detection probe is arranged at the push rod end of the first electric push rod, the first electric push rod pushes the flaw detection probe to move along the extension direction of the forearm, and the flaw detection probe is connected to the flaw detector main body through a signal connection line;

[0007] An adjustment assembly, comprising two semicircular arc hoops connected to the push rod ends of the first electric push rod, and an adjustment part rotatably arranged inside the semicircular arc hoops, and the flaw detection probe is connected to the adjustment part;

[0008] A wire harness assembly is arranged on the side of the first electric push rod away from the forearm and is used for combing the signal connection wires.

[0009] According to the technical solution provided in the embodiment of the present application, the adjustment part includes two adjusting hemispheres arranged inside the two semicircular arc hoops, the two adjusting hemispheres are provided with connecting rods at the ends away from the first electric push rod, and the two connecting rods are provided with semicircular sleeves at the ends away from the adjusting hemispheres. The flaw detection probe is clamped between the two semicircular sleeves, and the end faces of the two adjusting hemispheres close to each other and the end faces of the two connecting rods close to each other are provided with wire passing grooves.

[0010] According to the technical solution provided in the embodiment of the present application, the adjustment component includes a first mounting plate detachably mounted on the end of the push rod of the first electric push rod, a fixed sleeve block is provided on the side of the first mounting plate away from the forearm, a movable sleeve block is provided on one side of the fixed sleeve block, and one end of the two semicircular arc hoops is detachably connected to the fixed sleeve block, and the other end is detachably connected to the movable sleeve block.

[0011] According to the technical solution provided in the embodiment of the present application, the wiring harness assembly includes two U-shaped rods arranged at the end of the first electric push rod away from the forearm, and the two U-shaped rods each have a cross rod body parallel to the first electric push rod, a fixed column is provided between the two cross rod bodies close to the flaw detection probe end, a movable column movable along the cross rod body is provided between the two cross rod bodies away from the flaw detection probe end, an adjustment spring is sleeved on the middle part of the two cross rod bodies, one end of the two adjustment springs is connected to the movable column, and the other end is connected to the fixed column, and the first electric push rod is provided with a first fixing clamp for fixing the signal connecting line close to the fixed column end.

[0012] According to the technical solution provided in the embodiment of the present application, a grinding mechanism is provided at the end of the forearm away from the first electric push rod for grinding away damaged welding materials.

[0013] According to the technical solution provided in the embodiment of the present application, the grinding mechanism includes:

[0014] A grinding part, comprising a fixing bar arranged at the end of the forearm away from the first electric push rod, a main shaft is arranged inside the fixing bar, the axis extension direction of the main shaft is parallel to the extension direction of the forearm, a grinding head is arranged at the end of the main shaft away from the forearm mounting seat, and the main shaft can rotate and move along the extension direction of the forearm;

[0015] A first driving unit, used for driving the main shaft to move along the extension direction of the forearm;

[0016] The second driving unit is used to drive the main shaft to rotate.

[0017] According to the technical solution provided in the embodiment of the present application, the first driving part includes a second electric push rod arranged on the fixing bar, a second mounting plate is detachably mounted on the push rod end of the second electric push rod, and the second mounting plate is rotatably connected to the spindle away from the grinding head end through a connecting bearing;

[0018] The second driving part includes a micro motor arranged on the fixed bar, a driving gear is mounted on the output shaft end of the micro motor, a driven gear meshing with the driving gear is mounted in the middle of the main shaft, a long key groove extending along the axial direction is provided on the outer surface of the main shaft, and a connecting key is provided on the inner wall of the driving gear to be inserted into the long key groove.

[0019] According to the technical solution provided in the embodiment of the present application, a dust handling mechanism is also provided on the top surface of the forearm, and the dust handling mechanism includes a micro-blower arranged on the top surface of the forearm, and a blowing box and a dust collecting box are respectively provided on both sides of the micro-blower. A blowing pipe is provided at one end of the blowing box, and the outlet of the blowing pipe is facing the welding position of the welding gun. A dust collecting pipe is provided at one end of the dust collecting box, and a dust collecting bell is connected to the outlet of the dust collecting pipe, and the opening of the dust collecting bell faces the position of the grinding head for grinding away the welding material.

[0020] According to the technical solution provided in the embodiment of the present application, the dust handling mechanism also includes a filter assembly detachably installed inside the dust collecting box, which is used to collect dust that enters the dust collecting box through the dust collecting bell mouth and the dust collecting pipe.

[0021] According to the technical solution provided in the embodiment of the present application, the welding robot arm further includes a verification mechanism, and the verification mechanism includes:

[0022] A mounting part, comprising two L-shaped rods disposed on the base, a first transverse plate being disposed between the middle portions of the two L-shaped rods, and a second transverse plate being disposed between the top portions of the two L-shaped rods;

[0023] The verification unit includes a first infrared receiver arranged on the first horizontal plate, and a first infrared transmitter arranged on the upper arm corresponding to the first infrared receiver, and also includes a second infrared receiver arranged on the second horizontal plate, and a second infrared transmitter arranged on the lower arm corresponding to the second infrared receiver.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. A flaw detection mechanism is provided. By fitting the flaw detection probe to the welding position, the welding maintenance that needs to be repaired can be quickly obtained, avoiding the situation where the new energy vehicle is too large during maintenance and requires long-term manual inspection. Furthermore, an adjustment component is provided to facilitate the adjustment of the angle of the flaw detection probe, so that the flaw detection probe is closer to or fits the maintenance position better. A wire harness component is also provided to limit the signal connection line during the extension and retraction of the flaw detection probe to prevent it from shaking and falling at will, thereby improving the stability of the line.

[0026] 2. A grinding mechanism is provided, which drives the spindle to move through the first driving unit to achieve extension when in use and retraction when stored, and a second driving unit is provided to drive the spindle to rotate, driving the grinding head installed at one end of the spindle to rotate and grind, so as to achieve grinding away the damaged welding materials of the new energy vehicle. Furthermore, the long keyway provided on the spindle, the connecting key provided on the inner wall of the driven gear, and the connecting bearing provided on the second mounting plate and sleeved on the outside of the spindle, the three cooperate to achieve the purpose of driving the spindle to rotate through the driving gear without interfering with the extension and retraction of the spindle, thereby ensuring the purpose of stable grinding away the damaged welding materials of the new energy vehicle.

[0027] 3. A dust treatment mechanism is provided. The airflow formed by the micro fan flows into the dust collecting box through the dust collecting bell mouth, and then flows into the air blowing pipe through the air blowing box. It can not only collect the dust generated by the grinding mechanism during grinding, but also blow the welding surface to achieve the purpose of improving the grinding efficiency and welding efficiency. Furthermore, a filter component is also provided to filter out the dust entering the dust collecting box to prevent the dust from interfering with the blowing function of the air blowing pipe.

[0028] 4. A verification mechanism is provided. By setting the initial position, the infrared light emitted by the first infrared transmitter is received by the first infrared receiver, and the infrared light emitted by the second infrared transmitter is received by the second infrared receiver. When the swivel seat or the arm is rotated, the first infrared receiver does not receive the infrared light. After resetting the swivel seat or the arm, the infrared tube can be received again to obtain the rotation time. Compared with the time set by the operating machine, it can be judged whether the arm or the swivel seat can complete the action instruction on time, which plays a verification role. The same is true for the forearm and the turning rod, which is convenient for users to inspect and repair the robotic arm itself to avoid errors in the maintenance of new energy vehicles due to damage to the robotic arm.

[0029] In summary, the flaw detection mechanism can more quickly determine the location that needs repair, and then the grinding mechanism can clean the damaged welding points, and finally welding can be performed through the welding gun, which effectively speeds up the maintenance efficiency of new energy vehicles and solves the problem of low efficiency caused by manual flaw detection and elimination of welding points during the maintenance of existing new energy vehicles. A dust treatment mechanism is also set up to reduce the interference of dust on welding and grinding, and improve welding efficiency and grinding efficiency.

[0030] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0032] Figure 1 A schematic diagram of the structure of a welding robot arm provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the structure of a flaw detection mechanism provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the structure of the adjustment component provided in the embodiment of the present application;

[0035] Figure 4 A schematic diagram of the structure of a wiring harness assembly provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of the structure of the grinding mechanism provided in the embodiment of the present application;

[0037] Figure 6 for Figure 5 Schematic diagram of the enlarged structure of the A area in the middle;

[0038] Figure 7 A schematic diagram of a half-section structure of a grinding mechanism provided in an embodiment of the present application;

[0039] Figure 8 A schematic diagram of the structure of the dust treatment mechanism provided in the embodiment of the present application;

[0040] Fig. 9 A schematic cross-sectional structure diagram of an air blowing box and a dust collecting box provided in an embodiment of the present application;

[0041] Fig.10 A schematic diagram of the structure of the verification mechanism provided in an embodiment of the present application.

[0042] Numbers in the figure:

[0043] 1. Base; 11. Swivel seat; 12. Upper arm; 13. Turn bar; 14. Lower arm fixing seat; 15. Lower arm; 16. Welding gun; 17. Mounting seat;

[0044] 2. Flaw detection mechanism; 21. Flaw detector body; 22. Signal connection line; 23. Flaw detection probe; 24. First electric push rod; 25. First mounting plate;

[0045] 26, adjustment assembly; 261, fixed sleeve; 262, slot; 263, semicircular arc hoop; 264, insert; 265, movable sleeve; 266, first through hole; 267, adjustment hemisphere; 268, connecting rod; 269, semicircular sleeve; 2610, wire channel;

[0046] 27. Cable harness assembly; 271. U-shaped rod; 272. Fixed column; 273. Movable column; 274. Adjustment spring; 275. First fixing clip;

[0047] 3. Grinding mechanism; 31. Fixing bar; 32. Spindle; 33. Grinding head; 34. Connecting bearing; 35. Second mounting plate; 36. Second electric push rod; 37. Long keyway; 38. Driven gear; 39. Connecting key; 310. Limit baffle; 311. Driving gear; 312. Micro motor;

[0048] 4. Dust handling mechanism; 41. Micro fan; 42. Air blowing box; 43. Air blowing pipe; 44. Dust collecting box; 45. Dust collecting pipe; 46. Dust collecting bell mouth; 47. Second fixing clip; 48. Mounting internal thread hole; 49. Filter cartridge; 410. Filter screen; 411. Knob; 412. First sealing gasket; 413. Second sealing gasket; 414. Third fixing clip;

[0049] 5. Verification mechanism; 51. Second through hole; 52. L-shaped rod; 53. Locking nut; 54. Locking plate; 55. First horizontal plate; 56. First infrared receiver; 57. Second horizontal plate; 58. Second infrared receiver; 59. First infrared transmitter; 510. Second infrared transmitter. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0051] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0052] Please refer to Figures 1 to 10The embodiment of the present invention provides a welding robot arm for repairing new energy vehicles, including a base 1, a rotatable swivel seat 11 is provided at the top of the base 1, a rotatable turning rod 13 is provided at the top of the swivel seat 11, a small arm fixing seat 14 is provided at one end of the turning rod 13, a self-rotating small arm 15 is provided at the end of the small arm fixing seat 14 away from the turning rod 13, and a rotatable welding gun 16 is provided at the end of the small arm 15 away from the small arm fixing seat 14. In the prior art, the swivel seat 11, the big arm 12, the turning rod 13, the small arm 15 and the welding gun 16 are all connected to the control terminal, and the function of controlling the overall operation of the robot arm is realized through programming in the control terminal. In addition, the welding robot arm also includes a flaw detection mechanism 2 for flaw detection, and the flaw detection mechanism 2 includes:

[0053] The flaw detection main body includes a flaw detector main body 21 arranged on the turning rod 13, a first electric push rod 24 is arranged on one side of the small arm 15, and a flaw detection probe 23 is arranged at the push rod end of the first electric push rod 24. The first electric push rod 24 pushes the flaw detection probe 23 to move along the extension direction of the small arm 15, and the flaw detection probe 23 is connected to the flaw detector main body 21 through a signal connection line 22; Figure 1 As shown, the first electric push rod 24 is connected to the control terminal, and the extension and retraction of the corresponding push rod are realized by programming in the control terminal. The flaw detector body 21 is connected to the control terminal. After flaw detection at the designated position, the information on whether damage occurs is transmitted to the control terminal. The control terminal records the coordinate information of the damaged position for subsequent grinding and repair welding. Optionally, a mounting seat 17 is provided on the turning rod 13, and the flaw detector body 21 is arranged on the mounting seat 17. The first electric push rod 24 extends forward to drive the flaw detection probe 23 to extend, and the push rod of the first electric push rod 24 retracts to drive the flaw detection probe 23 to be retracted, thereby ensuring that the flaw detection probe 23 is stored without interfering with other operations.

[0054] The adjustment assembly 26 includes two semicircular arc hoops 263 connected to the push rod ends of the first electric push rod 24, and a rotatable adjustment part arranged inside the semicircular arc hoops 263, and the flaw detection probe 23 is connected to the adjustment part; Figure 2 As shown, the adjusting portion rotates inside the two semicircular arc hoops 263, so that the flaw detection probe 23 rotates accordingly, and thus the flaw detection probe 23 can better approach or fit the surface of the detection position, thereby ensuring the accuracy of flaw detection.

[0055] The wire harness assembly 27 is disposed on the side of the first electric push rod 24 away from the small arm 15 and is used to organize the signal connection line 22 to prevent the flaw detection probe 23 from loosening due to line confusion and the signal connection line 22 from interfering with the small arm 15.

[0056] In some preferred embodiments, the adjustment part includes two adjustment hemispheres 267 disposed inside the two semicircular arc hoops 263, the ends of the two adjustment hemispheres 267 away from the first electric push rod 24 are provided with connecting rods 268, the ends of the two connecting rods 268 away from the adjustment hemispheres 267 are provided with semicircular sleeves 269, the flaw detection probe 23 is clamped between the two semicircular sleeves 269, and the end surfaces of the two adjustment hemispheres 267 close to each other and the end surfaces of the two connecting rods 268 close to each other are provided with wire-through grooves 2610;

[0057] like Figure 2 and Figure 3 As shown, two semicircular sleeves 269 are used to clamp the flaw detection probe 23, and the wire channel 2610 is used to place the signal connection line 22. The complete sphere composed of the two adjusting hemispheres 267 rotates in the two semicircular arc hoops 263, and the signal connection line 22 is in the wire channel 2610, which will not interfere with the rotation of the two adjusting hemispheres 267. In addition, the circular diameter composed of the outer edges of the cross-sections of the two connecting rods 268 is smaller than the outer diameter of the semicircular sleeve 269. If the semicircular sleeve 269 is directly connected to the adjusting hemisphere 267, the rotation range of the adjusting hemisphere 267 is small. By setting the connecting rod 268 to connect the semicircular sleeve 269 and the adjusting hemisphere 267, the rotation range of the adjusting hemisphere 267 is increased, which makes it easier for the flaw detection probe 23 to better approach or fit the surface of the detection position.

[0058] In some preferred embodiments, the adjustment assembly 26 includes a first mounting plate 25 detachably mounted on the end of the push rod of the first electric push rod 24, a fixed sleeve block 261 is provided on the side of the first mounting plate 25 away from the forearm 15, a movable sleeve block 265 is provided on one side of the fixed sleeve block 261, and two semicircular arc hoops 263 are detachably connected to the fixed sleeve block 261 at one end and detachably connected to the movable sleeve block 265 at the other end.

[0059] like Figure 3 As shown, by separating the two semi-circular arc hoops 263 from the fixed sleeve block 261 and the movable sleeve block 265 respectively, the two semi-circular arc hoops 263 can be separated. After separation, the adjustment part is taken out, and the two adjustment hemispheres 267 are separated, so that the flaw detection probe 23 and the signal connection line 22 can be taken out for replacement or maintenance. Furthermore, both ends of the two semi-circular arc hoops 263 are provided with plugs 264 extending away from each other, and the movable sleeve block 265 and the fixed sleeve block 261 are provided with two slots 262 on the end surfaces close to each other. The two plugs 264 at one end of the two semi-circular arc hoops 263 are respectively inserted into the two slots 262 of the fixed sleeve block 261, and the two plugs 264 at the other end are respectively inserted into the two slots 262 of the movable sleeve block 265, and each plug 264, the movable sleeve block 265 and the fixed sleeve block 261 are provided with a coaxial first through hole 266, refer to Figure 2 and Figure 3By passing the bolt through the first through hole 266 and cooperating with the nut, the two semicircular arc hoops 263 can be detachably installed, and the insert 264 is inserted into the corresponding slot 262, so that the two semicircular arc hoops 263 clamp the two adjusting hemispheres 267, and the two adjusting hemispheres 267 are fixed and installed. In summary, the installation and disassembly and replacement of the two adjusting hemispheres 267 and the flaw detection probe 23 are realized, and the two adjusting hemispheres 267 are ensured to rotate in the two semicircular arc hoops 263, thereby achieving the purpose of driving the flaw detection probe 23 to rotate.

[0060] In some preferred embodiments, the harness assembly 27 includes two U-shaped rods 271 disposed at the end of the first electric push rod 24 away from the small arm 15, and the two U-shaped rods 271 each have a cross bar body parallel to the first electric push rod 24, a fixed column 272 is disposed between the ends of the two cross bars close to the flaw detection probe 23, and a movable column 273 movable along the cross bar body is disposed between the ends of the two cross bars away from the flaw detection probe 23, and an adjusting spring 274 is sleeved in the middle of the two cross bars, one end of the two adjusting springs 274 is connected to the movable column 273, and the other end is connected to the fixed column 272, and a first fixing clamp 275 for fixing the signal connection line 22 is disposed at the end of the first electric push rod 24 close to the fixed column 272;

[0061] like Figure 4 As shown, both ends of the U-shaped rod 271 are connected to the side surface of the first electric push rod 24, and a part of the signal connection line 22 is restricted on the surface of the first electric push rod 24 by the first fixing clamp 275, and then the part of the signal connection line 22 is bent into an S shape by the movable column 273. When the first electric push rod 24 pushes the first mounting plate 25, the semicircular arc hoop 263, the adjusting hemisphere 267, the connecting rod 268, the semicircular sleeve 269 and the flaw detection probe 23 are driven to extend forward, and the signal connection line 22 moves with the flaw detection probe 23, pulling the movable column 273 to move along the cross bar body toward the fixed column 272 side, and then the adjusting spring 274 is compressed to continue to ensure the stability of the signal connection line 22. When the flaw detection probe 23 shrinks backward, the stress of the adjusting spring 274 to restore the original shape drives the movable column 273 back to its original position, ensuring that the signal connection line 22 is always restricted by the movable column 273 and the first fixing clamp 275 during the whole process, so as to avoid the situation where the signal connection line 22 interferes with the forearm 15 due to being scattered.

[0062] In some preferred embodiments, a grinding mechanism 3 is provided at the end of the small arm 15 away from the first electric push rod 24 for grinding away damaged welding materials; Figure 1 and Figure 5 As shown, the damaged welding material is ground off to facilitate the subsequent maintenance welding of new energy vehicles by the robotic arm.

[0063] In some preferred embodiments, the grinding mechanism 3 comprises:

[0064] The grinding part includes a fixing bar 31 disposed at the end of the forearm 15 away from the first electric push rod 24, a main shaft 32 is disposed inside the fixing bar 31, and the axis extension direction of the main shaft 32 is parallel to the extension direction of the forearm 15, and a grinding head 33 is disposed at the end of the main shaft 32 away from the forearm fixing seat 14, and the main shaft 32 can rotate and move along the extension direction of the forearm 15;

[0065] A first driving unit, used for driving the main shaft 32 to move along the extension direction of the small arm 15;

[0066] A second driving unit, used for driving the main shaft 32 to rotate;

[0067] like Figure 5 , Figure 6 and Figure 7 As shown, the main shaft 32 is driven to move by the first driving unit so as to be extended when in use and retracted when stored, and a second driving unit is provided to drive the main shaft 32 to rotate, thereby driving the grinding head 33 installed at one end of the main shaft 32 to rotate and grind, thereby grinding away the damaged welding materials of the new energy vehicle.

[0068] In some preferred embodiments, the first driving part includes a second electric push rod 36 disposed on the fixing bar 31, and a second mounting plate 35 is detachably mounted on the push rod end of the second electric push rod 36, and the second mounting plate 35 is rotatably connected to the end of the spindle 32 away from the grinding head 33 through a connecting bearing 34;

[0069] The second driving part includes a micro motor 312 arranged on the fixed bar 31, the output shaft end of the micro motor 312 is fitted with a driving gear 311, the middle part of the main shaft 32 is fitted with a driven gear 38 meshing with the driving gear 311, the outer surface of the main shaft 32 is provided with a long key groove 37 extending along the axial direction, and the inner wall of the driving gear 311 is provided with a connecting key 39 that is inserted into the long key groove 37.

[0070] like Figure 5 , Figure 6 and Figure 7As shown, the second electric push rod 36 is connected to the control terminal, and the extension and retraction of the corresponding push rod are realized by programming in the control terminal. The micro motor 312 is also connected to the control terminal, and the micro motor 312 is turned on and off by programming in the control terminal, driving the driving gear 311 to rotate, and driving the driven gear 38 to rotate through the meshing relationship. Because the connecting key 39 on the inner wall of the driven gear 38 is inserted into the long key groove 37 of the main shaft 32, the driven gear 38 will drive the main shaft 32 and the grinding head 33 at one end of the main shaft 32 to rotate, and finally achieve the purpose of grinding the damaged welding material by the grinding head 33. In addition, the second electric push rod 36 realizes the extension and retraction of the main shaft 32 through the second mounting plate 35, and realizes the grinding use and idle storage of the grinding head 33. Further, the main shaft 32 is connected to the second mounting plate 35 through the connecting bearing 34. Therefore, when the main shaft 32 rotates, it will not interfere with the second mounting plate 35 and the second electric push rod 36, nor will it interfere with the extension and retraction; further, as Figure 6 As shown, a limit baffle 310 is provided on the side of the driven gear 38 away from the fixing bar 31 to limit the displacement of the driven gear 38 along the direction of the main shaft 32. Optionally, as shown in FIG. Figure 7 As shown, a third through hole is provided in the middle of the limiting baffle 310 for the main shaft 32 to pass through, which can more evenly limit the deviation of the driven gear 38.

[0071] In some preferred embodiments, a dust handling mechanism 4 is also provided on the top surface of the forearm 15, and the dust handling mechanism 4 includes a micro fan 41 arranged on the top surface of the forearm 15, and a blowing box 42 and a dust collecting box 44 are respectively provided on both sides of the micro fan 41. A blowing pipe 43 is provided at one end of the blowing box 42, and the outlet of the blowing pipe 43 faces the welding position of the welding gun 16. A dust collecting pipe 45 is provided at one end of the dust collecting box 44, and a dust collecting bell mouth 46 is connected to the outlet of the dust collecting pipe 45, and the opening of the dust collecting bell mouth 46 faces the position where the grinding head 33 grinds away the welding material.

[0072] like Figure 8 As shown, the micro fan 41 is connected to the control terminal, and the micro fan 41 is turned on and off by programming in the control terminal. After the micro fan 41 is started, an airflow is formed from the dust collecting box 44 to the air blowing box 42, and the airflow entering the air blowing box 42 flows out along the air blowing pipe 43, and then blows to the welding position of the welding gun 16, so as to avoid dust from appearing at the welding position to interfere with the maintenance welding of new energy vehicles. In addition, after the gas in the dust collecting box 44 flows away, the external airflow enters the dust collecting box 44 along the dust collecting bell mouth 46 and the dust collecting pipe 45, refer to Figure 5 and Figure 8The dust collecting bell mouth 46 sucks the dust generated near the grinding head 33 into the dust collecting bell mouth 46, thereby reducing the interference of dust during the grinding process on subsequent grinding and improving the grinding effect. Optionally, a second fixing clamp 47 is provided at the top of the small arm 15 near the dust collecting bell mouth 46 to limit the position of the dust collecting pipe 45 and ensure the stability of the dust collecting bell mouth 46. In addition, a third fixing clamp 414 is provided on the side walls of the welding gun 16 and the small arm 15 to limit the position of the blowing pipe 43 and ensure that it can blow toward the welding position to improve the stability of the blowing pipe 43.

[0073] In some preferred embodiments, the dust handling mechanism 4 further includes a filter assembly detachably mounted inside the dust collecting box 44 , for collecting dust entering the dust collecting box 44 through the dust collecting bell mouth 46 and the dust collecting pipe 45 .

[0074] like Fig. 9 As shown, dust is prevented from damaging the micro fan 41, and dust is also prevented from being discharged from the air blowing pipe 43 with the air flow, so as to prevent the formation of dust interfering with the blowing of the air blowing pipe 43. The dust collecting box 44 is provided with an internal threaded hole 48 at the end away from the dust collecting pipe 45, and a filter cartridge 49 is threadedly connected through the internal threaded hole 48. The bottom and top ends of the filter cartridge 49 are respectively provided with filter screens 410, and the micro fan 41 is located on the left side of the filter cartridge 49. The airflow entering the dust collecting box 44 will pass through the filter screen 410 and flow to the micro fan 41, so as to achieve the purpose of filtering. In addition, one end of the filter cartridge 49 is provided with an end A knob 411 is provided at the end of the end cap away from the filter cartridge 49, which is convenient for the user to rotate the filter cartridge 49 for threaded connection; a first sealing gasket 412 is provided at the end of the end cap away from the knob 411, which is used to seal the gap between the end cap and the dust box 44 to avoid airflow leakage; a second sealing gasket 413 is provided at the end of the filter cartridge 49 away from the end cap, and the second sealing gasket 413 abuts against the inner wall of the dust box 44 to avoid the airflow carrying dust from directly entering the dust box 44 without passing through the filter cartridge 49, thereby ensuring the filtering effect and facilitating the removal and cleaning of the filter cartridge 49 to ensure a continuous and long-lasting filtering effect.

[0075] In some preferred embodiments, the welding robot arm further includes a verification mechanism 5, and the verification mechanism 5 includes:

[0076] The mounting part is provided with two L-shaped rods 52 on the base 1, a first horizontal plate 55 is provided between the middle parts of the two L-shaped rods 52, and a second horizontal plate 57 is provided between the tops of the two L-shaped rods 52;

[0077] The verification unit includes a first infrared receiver 56 arranged on the first horizontal plate 55, and a first infrared transmitter 59 arranged on the upper arm 12 and corresponding to the first infrared receiver 56. It also includes a second infrared receiver 58 arranged on the second horizontal plate 57, and a second infrared transmitter 510 arranged on the lower arm 15 and corresponding to the second infrared receiver 58.

[0078] like Fig.10 As shown, the first infrared receiver 56, the first infrared transmitter 59, the second infrared receiver 58 and the second infrared transmitter 510 in this embodiment are all connected to the control terminal. In the initial state, the first infrared receiver 56 can receive the infrared light of the first infrared transmitter 59, and the second infrared receiver 58 can receive the infrared light of the second infrared transmitter 510. When performing a calibration, the control terminal drives the rotating seat 11 or the arm 12 to rotate for a set time and then resets. The first infrared receiver 56 will not receive the infrared light of the first infrared transmitter 59 for a period of time. The control terminal records it as the calibration time of the rotating seat 11 or the arm 12, and compares the calibration time with the set time. If the calibration time is too long, it means that the robot arm cannot operate according to the set time and needs to be repaired by the user. , to avoid mistakes in the maintenance of new energy vehicles caused by damage to the mechanical arm. Furthermore, the same applies to the small arm 15 and the turning rod 13, that is, the control terminal drives the small arm 15 and the turning rod 13 to rotate and reset after a set time. The second infrared receiver 58 will not receive the infrared light of the second infrared transmitter 510 for a period of time; in addition, the bottom of the base 1 is provided with two second through holes 51 that penetrate the base 1 and extend left and right. The bottoms of the two L-shaped rods 52 respectively pass through the two second through holes 51 and are provided with locking nuts 53 through threaded connections. A locking plate 54 is then provided between the two L-shaped rods 52. The locking plate 54 and the two locking nuts 53 respectively abut against the two side walls of the base 1 to achieve the installation of the two L-shaped rods 52, and it is also convenient to disassemble the L-shaped rods 52 to prevent them from interfering with the normal process of maintenance of new energy vehicles.

[0079] The use process of the robot arm in this application:

[0080] First, the control terminal controls the push rod of the first electric push rod 24 to extend, driving the first mounting plate 25, the semicircular arc hoop 263, the adjusting hemisphere 267, the connecting rod 268, the semicircular sleeve 269 and the flaw detection probe 23 to extend forward, and the signal connection line 22 moves with the flaw detection probe 23, pulling the movable column 273 to move along the cross bar body toward the fixed column 272 side, and then adjusting the spring 274 to compress, and continue to ensure the stability of the signal connection line 22; at this time, the control terminal controls the rotation seat 11, the upper arm 12 and the lower arm 15 to operate, so that the flaw detection probe 23 is close to or fits the position where the flaw detection is required, and all the flaw detection positions are detected, and the flaw detector body 21 transmits the information of whether there is damage to the control terminal, and the control terminal records the spatial coordinate information of the damaged position, and then the control terminal controls the push rod of the first electric push rod 24 to retract, driving the flaw detection probe 23 to retract backward, and adjusting the spring 274 to restore the original stress to drive the movable column 273 back to the original position, and the flaw detection operation is completed at this time;

[0081] Next, the control terminal controls the push rod of the second electric push rod 36 to retract, driving the main shaft 32 to extend outward, and the control terminal controls the rotation seat 11, the upper arm 12 and the lower arm 15 to operate again, so that the grinding head 33 is close to the spatial coordinate information of the above-mentioned damaged position, and then the control terminal starts the micro motor 312 to drive the driving gear 311 to rotate, and drives the driven gear 38 to rotate through the meshing relationship, and the connecting key 39 on the inner wall of the driven gear 38 is inserted into the long key groove 37 of the main shaft 32, driving the main shaft 32 and the grinding head 33 at one end of the main shaft 32 to rotate, and finally achieving the purpose of grinding the damaged welding material by the grinding head 33. After grinding, the control terminal controls the push rod of the second electric push rod 36 to extend, so that the grinding head 33 is idle and stored;

[0082] Finally, the control terminal controls the rotation seat 11, the upper arm 12 and the lower arm 15 to operate again, and the welding gun 16 welds the damaged position that has been polished, thus completing the maintenance welding operation of the entire new energy vehicle;

[0083] In addition, during the entire process described above, after the control terminal starts the micro-blower 41, the air flow flows out along the air blowing pipe 43 and blows toward the welding position of the welding gun 16, thereby preventing dust from appearing at the welding position to interfere with the maintenance welding of new energy vehicles. The dust collecting bell mouth 46 sucks the dust generated near the grinding head 33 into the dust collecting bell mouth 46, thereby reducing the interference of dust during the grinding process on subsequent grinding and improving the grinding effect.

[0084] In the description of this specification, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0085] In the description of this specification, the description of the terms "one embodiment", "some embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0086] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A welding robot arm for repairing new energy vehicles, comprising a base (1), a rotatable swivel seat (11) being provided at the top of the base (1), a rotatable turning rod (13) being provided at the top of the swivel seat (11), a small arm mounting seat (14) being provided at one end of the turning rod (13), a rotatable small arm (15) being provided at the end of the small arm mounting seat (14) away from the turning rod (13), and a rotatable welding gun (16) being provided at the end of the small arm (15) away from the small arm mounting seat (14), wherein: The welding robot arm further comprises a flaw detection mechanism (2) for flaw detection, wherein the flaw detection mechanism (2) comprises: The flaw detection main body part comprises a flaw detector main body (21) arranged on the turning rod (13), a first electric push rod (24) is arranged on one side of the small arm (15), a flaw detection probe (23) is arranged at the push rod end of the first electric push rod (24), the first electric push rod (24) pushes the flaw detection probe (23) to move along the extension direction of the small arm (15), and the flaw detection probe (23) is connected to the flaw detector main body (21) through a signal connection line (22); An adjustment assembly (26) comprising two semicircular arc hoops (263) connected to the push rod ends of the first electric push rod (24), and an adjustment portion rotatably arranged inside the semicircular arc hoops (263), and the flaw detection probe (23) is connected to the adjustment portion; A wire harness assembly (27) is arranged on the side of the first electric push rod (24) away from the small arm (15) and is used for combing the signal connection line (22).

2. The welding robot arm for new energy vehicle maintenance according to claim 1 is characterized in that: The adjustment part includes two adjustment hemispheres (267) arranged inside the two semicircular arc hoops (263), and the ends of the two adjustment hemispheres (267) away from the first electric push rod (24) are provided with connecting rods (268), and the ends of the two connecting rods (268) away from the adjustment hemispheres (267) are provided with semicircular sleeves (269), the flaw detection probe (23) is clamped between the two semicircular sleeves (269), and the end faces of the two adjustment hemispheres (267) close to each other and the end faces of the two connecting rods (268) close to each other are provided with wire passage grooves (2610).

3. The welding robot arm for new energy vehicle maintenance according to claim 1 is characterized in that: The adjustment assembly (26) comprises a first mounting plate (25) detachably mounted on the end of the push rod of the first electric push rod (24); a fixed sleeve block (261) is disposed on the side of the first mounting plate (25) away from the forearm (15); a movable sleeve block (265) is disposed on one side of the fixed sleeve block (261); one end of the two semicircular arc hoops (263) is detachably connected to the fixed sleeve block (261), and the other end is detachably connected to the movable sleeve block (265).

4. The welding robot arm for new energy vehicle maintenance according to claim 1, characterized in that: The harness assembly (27) comprises two U-shaped rods (271) arranged at the end of the first electric push rod (24) away from the small arm (15), each of the two U-shaped rods (271) has a cross rod body parallel to the first electric push rod (24), a fixed column (272) is arranged between the ends of the two cross rod bodies close to the flaw detection probe (23), a movable column (273) movable along the cross rod body is arranged between the ends of the two cross rod bodies away from the flaw detection probe (23), an adjustment spring (274) is sleeved in the middle of the two cross rod bodies, one end of the two adjustment springs (274) is connected to the movable column (273), and the other end is connected to the fixed column (272), and a first fixing clamp (275) for fixing the signal connection line (22) is arranged at the end of the first electric push rod (24) close to the fixed column (272).

5. The welding robot arm for new energy vehicle maintenance according to claim 1 is characterized in that: The end of the small arm (15) away from the first electric push rod (24) is provided with a grinding mechanism (3) for grinding away damaged welding materials.

6. The welding robot arm for new energy vehicle maintenance according to claim 5 is characterized in that: The grinding mechanism (3) comprises: The grinding part comprises a fixing bar (31) arranged at the end of the forearm (15) away from the first electric push rod (24), a main shaft (32) is arranged inside the fixing bar (31), the axis extension direction of the main shaft (32) is parallel to the extension direction of the forearm (15), a grinding head (33) is arranged at the end of the main shaft (32) away from the forearm mounting seat (14), and the main shaft (32) can rotate and move along the extension direction of the forearm (15); A first driving unit, used for driving the main shaft (32) to move along the extension direction of the small arm (15); The second driving unit is used to drive the main shaft (32) to rotate.

7. The welding robot arm for new energy vehicle maintenance according to claim 6 is characterized in that: The first driving part comprises a second electric push rod (36) arranged on the fixing bar (31), a second mounting plate (35) being detachably mounted on the push rod end of the second electric push rod (36), and the second mounting plate (35) being rotatably connected to the end of the main shaft (32) away from the grinding head (33) via a connecting bearing (34); The second driving part comprises a micro motor (312) arranged on the fixing bar (31), the output shaft end of the micro motor (312) is sleeved with a driving gear (311), the middle part of the main shaft (32) is sleeved with a driven gear (38) meshing with the driving gear (311), the outer surface of the main shaft (32) is provided with a long key groove (37) extending along the axial direction, and the inner wall of the driving gear (311) is provided with a connecting key (39) that is inserted into the long key groove (37).

8. The welding robot arm for new energy vehicle maintenance according to claim 6, characterized in that: The top surface of the small arm (15) is also provided with a dust handling mechanism (4), and the dust handling mechanism (4) includes a micro fan (41) arranged on the top surface of the small arm (15), and a blowing box (42) and a dust collecting box (44) are respectively provided on both sides of the micro fan (41), and a blowing pipe (43) is provided at one end of the blowing box (42), and the outlet of the blowing pipe (43) faces the welding position of the welding gun (16), and a dust collecting pipe (45) is provided at one end of the dust collecting box (44), and the outlet of the dust collecting pipe (45) is connected to a dust collecting bell mouth (46), and the opening of the dust collecting bell mouth (46) faces the position of the grinding head (33) for grinding away welding materials.

9. The welding robot arm for new energy vehicle maintenance according to claim 8, characterized in that: The dust handling mechanism (4) further comprises a filter assembly detachably mounted inside the dust collecting box (44) for collecting dust that enters the dust collecting box (44) through the dust collecting bell mouth (46) and the dust collecting pipe (45).

10. The welding robot arm for new energy vehicle maintenance according to claim 1, characterized in that: The welding robot arm further comprises a verification mechanism (5), wherein the verification mechanism (5) comprises: A mounting portion, comprising two L-shaped rods (52) arranged on the base (1), a first transverse plate (55) being arranged between the middle parts of the two L-shaped rods (52), and a second transverse plate (57) being arranged between the top parts of the two L-shaped rods (52); The verification unit includes a first infrared receiver (56) arranged on the first horizontal plate (55), and a first infrared transmitter (59) arranged on the upper arm (12) and corresponding to the first infrared receiver (56), and also includes a second infrared receiver (58) arranged on the second horizontal plate (57), and a second infrared transmitter (510) arranged on the lower arm (15) and corresponding to the second infrared receiver (58).

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