Built-in square tube partition plate welding robot and welding method

Abstract

The invention discloses a built-in square tube partition plate welding robot and a welding method, and relates to the technical field of automatic welding, the built-in square tube partition plate welding robot comprises a machine body and a motor mounting seat, one end of the machine body is connected with a wire feeder, the other end of the machine body is fixedly connected with a lead screw, the lead screw is spirally fixed with a gear nut, the machine body is fixedly connected with a steering engine I, and the output end of the steering engine I is fixedly connected with a driving gear A; the driving gear A and the gear nut form a gear pair, the other end of the lead screw is connected with a servo motor arranged in a motor installation base through a key, a welding machine bottom plate is fixedly connected to the bottom of the motor installation base, a driving sleeve piece is arranged in the motor installation base, and the driving sleeve piece is movably connected with connecting rod mechanisms arranged on the two sides of the motor installation base. A supporting plate is movably connected to the side, away from the motor mounting base, of the connecting rod mechanism, the welding robot makes diagonal contact with the square pipe through the supporting plate to achieve positioning, and the position of a welding gun is controlled for welding under cooperation of a servo motor and a steering engine. Tasks of automatic partition plate welding and multi-layer welding seam welding in the square pipe can be completed.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic welding, and in particular relates to a built-in square tube partition welding robot. The invention also relates to a built-in square tube partition welding method. Background Art

[0002] Square tube is a tubular material with a quadrilateral cross-section, usually made of metal, plastic or composite materials. It has high strength and rigidity and is widely used in machinery manufacturing, construction, metallurgy, highway guardrails, and steel structure fields. In order to improve the structural rigidity, thicker square tubes are generally used, or partitions are welded inside the tube. The thicker the square tube, the greater the manufacturing difficulty and cost. In contrast, welding partitions inside the square tube will not significantly increase the weight of the square tube, and can also meet the requirements of special working conditions with different rigidity at different positions.

[0003] Manual welding can be used for larger square tubes and shallower partitions, but for smaller square tubes and deeper partitions, the internal space of the square tube is narrow, and manual welding is very difficult, inefficient, and has poor quality consistency.

[0004] There are many difficulties in the automatic welding of the internal partition of the square tube. The square tube has various models and the internal dimensions are relatively small. In order to ensure a good welding effect, the partition needs to be sent to the welding position and the partition and the square tube need to have an accurate relative position during welding. During welding, in order to ensure the accuracy of the weld trajectory, the end effector holding the welding gun needs to have good flexibility. Considering that the partition may need to be welded in multiple layers to meet the technical requirements, the height of the welding gun must also be fine-tuned during welding. Summary of the invention

[0005] The object of the present invention is to provide a built-in square tube partition welding robot, which can realize the tasks of automatically welding partitions and welding multi-layer welds inside square tubes.

[0006] Another object of the present invention is to provide a method for welding a built-in square tube partition.

[0007] The first technical solution adopted by the present invention is that the built-in square tube partition welding robot includes a body and a motor mounting seat, one end of the body is connected to a wire feeder, the other end of the body is fixedly connected to a lead screw, the lead screw is spirally fixed with a gear nut, a servo I is fixedly connected to the body, the output end of the servo I is fixedly connected to a driving gear A, the driving gear A and the gear nut form a gear pair, the other end of the lead screw is connected to a servo motor arranged in the motor mounting seat through a key, the bottom of the motor mounting seat is fixedly connected to a welding machine bottom plate, a driving kit is arranged in the motor mounting seat, the driving kit is movably connected to a connecting rod mechanism arranged on both sides of the motor mounting seat, and the connecting rod mechanism is movably connected to a support plate on the side away from the motor mounting seat;

[0008] An outer arm is movably connected to one end of the machine body away from the wire feeder. The outer arm and the lead screw are located on opposite sides of the machine body. The outer arm is movably connected to a welding gun.

[0009] The present invention is also characterized in that:

[0010] The driving kit includes a cylinder mounting seat, the bottom of which is fixedly connected to the welding machine base plate, the air inlet end of the cylinder mounting seat passes through the welding machine base plate and is connected to a cylinder, the other end of the cylinder mounting seat is movably connected to a cylinder push rod, the end of the cylinder push rod away from the cylinder mounting seat is fixedly connected to a cylinder push plate, and both ends of the cylinder push plate are connected to a connecting rod mechanism.

[0011] The connecting rod structure is a fork arm type formed by the movably connected connecting rod I and connecting rod II, one end of the connecting rod I is movably connected to the outer wall of the motor mounting seat, and the other end is movably connected to one end of the support plate, one end of the connecting rod II is movably connected to the cylinder push plate, and the other end is movably connected to the other end of the support plate.

[0012] The machine body is fixedly connected with a steering gear II in the direction connected with the wire feeder, and the output end of the steering gear II is fixedly connected with a driving gear II;

[0013] The outer arm is fixedly connected with a driven gear II, the driving gear II and the driven gear II form a gear pair, the outer arm is fixedly connected with a steering gear III, the steering gear III is fixedly connected with a driving gear I, the driving gear I is meshed with a driven gear I, and the driven gear I is sleeved with the outer side of the welding gun.

[0014] The end of the outer wall of the screw rod away from the gear nut is sleeved with a sliding bearing for lubrication;

[0015] An electromagnet for adsorbing the square tube partition is embedded on the bottom plate of the welding machine.

[0016] The machine body is also fixedly connected with a lifting eye nut in the direction where the wire feeder is connected.

[0017] Another technical solution adopted by the present invention is a method for welding a built-in square tube partition, comprising the following steps:

[0018] S1: Place the welding robot into the corresponding position inside the square tube through the eye nut;

[0019] S2: The electromagnet adsorbs the square tube partition, so that the welding robot and the square tube partition are relatively fixed;

[0020] S3: The support plate is opened to position the welding robot;

[0021] S4: Adjust the posture of the welding robot;

[0022] S5: Control the spatial position of the welding gun by adjusting the steering gear II and the steering gear III;

[0023] S6: Weld the weld on one side of the diagonal support plate;

[0024] S7: the support plate is retracted;

[0025] S8: By controlling the servo motor, steering gear II and steering gear III, the welding robot posture and the end position of the welding gun are adjusted to weld the weld on the other side and complete a circle of welding:

[0026] S9: If the multi-layer welding is completed, enter S10; if the multi-layer welding is not completed, adjust the height of the machine body and cycle S4-S9;

[0027] S10: After welding is completed, the welding robot is moved out.

[0028] The beneficial effects of the present invention are:

[0029] (1) With the cooperation of the servo motor and the steering gear, the end welding gun of the welding robot of the present invention has three degrees of freedom and can flexibly adapt to welding requirements.

[0030] (2) The welding robot of the present invention adopts the design of gears and gear nuts to control the movement state of the lead screw and achieve slight adjustment of the height of the machine body, so that the welding gun can complete the welding of multi-layer welds.

[0031] (3) The welding robot of the present invention adopts a cylinder, a motor and a plurality of servos to ensure the positioning function of the welding machine, the requirements of multiple degrees of freedom during welding, and the slight up and down adjustment of the machine body when welding multi-layer welds to achieve the task of welding partitions inside square tubes. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the built-in square tube partition welding robot of the present invention;

[0033] Figure 2 It is a schematic diagram of the process of the built-in square tube partition welding method of the present invention;

[0034] Figure 3 It is a schematic diagram of the specific structure of the body and the outer arm of the built-in square tube partition welding robot of the present invention;

[0035] Figure 4 It is a structural schematic diagram of the supporting connecting rod of the built-in square tube partition welding robot of the present invention in a retracted state;

[0036] Figure 5 It is a structural schematic diagram of the support connecting rod in the built-in square tube partition welding robot of the present invention in an open state;

[0037] Figure 6 It is a schematic structural diagram of the bottom of the built-in square tube partition welding robot of the present invention after the partition is removed;

[0038] Figure 7 It is a cross-sectional view of the rotating part of the built-in square tube partition welding robot.

[0039] In the figure, 1. square tube, 2. wire feeder, 3. welding gun, 4. machine body, 5. lifting eye nut, 6. servo I, 7. driving gear A, 8. gear nut, 9. motor mounting seat, 10. square tube partition, 11. cylinder, 12. driven gear I, 13. driving gear I, 14. driving gear II, 15. servo II, 16. driven gear II, 17. outer arm, 18. servo III, 19. lead screw, 20. servo motor, 21. cylinder mounting seat, 22. welding machine bottom plate, 23. cylinder push rod, 24. push plate, 25. connecting rod I, 26. connecting rod II, 27. support plate, 28. key, 29. sliding bearing, 30. electromagnet. DETAILED DESCRIPTION

[0040] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Embodiment 1:

[0042] like Figure 1 , Figure 3 , Figure 4 and Figure 7As shown, the first technical solution proposed by the present invention is a built-in square tube partition welding robot, including a body 4 and a motor mounting seat 9, one end of the body 4 is connected to a wire feeder 2, the other end of the body 4 is fixedly connected to a lead screw 19, the lead screw 19 is spirally fixed with a gear nut 8, a steering gear Ⅰ6 is fixedly connected to the body 4, the output end of the steering gear Ⅰ6 is fixedly connected to a driving gear A7, the driving gear A7 and the gear nut 8 form a gear pair, the other end of the lead screw 19 is connected to a servo motor 20 arranged in the motor mounting seat 9 through a key 28, the servo motor 20 controls the rotation of the body to keep the relative positions of the lead screw 19 and the gear nut 8 unchanged, a welding machine bottom plate 22 is fixedly connected to the bottom of the motor mounting seat 9, a drive kit is arranged in the motor mounting seat 9, the drive kit is movably connected to the connecting rod mechanism arranged on both sides of the motor mounting seat 9, and the connecting rod mechanism is movably connected to a support plate 27 on the side away from the motor mounting seat 9;

[0043] An outer arm 17 is movably connected to one end of the body 4 away from the wire feeder 2. The outer arm 17 can rotate around the body 4. The outer arm 17 and the lead screw 19 are located on opposite sides of the body 4. The outer arm is movably connected to the welding gun 3 to prevent the welding gun 3 from interfering with the wire feeder 2 during welding. The wire feeder 2 is responsible for providing welding wire to the welding gun 3.

[0044] like Figure 3 As shown, the connecting rod mechanism is a fork arm type formed by the movable connection of connecting rod I 25 and connecting rod II 26, one end of connecting rod I 25 is movably connected to the outer wall of the motor mounting seat 9, which can be a fixed hinge connection, and the other end is movably connected to one end of the support plate 27, one end of connecting rod II 26 is movably connected to the cylinder push plate 24, which can be a movable hinge connection, and the other end is movably connected to the other end of the support plate 27, and the cylinder push plate 24 is driven to move by the up and down movement of the cylinder push rod 23, so that the connecting rod I 25 and the connecting rod II 26 drive the support plate 27 to open and retract, thereby realizing the positioning function of the welding machine.

[0045] like Figure 4 , Figure 5 As shown, the drive kit includes a cylinder mounting seat 21, the bottom of the cylinder mounting seat 21 is fixedly connected to the welding machine base plate 22, the air inlet end of the cylinder mounting seat 21 passes through the welding machine base plate 22 and is connected to the cylinder 11, the other end of the cylinder mounting seat 21 is movably connected to a cylinder push rod 23, and the end of the cylinder push rod 23 away from the cylinder mounting seat 21 is fixedly connected to a cylinder push plate 24, and both ends of the cylinder push plate 24 are connected to the connecting rod mechanism.

[0046] The machine body 4 is fixedly connected with a steering gear II 15 in the direction connected with the wire feeder 2, and the output end of the steering gear II 15 is fixedly connected with a driving gear II 14;

[0047] The outer arm 17 is fixedly connected to a driven gear II 16, and the driving gear II 14 and the driven gear II 16 constitute a gear pair for driving the outer arm 17 to rotate. The outer arm 17 is fixedly connected to a steering gear III 18, and the steering gear III 18 is fixedly connected to a driving gear I 13. The driving gear I 13 is meshed with a driven gear I 12, and the driven gear I 12 is sleeved with the outer side of the welding gun 3. The driving gear I 13 can drive the welding gun 3 to rotate. Through the joint action of the driving gear I 13 and the driving gear II 14, the end of the welding gun 3 can reach any position of the weld according to the welding requirements.

[0048] The end of the outer wall of the lead screw 19 away from the gear nut 8 is sleeved with a sliding bearing 29, which plays a lubricating role when the lead screw 19 moves up and down. When the height of the machine body needs to be adjusted, the servo motor 20 does not rotate, that is, the gear nut 8 remains fixed, and the driving gear A7 rotates to drive the lead screw 19 to move up and down, so as to achieve a slight adjustment in the height of the welding gun 3 and complete welding of different layers;

[0049] like Figure 6 As shown, an electromagnet for adsorbing the square tube partition 10 is embedded on the welding machine bottom plate 22 to ensure that the welding robot and the square tube partition 10 are relatively fixed.

[0050] The body 4 is also fixed with a lifting eye nut 5 in the direction connected to the wire feeder 2, which is used for placing the welding robot before welding and recovering it after welding.

[0051] Embodiment 2:

[0052] like Figure 2 As shown, the present invention also discloses a built-in square tube partition welding method, which uses the built-in square tube partition welding robot and includes the following steps:

[0053] S1: Place the welding robot into the corresponding position inside the square tube 1 through the eye nut 5;

[0054] S2: The electromagnet adsorbs the square tube partition 10, so that the welding robot and the square tube partition 10 are relatively fixed;

[0055] S3: the support plate 27 is opened to position the welding robot;

[0056] S4: Adjust the posture of the welding robot;

[0057] S5: Control the spatial posture of the welding gun 3 by adjusting the steering gear II 15 and the steering gear III 18;

[0058] S6: welding a weld on one side of the diagonal support plate 27;

[0059] S7: The support plate 27 is retracted;

[0060] S8: By controlling the servo motor 20, the steering gear II 15 and the steering gear III 18, the posture of the welding robot and the end position of the welding gun 3 are adjusted to weld the weld on the other side, thus completing one circle of welding;

[0061] S9: If the multi-layer welding is completed, enter S10; if the multi-layer welding is not completed, adjust the height of the machine body and cycle S4-S9;

[0062] S10: After welding is completed, the welding robot is moved out.

[0063] Embodiment 3:

[0064] S1: First, place the welding machine on the square tube partition 10 through the eye nut 5;

[0065] S2: The electromagnet adsorbs the square tube partition 10, so that the welding robot and the square tube partition 10 are relatively fixed;

[0066] S3: The cylinder push rod 23 pushes the cylinder push plate 24 to move upward, and the cylinder push plate 24 drives the support plate 27 to open through the connecting rod I 25 and the connecting rod II 26. The support plate 27 contacts the diagonal position of the square tube 1, and the position of the welding robot is fixed;

[0067] S4-S6: the servo motor 20 drives the lead screw 19 to rotate, and the lead screw drives the body 4 to rotate, so that the body 4 rotates to a position that does not hinder the welding gun 3 from welding the diagonal side of the square tube partition 10, the steering gear II 15 drives the driving gear II 14, the driving gear II 14 drives the driven gear II 16, and then drives the outer arm 17 to rotate, the steering gear III 18 drives the driving gear I 13, and the driving gear I 13 drives the driven gear I 12 to rotate, and drives the welding gun 3 to rotate, so that the end of the welding gun 3 is aligned with the welding position of the weld, and the welding support plate 27 supports the weld on one side of the diagonal side;

[0068] S7: After welding the weld on one side, retract the support plate 27;

[0069] S8: adjusting the welding machine posture and the end position of the welding gun through the servo motor 20, the steering gear II 15 and the steering gear III 18, and welding the weld on the other side;

[0070] If there are no multiple layers of welding in S9, the steering gear I6 drives the driving gear A7, and the driving gear A7 rotates along the gear nut 8, driving the lead screw 19 to move upward, so that the end of the welding gun 3 moves upward, so that the upper layer can be welded, and S4-S9 are repeated to complete the welding task;

[0071] S10: After welding is completed, the welding robot is moved out.

Claims

1. Built-in square tube partition welding robot, characterized in that: The invention comprises a machine body (4) and a motor mounting seat (9), wherein one end of the machine body (4) is connected to a wire feeder (2), the other end of the machine body (4) is fixedly connected to a lead screw (19), a gear nut (8) is spirally fixed to the lead screw (19), a steering gear I (6) is fixedly connected to the output end of the steering gear I (6), the drive gear A (7) and the drive gear A (7) form a gear pair with the gear nut (8), the other end of the lead screw (19) is connected to a servo motor (20) arranged in the motor mounting seat (9) through a key (28), a welding machine bottom plate (22) is fixedly connected to the bottom of the motor mounting seat (9), a drive kit is arranged in the motor mounting seat (9), the drive kit is movably connected to a connecting rod mechanism arranged on both sides of the motor mounting seat (9), and the connecting rod mechanism is movably connected to a support plate (27) on the side away from the motor mounting seat (9); An end of the machine body (4) away from the wire feeder (2) is movably connected to an outer arm (17); the outer arm (17) and the lead screw (19) are located on opposite sides of the machine body (4); and the outer arm (17) is movably connected to a welding gun (3).

2. The built-in square tube partition welding robot according to claim 1, characterized in that: The driving kit comprises a cylinder mounting seat (21), the bottom of the cylinder mounting seat (21) is fixedly connected to the welding machine bottom plate (22), the air inlet end of the cylinder mounting seat (21) passes through the welding machine bottom plate (22) and is connected to the cylinder (11), the other end of the cylinder mounting seat (21) is movably connected to a cylinder push rod (23), the end of the cylinder push rod (23) away from the cylinder mounting seat (21) is fixedly connected to a cylinder push plate (24), and the two ends of the cylinder push plate (24) are connected to a connecting rod mechanism.

3. The built-in square tube partition welding robot according to claim 2, characterized in that: The connecting rod mechanism is a fork arm type formed by a movably connected connecting rod I (25) and a connecting rod II (26), one end of the connecting rod I (25) is movably connected to the outer wall of the motor mounting seat (9), and the other end is movably connected to one end of the support plate (27), one end of the connecting rod II (26) is movably connected to the cylinder push plate (24), and the other end is movably connected to the other end of the support plate (27).

4. The built-in square tube partition welding robot according to claim 3 is characterized in that: The machine body (4) is fixedly connected to a steering gear II (15) in the direction connected to the wire feeder (2), and the output end of the steering gear II (15) is fixedly connected to a driving gear II (14); The outer arm (17) is fixedly connected to a driven gear II (16), the driving gear II (14) and the driven gear II (16) form a gear pair, the outer arm (17) is fixedly connected to a steering gear III (18), the steering gear III (18) is fixedly connected to a driving gear I (13), the driving gear I (13) is meshed with a driven gear I (12), and the driven gear I (12) is sleeved on the outer side of the welding gun (3).

5. The built-in square tube partition welding robot according to claim 4, characterized in that: An end of the outer wall of the lead screw (19) away from the gear nut (8) is sleeved with a sliding bearing (29) for lubrication; An electromagnet for adsorbing the square tube partition (10) is embedded on the welding machine bottom plate (22).

6. The built-in square tube partition welding robot according to claim 5, characterized in that: The machine body (4) is also fixedly connected with a lifting eye nut (5) in the direction connected to the wire feeder (2).

7. A method for welding a built-in square tube partition, using a built-in square tube partition welding robot as claimed in any one of claims 1 to 6, characterized in that: The steps include: S1: Place the welding robot into the corresponding position inside the square tube (1) through the eye nut (5); S2: The electromagnet adsorbs the square tube partition (10), so that the welding robot and the square tube partition (10) are relatively fixed; S3: the support plate (27) is opened to position the welding robot; S4: Adjust the posture of the welding robot; S5: Controlling the spatial position of the welding gun (3) by adjusting the steering gear II (15) and the steering gear III (18); S6: welding a weld on one side of the diagonal support plate (27); S7: The support plate (27) is retracted; S8: By controlling the servo motor (20), steering gear II (15) and steering gear III (18), the posture of the welding robot and the end position of the welding gun (3) are adjusted to weld the weld on the other side, thus completing one circle of welding: S9: If the multi-layer welding is completed, enter S10; if the multi-layer welding is not completed, adjust the height of the machine body and cycle S4-S9; S10: After welding is completed, the welding robot is moved out.

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