Built-in square tube partition welding robot and welding method

Abstract

This invention discloses a built-in square tube partition welding robot and welding method, belonging to the field of automatic welding technology. It includes a body and a motor mounting base. One end of the body is connected to a wire feeder, and the other end is fixedly connected to a lead screw. A gear nut is helically fixed to the lead screw. A servo motor I is fixedly connected to the body, and a drive gear A is fixedly connected to the output end of servo motor I. Drive gear A and the gear nut form a gear pair. The other end of the lead screw is connected to a servo motor located in the motor mounting base via a key. A welding machine base plate is fixedly connected to the bottom of the motor mounting base. A drive assembly is installed inside the motor mounting base, and the drive assembly is movably connected to linkage mechanisms located on both sides of the motor mounting base. A support plate is movably connected to the side of the linkage mechanism away from the motor mounting base. The welding robot achieves positioning by diagonally contacting the square tube through the support plate. With the cooperation of the servo motor and the lead screw, the welding torch position is controlled for welding. This invention can automatically weld partitions inside square tubes and weld multi-layer welds.

Description

Technical Field

[0001] This invention belongs to the field of automatic welding technology, specifically relating to a built-in square tube partition welding robot, and also to a built-in square tube partition welding method. Background Technology

[0002] Square tubing is a tubular material with a quadrilateral cross-section, typically made of metal, plastic, or composite materials. It possesses high strength and rigidity and is widely used in machinery manufacturing, construction, metallurgy, highway guardrails, and steel structures. To improve structural rigidity, thicker square tubing is generally used, or internal baffles are welded into the tubing. The greater the thickness of the square tubing, the greater the manufacturing difficulty and cost. In contrast, welding baffles inside the square tubing does not significantly increase its weight and can meet the requirements of different rigidity levels in various locations under specific working conditions.

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

[0004] The automated welding of internal partitions in square tubes presents numerous challenges. Square tubes come in various models, all with relatively small internal dimensions. To ensure good welding results, the partitions must be positioned precisely at the welding location, maintaining accurate relative positioning between the partitions and the square tubes during welding. During welding, the end effector holding the welding torch needs excellent flexibility to ensure accurate weld lines. Considering that the partitions may require multiple layers of welding to meet technical requirements, the height of the welding torch must also be fine-tunable during welding. Summary of the Invention

[0005] The purpose of this invention is to provide a built-in square tube partition welding robot that can automatically weld partitions inside square tubes and weld multi-layer welds.

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

[0007] The first technical solution adopted in this invention is an internal square tube partition welding robot, including a body and a motor mounting base. One end of the body is connected to a wire feeder, and the other end of the body is fixedly connected to a lead screw. A gear nut is helically fixed to the lead screw. A servo motor I is fixedly connected to the body. A drive gear A is fixedly connected to the output end of the servo motor I. The drive gear A and the gear nut form a gear pair. The other end of the lead screw is connected to a servo motor disposed in the motor mounting base via a key. A welding machine base plate is fixedly connected to the bottom of the motor mounting base. A drive kit is disposed in the motor mounting base. The drive kit is movably connected to a linkage mechanism disposed on both sides of the motor mounting base. A support plate is movably connected to the side of the linkage mechanism away from the motor mounting base.

[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. A welding torch is movably connected to the outer arm.

[0009] The invention is further characterized by:

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

[0011] The linkage is a fork-arm type formed by the movable connection of linkage I and linkage II. One end of linkage I is movably connected to the outer wall of the motor mounting base, and the other end is movably connected to one end of the support plate. One end of linkage 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 to a servo motor II in the direction of the wire feeder, and a drive gear II is fixedly connected to the output end of the servo motor II.

[0013] The outer arm is fixedly connected to a driven gear II, and the driving gear II and the driven gear II form a gear pair. The outer arm is fixedly connected to a servo motor III, and the servo motor III is fixedly connected to a driving gear I. The driving gear I meshes with the driven gear I, and the driven gear I is sleeved on the outside of the welding torch.

[0014] A sliding bearing for lubrication is sleeved on the outer wall of the lead screw at the end away from the gear nut;

[0015] The welding machine base plate is embedded with an electromagnet for attracting square tube partitions.

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

[0017] Another technical solution adopted in this invention is a welding method for an internal square tube partition, comprising the following steps:

[0018] S1: Use the lifting eye nut to place the welding robot into the corresponding position inside the square tube;

[0019] S2: The electromagnet attracts the square tube partition, thus fixing the welding robot relative to the square tube partition;

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

[0021] S4: Adjust the welding robot's posture;

[0022] S5: Control the spatial orientation of the welding torch by adjusting servo motors II and III;

[0023] S6: Weld seam on one side of the opposite corner of the welding support plate;

[0024] S7: Support plate retracts;

[0025] S8: By controlling the servo motors, servo motor II and servo motor III, the welding robot's posture and the position of the welding torch tip are adjusted to weld the other side of the weld seam, completing one round of welding.

[0026] S9: If multi-layer welding is completed, proceed to S10; if multi-layer welding is not completed, adjust the machine height and cycle through S4-S9.

[0027] S10: Welding completed, remove the welding robot.

[0028] The beneficial effects of this invention are:

[0029] (1) The welding robot of the present invention has three degrees of freedom at the end of the welding gun with the cooperation of servo motor and servo motor, which 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 realize the 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 uses cylinders, motors and multiple servo motors to ensure the positioning function of the welding machine, the requirement of multiple degrees of freedom during welding, and the slight up and down adjustment of the machine body when welding multi-layer welds, so as to realize the task of welding partitions inside square tubes. Attached Figure Description

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

[0033] Figure 2 This is a schematic flowchart of the welding method for the built-in square tube partition of the present invention;

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

[0035] Figure 4 This is a schematic diagram of the structure of the built-in square tube partition welding robot of the present invention in the retracted state of the support link;

[0036] Figure 5 This is a schematic diagram of the structure of the built-in square tube partition welding robot of the present invention in the open state of the supporting connecting rod;

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

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

[0039] In the diagram, 1. Square tube, 2. Wire feeder, 3. Welding torch, 4. Machine body, 5. Eye nut, 6. Servo motor I, 7. Drive gear A, 8. Gear nut, 9. Motor mounting base, 10. Square tube partition, 11. Cylinder, 12. Driven gear I, 13. Drive gear I, 14. Drive gear II, 15. Servo motor II, 16. Driven gear II, 17. Outer arm, 18. Servo motor III, 19. Lead screw, 20. Servo motor, 21. Cylinder mounting base, 22. Welding machine base 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 Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0041] Example 1:

[0042] like Figure 1 , Figure 3 , Figure 4 and Figure 7As shown, the first technical solution proposed in this invention is a built-in square tube partition welding robot, including a body 4 and a motor mounting base 9. One end of the body 4 is connected to a wire feeder 2, and the other end of the body 4 is fixedly connected to a lead screw 19. A gear nut 8 is screwed onto the lead screw 19. A servo motor I6 is fixedly connected to the body 4. A drive gear A7 is fixedly connected to the output end of the servo motor I6. The drive 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 set in the motor mounting base 9 through a key 28. The servo motor 20 controls the rotation of the body and keeps the relative position of the lead screw 19 and the gear nut 8 unchanged. A welding machine base plate 22 is fixedly connected to the bottom of the motor mounting base 9. A drive kit is set inside the motor mounting base 9. The drive kit is movably connected to a linkage mechanism set on both sides of the motor mounting base 9. A support plate 27 is movably connected to the side of the linkage mechanism away from the motor mounting base 9.

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

[0044] like Figure 3 As shown, the linkage mechanism is a fork-arm type formed by the movable connection of linkage I 25 and linkage II 26. One end of linkage I 25 is movably connected to the outer wall of the motor mounting base 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 linkage 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. The up and down movement of the cylinder push rod 23 drives the cylinder push plate 24 to move, so that linkage I 25 and linkage II 26 drive the support plate 27 to open and retract, realizing the positioning function of the welding machine.

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

[0046] A servo motor II 15 is fixedly connected to the body 4 in the direction connected to the wire feeder 2, and a drive gear II 14 is fixedly connected to the output end of the servo motor II 15.

[0047] The outer arm 17 is fixedly connected to a driven gear II 16. The drive gear II 14 and the driven gear II 16 form a gear pair to drive the outer arm 17 to rotate. The outer arm 17 is fixedly connected to a servo motor III 18. The servo motor III 18 is fixedly connected to a drive gear I 13. The drive gear I 13 meshes with a driven gear I 12. The driven gear I 12 is sleeved on the outside of the welding torch 3. The drive gear I 13 can drive the welding torch 3 to rotate. Through the combined action of the drive gear I 13 and the drive gear II 14, the end of the welding torch 3 can reach any position of the weld according to the welding requirements.

[0048] A sliding bearing 29 is sleeved on the end of the outer wall of the lead screw 19 away from the gear nut 8. The sliding bearing 29 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 drive gear A7 rotates to drive the lead screw 19 to move up and down, so as to realize the slight adjustment of the height of the welding torch 3 and complete the welding of different layers.

[0049] like Figure 6 As shown, an electromagnet is embedded in the welding machine base plate 22 to attract the square tube partition 10, ensuring that the welding robot and the square tube partition 10 are relatively fixed.

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

[0051] Example 2:

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

[0053] S1: Use the lifting eye nut 5 to place the welding robot into the corresponding position inside the square tube 1;

[0054] S2: The electromagnet attracts the square tube partition 10, so that the welding robot is relatively fixed to the square tube partition 10.

[0055] S3: Support plate 27 opens to position the welding robot;

[0056] S4: Adjust the welding robot's posture;

[0057] S5: Control the spatial orientation of welding torch 3 by adjusting servo motor II 15 and servo motor III 18;

[0058] S6: Weld seam on one side of the opposite corner of the welding support plate 27;

[0059] S7: Support plate 27 retracts;

[0060] S8: By controlling servo motor 20, servo motor II 15 and servo motor III 18, adjust the posture of the welding robot and the end position of welding torch 3, weld the weld seam on the other side, and complete a round of welding;

[0061] S9: If multi-layer welding is completed, proceed to S10; if multi-layer welding is not completed, adjust the machine height and cycle through S4-S9.

[0062] S10: Welding completed, remove the welding robot.

[0063] Example 3:

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

[0065] S2: The electromagnet attracts the square tube partition 10, so that the welding robot is relatively fixed to the square tube partition 10.

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

[0067] S4-S6: Servo motor 20 drives lead screw 19 to rotate, lead screw drives body 4 to rotate, so that body 4 rotates to a position that does not obstruct welding torch 3 to the opposite side of square tube partition 10. Servo motor II 15 drives drive gear II 14, drive gear II 14 drives driven gear II 16, and then drives outer arm 17 to rotate. Servo motor III 18 drives drive gear I 13, drive gear I 13 drives driven gear I 12 to rotate, drives welding torch 3 to rotate, so that the end of welding torch 3 is aligned with the welding position of the weld seam, and welding support plate 27 supports the weld seam on the opposite side.

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

[0069] S8: Adjust the welding machine posture and welding torch end position by using servo motor 20, servo motor II 15 and servo motor III 18 to weld the other side of the weld seam;

[0070] If S9 is not multi-layered welding, the servo motor I6 drives the drive gear A7, which rotates along the gear nut 8, causing the lead screw 19 to move upward, so that the end of the welding torch 3 can move upward, thus welding the next layer. Repeat S4-S9 to complete the welding task.

[0071] S10: Welding completed, remove the welding robot.

Claims

1. A built-in square tube partition welding robot, characterized in that, The assembly includes a body (4) and a motor mounting base (9). One end of the body (4) is connected to a wire feeder (2), and the other end of the body (4) is fixedly connected to a lead screw (19). The lead screw (19) is helically fixed with a gear nut (8). A servo motor I (6) is fixedly connected to the body (4). The output end of the servo motor I (6) is fixedly connected to a drive gear A (7). The drive gear A (7) and the gear nut (8) form a gear pair. The other end of the lead screw (19) is connected to a servo motor (20) located in the motor mounting base (9) via a key (28). A welding machine base plate (22) is fixedly connected to the bottom of the motor mounting base (9). A drive kit is provided inside the motor mounting base (9). The drive kit is movably connected to a linkage mechanism located on both sides of the motor mounting base (9). A support plate (27) is movably connected to the side of the linkage mechanism away from the motor mounting base (9). The outer arm (17) is movably connected to one end of the machine body (4) away from the wire feeder (2). The outer arm (17) and the lead screw (19) are located on opposite sides of the machine body (4). The welding torch (3) is movably connected to the outer arm (17). The drive kit includes a cylinder mounting base (21), the bottom of which is fixedly connected to the welding machine base plate (22). The air inlet end of the cylinder mounting base (21) passes through the welding machine base plate (22) and is connected to a cylinder (11). The other end of the cylinder mounting base (21) is movably connected to a cylinder push rod (23). The end of the cylinder push rod (23) away from the cylinder mounting base (21) is fixedly connected to a cylinder push plate (24). Both ends of the cylinder push plate (24) are connected to a linkage mechanism.

2. The built-in square tube partition welding robot according to claim 1, characterized in that, The linkage mechanism is a fork-arm type formed by the movable connection of linkage I (25) and linkage II (26). One end of linkage I (25) is movably connected to the outer wall of the motor mounting base (9), and the other end is movably connected to one end of the support plate (27). One end of linkage 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).

3. The built-in square tube partition welding robot according to claim 2, characterized in that, The body (4) has a servo motor II (15) fixedly connected in the direction of the wire feeder (2), and the output end of the servo motor II (15) is fixedly connected to the drive gear II (14). The outer arm (17) is fixedly connected to a driven gear II (16), the drive gear II (14) and the driven gear II (16) form a gear pair, the outer arm (17) is fixedly connected to a servo motor III (18), the servo motor III (18) is fixedly connected to a drive gear I (13), the drive gear I (13) meshes with a driven gear I (12), and the driven gear I (12) is sleeved on the outside of the welding torch (3).

4. The built-in square tube partition welding robot according to claim 3, characterized in that, The outer wall of the lead screw (19) away from the gear nut (8) is fitted with a sliding bearing (29) that serves as a lubricant. The welding machine base plate (22) is embedded with an electromagnet for adsorbing the square tube partition (10).

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

6. A method for welding built-in square tube partitions, employing the built-in square tube partition welding robot as described in any one of claims 1-5, characterized in that, Includes the following steps: S1: Place the welding robot into the corresponding position inside the square tube (1) using the eye nut (5); S2: The electromagnet attracts the square tube partition (10), so that the welding robot is relatively fixed to the square tube partition (10); S3: The support plate (27) opens to position the welding robot; S4: Adjust the welding robot's posture; S5: The spatial pose of the welding torch (3) is controlled by adjusting servo motor II (15) and servo motor III (18); S6: Weld the opposite side of the support plate (27); S7: The support plate (27) is retracted; S8: By controlling the servo motor (20), servo motor II (15) and servo motor III (18), adjust the posture of the welding robot and the end position of the welding torch (3) to weld the other side of the weld seam, completing one round of welding: S9: If multi-layer welding is completed, proceed to S10; if multi-layer welding is not completed, adjust the machine height and cycle through S4-S9. S10: Welding completed, remove the welding robot.

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