Welding manipulator with multiple degrees of freedom

Abstract

The invention discloses a welding manipulator with multiple degrees of freedom, and relates to the technical field of welding manipulators, the welding manipulator comprises a working frame, the outer wall of the working frame is fixedly connected with an X-axis motor, the output end of the X-axis motor is fixedly connected with an X-axis screw rod, and the outer wall of the X-axis screw rod is in threaded connection with an X-axis cross beam; by arranging an X-axis cross beam, a Y-axis cross beam and a lifting frame, the X-axis cross beam slides to drive a welding machine welding gun at the bottom end of a linkage block to slide synchronously, then the Y-axis cross beam slides to drive the welding machine welding gun at the bottom end of the linkage block to slide synchronously, and then a Z-axis motor works to drive a welding machine welding gun at the bottom end of the lifting frame to slide synchronously through a Z-axis lead screw; the Z-axis positioning operation of the welding gun of the welding machine is achieved, then the rotating motor works to drive the welding gun of the welding machine at the bottom end of the rotating base to rotate so that the welding gun of the welding machine can move to the welding area of the welding part quickly, the positioning speed of the welding gun of the welding machine is high, and the multi-degree-of-freedom welding operation of the welding part is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of welding manipulators, in particular to a welding manipulator with multiple degrees of freedom. Background Art

[0002] Welding, also known as fusion, is a manufacturing process and technology that joins metals or other thermoplastic materials such as plastics by heating, high temperature or high pressure. In order to increase product output, welding robots are needed to perform welding operations on welded parts.

[0003] For example, the patent with publication number CN114473321A discloses a multi-degree-of-freedom intelligent welding manipulator, including: a three-axis manipulator slide, a welding gun, and an identification device; the three-axis manipulator slide is installed on the equipment through a manipulator fixing frame, the welding gun is installed on the three-axis manipulator slide through a welding gun connecting frame, and the identification device is installed below the welding gun through an adjustable component; the adjustable component includes a movable mounting frame and a connecting plate, one end of the connecting plate is fixed on the welding gun connecting frame, the movable mounting frame is rotatably mounted on the other end of the connecting plate, and the identification device is installed in the movable mounting frame. The multi-degree-of-freedom intelligent welding manipulator described in the present invention has the characteristics of fast welding speed, accurate welding position, high welding strength, and more flexible welding.

[0004] When the existing welding manipulator with multiple degrees of freedom is in use, it is difficult to position the welding gun of the welding machine, resulting in the welding results of the welded parts not meeting the standards and not meeting people's usage needs. For this reason, we propose a welding manipulator with multiple degrees of freedom. Summary of the invention

[0005] The object of the present invention is to provide a welding manipulator with multiple degrees of freedom to solve the problem in the above-mentioned background technology that the welding gun of the welding machine is difficult to position, resulting in the welding result of the welded part not meeting the standard.

[0006] To achieve the above object, the present invention provides the following technical solution: a welding manipulator with multiple degrees of freedom, comprising a working frame, an outer wall of the working frame is fixedly connected to an X-axis motor, an output end of the X-axis motor is fixedly connected to an X-axis screw rod, an outer wall of the X-axis screw rod is threadedly connected to an X-axis crossbeam, the X-axis crossbeam is laterally slidably connected in the working frame, and a linkage block is sleeved on the outer wall of the X-axis crossbeam;

[0007] The side wall of the working frame is fixedly connected with a Y-axis motor, the output end of the Y-axis motor is fixedly connected with a Y-axis screw rod, the outer wall of the Y-axis screw rod is threadedly connected with a Y-axis crossbeam penetrating the inner wall of the linkage block, and the Y-axis crossbeam is longitudinally slidably connected in the working frame;

[0008] The bottom end of the linkage block is fixedly connected to a Z-axis frame, the inner wall of the Z-axis frame is fixedly connected to a Z-axis motor, the output end of the Z-axis motor is fixedly connected to a Z-axis screw rod, the outer wall of the Z-axis screw rod is threadedly connected to a lifting frame, the lifting frame is slidably connected in the Z-axis frame, the inner wall of the lifting frame is fixedly connected to a rotating motor, the output end of the rotating motor is fixedly connected to a rotating base, the bottom end of the rotating base is screwed to a welding base, and the bottom end of the welding base is fixedly connected to a welding machine welding gun.

[0009] Based on the above structure, the sliding of the X-axis crossbeam drives the welding machine gun at the bottom of the linkage block to slide synchronously, and then the sliding of the Y-axis crossbeam drives the welding machine gun at the bottom of the linkage block to slide synchronously, and then the Z-axis motor works to drive the welding machine gun at the bottom of the lifting frame to slide synchronously through the Z-axis screw rod, thereby realizing the Z-axis positioning operation of the welding machine gun, and then the rotating motor works to drive the welding machine gun at the bottom of the rotating base to rotate, so as to quickly move the welding machine gun to the welding area of ​​the weldment, and the welding machine gun positioning speed is faster, thereby realizing the multi-degree-of-freedom welding operation of the weldment.

[0010] Preferably, the outer wall of the rotating base is fixedly connected to a fine-tuning frame, the bottom end of the working frame is fixedly connected to a loading base, the top of the loading base is screwed to a loading platform, the top of the loading platform is provided with a positioning frame, the top edge of the positioning frame is fixedly connected to a supporting block, the top of the supporting block is provided with a welding part, the side wall of the welding part is fitted with a positioning baffle fixedly connected to the top of the positioning frame, and the middle of the top of the positioning frame is fixedly connected to a protective baffle. During operation, the protective baffle is provided to prevent the strong light generated by the welding part during welding from endangering the eyes of the workers, thereby realizing control operation.

[0011] Preferably, the X-axis beam, Y-axis beam and Z-axis frame are perpendicular to each other, the working frame is parallel to the loading table, and two groups of positioning frames are provided. The two groups of positioning frames are symmetrical about the protective baffle. When working, by setting the X-axis beam, Y-axis beam and lifting frame, it is conducive to the rapid positioning operation of the welding machine welding gun. By setting two groups of positioning frames, it is conducive to the double-station loading operation of the welding parts, which greatly reduces the welding time of the welding parts.

[0012] Preferably, the outer wall of the fine-tuning frame is fixedly connected to a fine-tuning motor, the output end of the fine-tuning motor is fixedly connected to a fine-tuning screw, the outer wall of the fine-tuning screw is threadedly connected to a threaded slider, the bottom end of the threaded slider is fixedly connected to a sliding orifice plate, and the hole of the sliding orifice plate is movably connected to a fine-tuning guide plate fixedly connected to the outer wall of the welding base. When working, the fine-tuning motor drives the threaded slider to slide through the fine-tuning screw, and the sliding of the threaded slider drives the fine-tuning guide plate to rotate through the sliding orifice plate. The rotation of the fine-tuning guide plate drives the welding machine gun at the bottom end of the welding base to rotate synchronously, so that the welding wire in the welding machine gun can fit closely with the welding area of ​​the welded part.

[0013] Preferably, the fine-tuning guide plate forms a rotating structure through the sliding hole plate and the rotating base, the rotation center of the welding base coincides with the rotation center of the fine-tuning guide plate, and the welding base and the fine-tuning guide plate are integrally connected. During operation, the threaded slider slides through the sliding hole plate to drive the fine-tuning guide plate to rotate, and the rotation of the fine-tuning guide plate drives the welding machine gun at the bottom of the welding base to rotate synchronously, thereby realizing the fine-tuning operation of the welding machine gun.

[0014] Preferably, the inner wall of the feeding base is fixedly connected to a reciprocating motor, the output end of the reciprocating motor is fixedly connected to a rotating disk, the top of the rotating disk is fixedly connected to a rotating guide rail, the outer wall of the rotating guide rail is slidably connected to a guide rail slider, the top of the guide rail slider is fixedly connected to a connecting slider fixedly connected to the bottom end of the positioning frame, a connecting groove is provided at the connecting portion of the feeding base and the connecting slider, the bottom edge of the positioning frame is fixedly connected to a limiting slider, a limiting groove is provided at the connecting portion of the feeding base and the limiting slider, a positioning groove is provided on the side wall of the positioning frame, and the outer wall of the feeding base is fixedly connected to A positioning column is connected to the inner wall of the positioning groove. When working, the rotating disk rotates to drive the two sets of rotating guide rails to rotate synchronously. The rotating guide rails rotate to drive the positioning frame to rotate through the connecting slider and the connecting slide groove, and rotate the positioning frame to the bottom of the working frame. At the same time, the rotating guide rails rotate to drive the positioning frame connected to the top of the slider to slide along the outer wall of the connecting slide groove through the guide rail slider, so that the positioning groove on the side wall of the positioning frame cooperates with the positioning column to realize stable loading operation of the welding parts on the positioning frame. At the same time, by setting two sets of positioning frames, it is conducive to realizing double-station loading operation of welding parts, which greatly reduces the welding time of welding parts.

[0015] Preferably, the rotating guide rails are provided with two groups, and the two groups of rotating guide rails are centrally symmetrical about the center of the rotating disk, the outer shape of the rotating guide rail is arc-shaped, the rotating guide rail and the rotating disk are eccentrically distributed, the loading platform forms a rotating structure with the loading base through the rotating disk and the connecting slide groove, the positioning frame forms a sliding structure with the rotating guide rail and the guide rail slider and the connecting slide groove, and the limit slider is provided with two groups, and the two groups of limit sliders and the connecting slider are distributed in an isosceles triangle. During operation, the rotating guide rail rotates to drive the positioning frame to rotate through the connecting slider and the connecting slide groove, and rotates the positioning frame to the bottom of the working frame. At the same time, the rotating guide rail rotates to drive the positioning frame at the top of the connecting slider to slide along the outer wall of the connecting slide groove through the guide rail slider, so as to realize the precise loading operation of the positioning frame.

[0016] Preferably, the inner wall of the positioning frame is penetrated by a clamping screw, the outer wall of the clamping screw is threadedly connected to a connecting plate, the top of the connecting plate is fixedly connected to a sliding connecting plate, one end of the sliding connecting plate is fixedly connected to an active plate, the outer wall of the positioning frame is provided with an active sliding groove slidably connected to the bottom end of the active plate, the inner wall of the active plate is penetrated by a telescopic column, one end of the telescopic column is fixedly connected to an active splint that fits the side wall of the welded part, the connecting part of the active splint and the active plate is fixedly connected with a spring, both ends of the connecting plate are fixedly connected to a driven orifice plate, the hole of the driven orifice plate is movably connected to a sliding plate, One end of the sliding plate is fixedly connected to a driven clamping plate, and the outer wall of the positioning frame is provided with a driven sliding groove which is slidably connected to the bottom end of the driven clamping plate. When working, the connecting plate slides through the sliding connecting plate to drive the active plate to slide along the groove of the active sliding groove, and the active plate slides through the active clamping plate to drive the welding part to fit the outer wall of the positioning baffle. At the same time, the connecting plate slides to drive the two groups of driven orifice plates to move synchronously, and the driven orifice plate slides through the sliding plate to drive the driven clamping plate to fit the two sides of the welding part, thereby realizing the fixing operation on both sides of the welding part, which is convenient for rapid installation and positioning of the welding part, and by setting a spring, it is prevented that the active clamping plate and the driven clamping plate cannot be stably fitted with the welding part.

[0017] Preferably, the welding part forms a clamping structure between the active clamping plate and the positioning baffle, and the active clamping plate and the positioning baffle are parallel. During operation, the connecting plate slides through the sliding connecting plate to drive the active plate to slide along the groove of the active sliding groove, and the active plate slides through the active clamping plate to drive the welding part to fit the outer wall of the positioning baffle.

[0018] Preferably, the shape of the hole in the driven orifice plate is inclined, and the driven clamping plate forms a clamping structure with the welded part through the driven orifice plate and the sliding plate. During operation, the connecting plate slides to drive the two groups of driven orifice plates to move synchronously, and the driven orifice plate slides through the sliding plate to drive the driven clamping plate to fit with both sides of the welded part, thereby realizing the fixing operation on both sides of the welded part, which is convenient for rapid installation and positioning of the welded part.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. By setting an active clamping plate and a driven clamping plate, the connecting plate slides through the sliding connecting plate to drive the active plate to slide along the groove of the active slide groove, and the active plate slides through the active clamping plate to drive the weldment to fit the outer wall of the positioning baffle. At the same time, the connecting plate slides to drive the two groups of driven orifice plates to move synchronously, and the driven orifice plate slides through the sliding plate to drive the driven clamping plate to fit the two sides of the weldment, thereby realizing the fixing operation on both sides of the weldment, facilitating the rapid installation and positioning of the weldment, and setting a spring to prevent the active clamping plate and the driven clamping plate from failing to fit the weldment stably.

[0021] 2. By setting a rotating guide rail and a connecting slider, the rotating guide rail rotates through the connecting slider and the connecting slide groove to drive the positioning frame to rotate, and the positioning frame is rotated to the bottom of the working frame. At the same time, the rotating guide rail rotates through the guide rail slider to drive the positioning frame at the top of the connecting slider to slide along the outer wall of the connecting slide groove, so that the positioning groove on the side wall of the positioning frame cooperates with the positioning column, thereby realizing stable loading operation of the welded parts on the positioning frame.

[0022] 3. By setting the X-axis beam, Y-axis beam and lifting frame, the sliding of the X-axis beam drives the welding gun at the bottom of the linkage block to slide synchronously, and then the sliding of the Y-axis beam drives the welding gun at the bottom of the linkage block to slide synchronously, and then the Z-axis motor drives the welding gun at the bottom of the lifting frame to slide synchronously through the Z-axis screw rod to realize the Z-axis positioning operation of the welding gun, and then the rotating motor drives the welding gun at the bottom of the rotating base to rotate, so as to quickly move the welding gun to the welding area of ​​the welded part, and the positioning speed of the welding gun is fast, realizing the multi-degree-of-freedom welding operation of the welded part.

[0023] 4. By setting the fine-tuning guide plate, the fine-tuning motor works to drive the threaded slider to slide through the fine-tuning screw, and the threaded slider slides through the sliding hole plate to drive the fine-tuning guide plate to rotate. The rotation of the fine-tuning guide plate drives the welding gun at the bottom of the welding base to rotate synchronously, so that the welding wire in the welding gun of the welding machine can fit closely with the welding area of ​​the welded part. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the working framework structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the cross-sectional structure of the linkage block of the present invention;

[0027] Figure 4 It is a schematic diagram of the Z-axis frame structure of the present invention;

[0028] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0029] Figure 6 It is a schematic diagram of the connection structure between the loading platform and the positioning frame of the present invention;

[0030] Figure 7 It is a schematic cross-sectional structure diagram of a loading base and a loading platform of the present invention;

[0031] Figure 8 It is a schematic diagram of the connection structure between the rotating disk and the rotating guide rail of the present invention;

[0032] Fig. 9 It is a schematic diagram of the matching structure of the positioning groove and the positioning column of the present invention;

[0033] Fig.10 It is a schematic diagram of the connection structure of the positioning frame and the welding parts of the present invention;

[0034] Fig.11 It is a schematic diagram of the internal structure of the positioning frame of the present invention;

[0035] Fig.12 It is a schematic diagram of the external structure of the positioning frame of the present invention;

[0036] Fig.13 It is a schematic diagram of the connection structure of the active splint and the driven splint of the present invention.

[0037] In the figure: 1. Working frame; 101. X-axis motor; 102. X-axis lead screw; 103. X-axis crossbeam; 104. Linkage block; 105. Y-axis motor; 106. Y-axis lead screw; 107. Y-axis crossbeam; 108. Z-axis frame; 109. Z-axis motor; 110. Z-axis lead screw; 111. Lifting frame; 112. Rotating motor; 113. Rotating base; 114. Welding base; 115. Welding gun; 2. Fine-tuning frame; 201. Fine-tuning motor; 202. Fine-tuning screw; 203. Threaded slider; 204. Sliding orifice plate; 205. Fine-tuning guide plate; 3. Feeding base; 301. Reciprocating motor; 302 , rotating disk; 303, rotating guide rail; 304, guide rail slider; 305, connecting slider; 306, connecting slide; 307, limiting slider; 308, limiting slide; 309, positioning slot; 310, positioning column; 4, loading table; 5, positioning frame; 501, clamping screw; 502, connecting plate; 503, sliding connecting plate; 504, active plate; 505, active slide; 506, telescopic column; 507, active splint; 508, spring; 509, driven hole plate; 510, sliding plate; 511, driven splint; 512, driven slide; 6, support block; 7, welding part; 8, positioning baffle; 9, protective baffle. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figures 1 to 4 In an embodiment of the present invention, a welding manipulator with multiple degrees of freedom includes a working frame 1, an outer wall of the working frame 1 is fixedly connected to an X-axis motor 101, an output end of the X-axis motor 101 is fixedly connected to an X-axis screw rod 102, an outer wall of the X-axis screw rod 102 is threadedly connected to an X-axis crossbeam 103, the X-axis crossbeam 103 is laterally slidably connected in the working frame 1, and an outer wall of the X-axis crossbeam 103 is sleeved with a linkage block 104;

[0040] The side wall of the working frame 1 is fixedly connected with a Y-axis motor 105, the output end of the Y-axis motor 105 is fixedly connected with a Y-axis screw rod 106, the outer wall of the Y-axis screw rod 106 is threadedly connected with a Y-axis crossbeam 107 that passes through the inner wall of the linkage block 104, and the Y-axis crossbeam 107 is longitudinally slidably connected in the working frame 1;

[0041] The bottom end of the linkage block 104 is fixedly connected to a Z-axis frame 108, the inner wall of the Z-axis frame 108 is fixedly connected to a Z-axis motor 109, the output end of the Z-axis motor 109 is fixedly connected to a Z-axis screw rod 110, the outer wall of the Z-axis screw rod 110 is threadedly connected to a lifting frame 111, the lifting frame 111 is slidably connected in the Z-axis frame 108, the inner wall of the lifting frame 111 is fixedly connected to a rotating motor 112, the output end of the rotating motor 112 is fixedly connected to a rotating base 113, the bottom end of the rotating base 113 is screwed to a welding base 114, and the bottom end of the welding base 114 is fixedly connected to a welding machine welding gun 115.

[0042] Based on the above structure, the X-axis crossbeam 103 slides to drive the welding machine gun 115 at the bottom of the linkage block 104 to slide synchronously, and then the Y-axis crossbeam 107 slides to drive the welding machine gun 115 at the bottom of the linkage block 104 to slide synchronously, and then the Z-axis motor 109 works to drive the welding machine gun 115 at the bottom of the lifting frame 111 to slide synchronously through the Z-axis screw rod 110, thereby realizing the Z-axis positioning operation of the welding machine gun 115, and then the rotating motor 112 works to drive the welding machine gun 115 at the bottom of the rotating base 113 to rotate, so as to quickly move the welding machine gun 115 to the welding area of ​​the weldment 7, and the positioning speed of the welding machine gun 115 is relatively fast, thereby realizing the multi-degree-of-freedom welding operation of the weldment 7.

[0043] For further information, see Figure 1 and Fig.10The outer wall of the rotating base 113 is fixedly connected with a fine-tuning frame 2, the bottom end of the working frame 1 is fixedly connected with a loading base 3, the top of the loading base 3 is screwed with a loading platform 4, the top of the loading platform 4 is provided with a positioning frame 5, the top edge of the positioning frame 5 is fixedly connected with a supporting block 6, the top of the supporting block 6 is provided with a welding piece 7, the side wall of the welding piece 7 is fitted with a positioning baffle 8 fixedly connected to the top of the positioning frame 5, and the middle of the top of the positioning frame 5 is fixedly connected with a protective baffle 9. When working, the protective baffle 9 is set to prevent the strong light generated by the welding piece 7 during welding from endangering the eyes of the workers.

[0044] For further information, see Figures 1 to 4 The X-axis beam 103, the Y-axis beam 107 and the Z-axis frame 108 are perpendicular to each other, the working frame 1 is parallel to the loading table 4, and two groups of positioning frames 5 are provided. The two groups of positioning frames 5 are symmetrical about the protective baffle 9. When working, by setting the X-axis beam 103, the Y-axis beam 107 and the lifting frame 111, it is conducive to the rapid positioning operation of the welding machine welding gun 115. By setting two groups of positioning frames 5, it is conducive to the double-station loading operation of the welding part 7, which greatly reduces the welding time of the welding part 7.

[0045] For further information, see Figure 4 and Figure 5 The outer wall of the fine-tuning frame 2 is fixedly connected with a fine-tuning motor 201, and the output end of the fine-tuning motor 201 is fixedly connected with a fine-tuning screw 202. The outer wall of the fine-tuning screw 202 is threadedly connected with a threaded slider 203, and the threaded slider 203 is slidingly connected with the fine-tuning frame 2. The bottom end of the threaded slider 203 is fixedly connected with a sliding hole plate 204, and the hole of the sliding hole plate 204 is movably connected with a fine-tuning guide plate 205 fixedly connected to the outer wall of the welding base 114. When working, the fine-tuning motor 201 drives the threaded slider 203 to slide through the fine-tuning screw 202, and the threaded slider 203 slides through the sliding hole plate 204 to drive the fine-tuning guide plate 205 to rotate. The rotation of the fine-tuning guide plate 205 drives the welding machine welding gun 115 at the bottom of the welding base 114 to rotate synchronously, so that the welding wire in the welding machine welding gun 115 is closely fitted with the welding area of ​​the weldment 7.

[0046] For further information, see Figure 5 The fine-tuning guide plate 205 forms a rotating structure with the rotating base 113 through the sliding hole plate 204. The rotation center of the welding base 114 coincides with the rotation center of the fine-tuning guide plate 205. The welding base 114 and the fine-tuning guide plate 205 are integrally connected. During operation, the threaded slider 203 slides through the sliding hole plate 204 to drive the fine-tuning guide plate 205 to rotate. The rotation of the fine-tuning guide plate 205 drives the welding machine gun 115 at the bottom of the welding base 114 to rotate synchronously, thereby realizing the fine-tuning operation of the welding machine gun 115.

[0047] For further information, see Figures 6 to 9 The inner wall of the feeding base 3 is fixedly connected with a reciprocating motor 301, the output end of the reciprocating motor 301 is fixedly connected with a rotating disk 302, the top of the rotating disk 302 is fixedly connected with a rotating guide rail 303, the outer wall of the rotating guide rail 303 is slidably connected with a guide rail slider 304, the top of the guide rail slider 304 is fixedly connected with a connecting slider 305 fixedly connected to the bottom end of the positioning frame 5, a connecting slide groove 306 is provided at the connecting portion of the feeding base 3 and the connecting slider 305, a limiting slide groove 307 is fixedly connected to the bottom edge of the positioning frame 5, a limiting slide groove 308 is provided at the connecting portion of the feeding base 3 and the limiting slide groove 307, a positioning groove 309 is provided on the side wall of the positioning frame 5, and a positioning groove 309 is provided on the outer wall of the feeding base 3 The inner wall cooperates with the positioning column 310. When working, the rotating disk 302 rotates to drive the two sets of rotating guide rails 303 to rotate synchronously. The rotating guide rails 303 rotate through the connecting slider 305 and the connecting slide groove 306 to drive the positioning frame 5 to rotate, and rotate the positioning frame 5 to the bottom of the working frame 1. At the same time, the rotating guide rail 303 rotates through the guide rail slider 304 to drive the positioning frame 5 at the top of the connecting slider 305 to slide along the outer wall of the connecting slide groove 306, so that the positioning groove 309 on the side wall of the positioning frame 5 cooperates with the positioning column 310 to realize stable loading operation of the welding part 7 on the positioning frame 5. At the same time, by setting two sets of positioning frames 5, it is conducive to realizing double-station loading operation of the welding part 7, which greatly reduces the welding time of the welding part 7.

[0048] For further information, see Figures 6 to 9 , there are two groups of rotating guide rails 303, the two groups of rotating guide rails 303 are centrally symmetrical about the center of the rotating disk 302, the outer shape of the rotating guide rails 303 is arc-shaped, the rotating guide rails 303 and the rotating disk 302 are eccentrically distributed, the loading platform 4 forms a rotating structure with the loading base 3 through the rotating disk 302 and the connecting slide groove 306, the positioning frame 5 forms a sliding structure with the connecting slide groove 306 through the rotating guide rails 303 and the guide rail slider 304, and the positioning frame 5 is distributed in an isosceles triangle. When working, the rotating guide rail 303 rotates through the connecting slider 305 and the connecting slide groove 306 to drive the positioning frame 5 to rotate, and rotate the positioning frame 5 to the bottom of the working frame 1. At the same time, the rotating guide rail 303 rotates through the guide rail slider 304 to drive the positioning frame 5 at the top of the connecting slider 305 to slide along the outer wall of the connecting slide groove 306, so as to realize the precise loading operation of the positioning frame 5.

[0049] For further information, see Figures 10 to 13The inner wall of the positioning frame 5 is penetrated by a clamping screw 501, and the outer wall of the clamping screw 501 is threadedly connected with a connecting plate 502, and the top of the connecting plate 502 is fixedly connected with a sliding connecting plate 503, and one end of the sliding connecting plate 503 is fixedly connected with an active plate 504, and the outer wall of the positioning frame 5 is provided with an active sliding groove 505 slidably connected to the bottom end of the active plate 504, and the inner wall of the active plate 504 is penetrated by a telescopic column 506, and one end of the telescopic column 506 is fixedly connected with an active splint 507 that fits the side wall of the welding part 7, and the connecting part of the active splint 507 and the active plate 504 is fixedly connected with a spring 508, and both ends of the connecting plate 502 are fixedly connected with a driven hole plate 509, and a sliding plate 510 is movably connected in the hole of the driven hole plate 509, and one end of the sliding plate 510 is fixed A driven clamping plate 511 is fixedly connected, and a driven sliding groove 512 is provided on the outer wall of the positioning frame 5 for sliding connection with the bottom end of the driven clamping plate 511. During operation, the connecting plate 502 slides through the sliding connecting plate 503 to drive the active plate 504 to slide along the groove of the active sliding groove 505. The active plate 504 slides through the active clamping plate 507 to drive the welding part 7 to fit the outer wall of the positioning baffle 8. At the same time, the connecting plate 502 slides and drives the two groups of driven orifice plates 509 to move synchronously. The driven orifice plate 509 slides through the sliding plate 510 to drive the driven clamping plate 511 to fit the two sides of the welding part 7, thereby realizing the fixing operation on both sides of the welding part 7, which is convenient for the rapid installation and positioning of the welding part 7. By setting the spring 508, it is prevented that the active clamping plate 507 and the driven clamping plate 511 cannot be stably fitted with the welding part 7.

[0050] For further information, see Fig.10 and Fig.13 The welding part 7 forms a clamping structure between the active splint 507 and the positioning baffle 8. The active splint 507 is parallel to the positioning baffle 8. During operation, the connecting plate 502 slides through the sliding connecting plate 503 to drive the active plate 504 to slide along the groove of the active slide groove 505. The active plate 504 slides through the active splint 507 to drive the welding part 7 to fit the outer wall of the positioning baffle 8. By setting the active splint 507 and the positioning baffle 8 in parallel, it is beneficial to the stable fit of the welding part 7 and the positioning baffle 8.

[0051] For further information, see Fig.10 and Fig.13 The shape of the hole in the driven orifice plate 509 is inclined, and the driven clamping plate 511 forms a clamping structure with the weldment 7 through the driven orifice plate 509 and the sliding plate 510. During operation, the connecting plate 502 slides to drive the two groups of driven orifice plates 509 to move synchronously, and the driven orifice plate 509 slides through the sliding plate 510 to drive the driven clamping plate 511 to fit with the two sides of the weldment 7, thereby realizing the fixing operation on both sides of the weldment 7, which is convenient for the rapid installation and positioning of the weldment 7.

[0052] The working principle of the present invention is: when the welding manipulator with multiple degrees of freedom is used, first, the welding part 7 is placed on the supporting block 6 of the positioning frame 5, and then the staff rotates the clamping screw 501, and the clamping screw 501 drives the connecting plate 502 to slide through the thread, and the connecting plate 502 slides through the sliding connecting plate 503 to drive the active plate 504 to slide along the groove of the active slide groove 505, and the active plate 504 slides through the active clamping plate 507 to drive the welding part 7 to fit the outer wall of the positioning baffle 8. At the same time, the sliding of the connecting plate 502 drives the two groups of driven orifice plates 509 to move synchronously, and the driven orifice plates 509 slide through the sliding plates 510 to drive the driven clamping plates 511 to fit the two sides of the welding part 7, so as to realize the fixing operation on both sides of the welding part 7, and facilitate the rapid installation and positioning of the welding part 7. By setting the spring 508, it is prevented that the active clamping plate 507 and the driven clamping plate 511 cannot be stably fitted with the welding part 7.

[0053] Next, the welding part 7 on the positioning frame 5 is loaded. In the loading base 3, the reciprocating motor 301 drives the rotating disk 302 to rotate, and the rotation of the rotating disk 302 drives the two sets of rotating guide rails 303 to rotate synchronously. The rotating guide rails 303 rotate and drive the positioning frame 5 to rotate through the connecting slider 305 and the connecting slide groove 306, and rotate the positioning frame 5 to the bottom of the working frame 1. At the same time, the rotating guide rails 303 rotate and drive the positioning frame 5 at the top of the connecting slider 305 to slide along the outer wall of the connecting slide groove 306 through the guide rail slider 304, so that the positioning groove 309 on the side wall of the positioning frame 5 cooperates with the positioning column 310 to realize stable loading operation of the welding part 7 on the positioning frame 5. At the same time, by setting two sets of positioning frames 5, it is conducive to realizing double-station loading operation of the welding part 7, which greatly reduces the welding time of the welding part 7.

[0054] Then, the mains is connected to the welding power supply and powered on. The welding power supply is powered on to heat the welding wire in the welding gun 115 of the heating welding machine to a molten state, and the welding operation is performed on the welding area of ​​the welding piece 7.

[0055] Next, the welding gun 115 is spatially positioned, the X-axis motor 101 drives the X-axis beam 103 to slide horizontally through the X-axis screw rod 102, and the sliding of the X-axis beam 103 drives the welding gun 115 at the bottom of the linkage block 104 to slide synchronously, thereby realizing the X-axis positioning operation of the welding gun 115. Then, the Y-axis motor 105 drives the Y-axis beam 107 to slide horizontally through the Y-axis screw rod 106, and the sliding of the Y-axis beam 107 drives the welding gun 115 at the bottom of the linkage block 104 to slide synchronously, thereby realizing the X-axis positioning operation of the welding gun 115. The Y-axis positioning operation of the welding machine gun 115 is now performed, and then the Z-axis motor 109 works to drive the welding machine gun 115 at the bottom of the lifting frame 111 to slide synchronously through the Z-axis screw rod 110, so as to realize the Z-axis positioning operation of the welding machine gun 115, and then the rotating motor 112 works to drive the welding machine gun 115 at the bottom of the rotating base 113 to rotate, so as to quickly move the welding machine gun 115 to the welding area of ​​the welding part 7, and the positioning speed of the welding machine gun 115 is relatively fast, so as to realize the multi-degree-of-freedom welding operation of the welding part 7.

[0056] Finally, when welding the weldment 7, it is necessary to perform fine-tuning operations on the welding machine gun 115. In the fine-tuning frame 2, the fine-tuning motor 201 works to drive the threaded slider 203 to slide through the fine-tuning screw 202, and the threaded slider 203 slides through the sliding hole plate 204 to drive the fine-tuning guide plate 205 to rotate. The rotation of the fine-tuning guide plate 205 drives the welding machine gun 115 at the bottom of the welding base 114 to rotate synchronously, so that the welding wire in the welding machine gun 115 can fit closely with the welding area of ​​the weldment 7.

[0057] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A welding manipulator with multiple degrees of freedom, comprising a working frame (1), characterized in that: The outer wall of the working frame (1) is fixedly connected to an X-axis motor (101), the output end of the X-axis motor (101) is fixedly connected to an X-axis screw rod (102), the outer wall of the X-axis screw rod (102) is threadedly connected to an X-axis crossbeam (103), the X-axis crossbeam (103) is laterally slidably connected in the working frame (1), and the outer wall of the X-axis crossbeam (103) is sleeved with a linkage block (104); The side wall of the working frame (1) is fixedly connected to a Y-axis motor (105), the output end of the Y-axis motor (105) is fixedly connected to a Y-axis screw rod (106), the outer wall of the Y-axis screw rod (106) is threadedly connected to a Y-axis crossbeam (107) that passes through the inner wall of the linkage block (104), and the Y-axis crossbeam (107) is longitudinally slidably connected in the working frame (1); The bottom end of the linkage block (104) is fixedly connected to a Z-axis frame (108); the inner wall of the Z-axis frame (108) is fixedly connected to a Z-axis motor (109); the output end of the Z-axis motor (109) is fixedly connected to a Z-axis screw rod (110); the outer wall of the Z-axis screw rod (110) is threadedly connected to a lifting frame (111); the lifting frame (111) is slidably connected in the Z-axis frame (108); the inner wall of the lifting frame (111) is fixedly connected to a rotating motor (112); the output end of the rotating motor (112) is fixedly connected to a rotating base (113); the bottom end of the rotating base (113) is screwed to a welding base (114); the bottom end of the welding base (114) is fixedly connected to a welding gun (115).

2. A welding manipulator with multiple degrees of freedom according to claim 1, characterized in that: The outer wall of the rotating base (113) is fixedly connected to a fine-tuning frame (2), the bottom end of the working frame (1) is fixedly connected to a loading base (3), the top of the loading base (3) is screwed to a loading platform (4), the top of the loading platform (4) is provided with a positioning frame (5), the top edge of the positioning frame (5) is fixedly connected to a support block (6), the top of the support block (6) is provided with a welding piece (7), the side wall of the welding piece (7) is fitted with a positioning baffle (8) fixedly connected to the top of the positioning frame (5), and the middle of the top of the positioning frame (5) is fixedly connected to a protective baffle (9).

3. A welding manipulator with multiple degrees of freedom according to claim 2, characterized in that: The X-axis crossbeam (103), the Y-axis crossbeam (107) and the Z-axis frame (108) are perpendicular to each other, the working frame (1) is parallel to the loading platform (4), and the positioning frames (5) are provided in two groups, and the two groups of positioning frames (5) are symmetrical with respect to the protective baffle (9).

4. The multi-degree-of-freedom welding manipulator according to claim 2, characterized in that: The outer wall of the fine-tuning frame (2) is fixedly connected to a fine-tuning motor (201), the output end of the fine-tuning motor (201) is fixedly connected to a fine-tuning screw (202), the outer wall of the fine-tuning screw (202) is threadedly connected to a threaded slider (203), the bottom end of the threaded slider (203) is fixedly connected to a sliding hole plate (204), and the hole of the sliding hole plate (204) is movably connected to a fine-tuning guide plate (205) fixedly connected to the outer wall of the welding base (114).

5. The multi-degree-of-freedom welding manipulator according to claim 4, characterized in that: The fine-tuning guide plate (205) forms a rotating structure with the rotating base (113) through the sliding hole plate (204), the rotation center of the welding base (114) coincides with the rotation center of the fine-tuning guide plate (205), and the welding base (114) and the fine-tuning guide plate (205) are connected in an integrated manner.

6. The multi-degree-of-freedom welding manipulator according to claim 2, characterized in that: The inner wall of the feeding base (3) is fixedly connected to a reciprocating motor (301), the output end of the reciprocating motor (301) is fixedly connected to a rotating disk (302), the top of the rotating disk (302) is fixedly connected to a rotating guide rail (303), the outer wall of the rotating guide rail (303) is slidably connected to a guide rail slider (304), the top of the guide rail slider (304) is fixedly connected to a connecting slider (305) fixedly connected to the bottom end of the positioning frame (5), and the feeding base ( 3) A connecting groove (306) is provided at the connection portion with the connecting slider (305), the bottom edge of the positioning frame (5) is fixedly connected with a limiting slider (307), a limiting groove (308) is provided at the connection portion between the loading base (3) and the limiting slider (307), a positioning groove (309) is provided on the side wall of the positioning frame (5), and a positioning column (310) that matches the inner wall of the positioning groove (309) is fixedly connected to the outer wall of the loading base (3).

7. The multi-degree-of-freedom welding robot according to claim 6, characterized in that: The rotating guide rails (303) are provided in two groups, and the two groups of rotating guide rails (303) are centrally symmetrical about the center of the rotating disk (302). The outer shape of the rotating guide rails (303) is in the shape of an arc. The rotating guide rails (303) and the rotating disk (302) are eccentrically distributed. The loading platform (4) forms a rotating structure with the loading base (3) through the rotating disk (302) and the connecting slide groove (306). The positioning frame (5) forms a sliding structure with the connecting slide groove (306) through the rotating guide rails (303) and the guide rail slider (304). The limiting slider (307) is provided in two groups, and the two groups of limiting sliders (307) and the connecting slider (305) are distributed in the shape of an isosceles triangle.

8. The multi-degree-of-freedom welding manipulator according to claim 2, characterized in that: The inner wall of the positioning frame (5) is penetrated by a clamping screw (501), the outer wall of the clamping screw (501) is threadedly connected to a connecting plate (502), the top of the connecting plate (502) is fixedly connected to a sliding connecting plate (503), one end of the sliding connecting plate (503) is fixedly connected to an active plate (504), the outer wall of the positioning frame (5) is provided with an active sliding groove (505) slidably connected to the bottom end of the active plate (504), the inner wall of the active plate (504) is penetrated by a telescopic column (506), one end of the telescopic column (506) is fixedly connected to the bottom end of the active plate (504), and the inner wall of the active plate (504) is penetrated by a telescopic column (506). An active clamping plate (507) is connected to the side wall of the welding part (7); a spring (508) is fixedly connected to the connecting portion between the active clamping plate (507) and the active plate (504); both ends of the connecting plate (502) are fixedly connected to a driven orifice plate (509); a sliding plate (510) is movably connected in the hole of the driven orifice plate (509); one end of the sliding plate (510) is fixedly connected to a driven clamping plate (511); and the outer wall of the positioning frame (5) is provided with a driven sliding groove (512) slidably connected to the bottom end of the driven clamping plate (511).

9. The multi-degree-of-freedom welding manipulator according to claim 8, characterized in that: The welding piece (7) forms a clamping structure through an active clamping plate (507) and a positioning baffle (8), and the active clamping plate (507) and the positioning baffle (8) are parallel.

10. The welding manipulator with multiple degrees of freedom according to claim 8, characterized in that: The shape of the hole in the driven orifice plate (509) is inclined, and the driven clamping plate (511) forms a clamping structure with the weldment (7) through the driven orifice plate (509) and the sliding plate (510).

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