A welding robot with multiple degrees of freedom

Abstract

The application 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, an X-axis motor is fixedly connected to the outer wall of the working frame, the output end of the X-axis motor is fixedly connected with an X-axis screw rod, the outer wall of the X-axis screw rod is threadedly connected with an X-axis cross beam, the X-axis cross beam, a Y-axis cross beam and a lifting frame are arranged, the X-axis cross beam drives the welding gun at the bottom end of the linkage block to slide synchronously, then the Y-axis cross beam drives the welding gun at the bottom end of the linkage block to slide synchronously, then the Z-axis motor drives the welding gun at the bottom end of the lifting frame to slide synchronously through the Z-axis screw rod, Z-axis positioning operation of the welding gun is realized, then the rotary motor drives the welding gun at the bottom end of the rotary base to rotate, so that the welding gun can be quickly moved to the welding area of a welding piece, the positioning speed of the welding gun is relatively high, and multiple degrees of freedom welding operation of the welding piece is realized.

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 the welded parts.

[0003] For example, the patent with publication number CN114473321A discloses an intelligent welding manipulator with multiple degrees of freedom, 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 to 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 intelligent welding manipulator with multiple degrees of freedom described in the present invention has the characteristics of fast welding speed, accurate welding position, high welding strength, and more flexible welding.

[0004] When using the existing welding manipulator with multiple degrees of freedom, it is difficult to position the welding gun, 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 background art that the positioning of the welding gun of the welding machine is difficult, resulting in the welding results of the welded parts not meeting the standards.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a welding robot 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 to 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 to a Y-axis motor, the output end of the Y-axis motor is fixedly connected to a Y-axis screw rod, the outer wall of the Y-axis screw rod is threadedly connected to a Y-axis crossbeam that passes through 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 the Z-axis frame, the inner wall of the Z-axis frame is fixedly connected to the Z-axis motor, the output end of the Z-axis motor is fixedly connected to the Z-axis screw rod, the outer wall of the Z-axis screw rod is threadedly connected to the lifting frame, the lifting frame is slidably connected in the Z-axis frame, the inner wall of the lifting frame is fixedly connected to the rotating motor, the output end of the rotating motor is fixedly connected to the rotating base, the bottom end of the rotating base is screwed to the welding base, and the bottom end of the welding base is fixedly connected to the welding gun of the welding machine.

[0009] Based on the above structure, the sliding of the X-axis crossbeam drives the welding machine gun at the bottom end of the linkage block to slide synchronously, and then the sliding of the Y-axis crossbeam drives the welding machine gun at the bottom end of the linkage block to slide synchronously, and then the Z-axis motor works to drive the welding machine gun at the bottom end 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 end 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 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 support block, the top of the support 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, by setting the protective baffle, the strong light generated by the welding part during welding can be prevented from harming 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 platform, 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 hole plate, and the hole of the sliding hole 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 hole plate. The rotation of the fine-tuning guide plate drives the welding gun of the welding machine at the bottom end of the welding base to rotate synchronously, so that the welding wire in the welding gun of the welding machine fits tightly with the welding area of ​​the weldment.

[0013] Preferably, the fine-tuning guide plate forms a rotating structure between 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 connected as one piece. 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 gun at the bottom of the welding base to rotate synchronously, thereby realizing the fine-tuning operation of the welding 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 of the positioning frame, a connecting slot is provided at the connecting part of the feeding base and the connecting slider, the bottom edge of the positioning frame is fixedly connected to the limiting slider, the connecting part of the feeding base and the limiting slider is provided with a limiting slot, the side wall of the positioning frame is provided with a positioning slot, and the outer wall of the feeding base is fixedly connected 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 at the top of the connecting 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 rails is arc-shaped, and the rotating guide rails 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, and the positioning frame forms a sliding structure with the rotating guide rails and the guide rail slider and the connecting slide. The limit sliders are provided with two groups, and the two groups of limit sliders and the connecting sliders are distributed in an isosceles triangle. When working, the rotating guide rails rotate to drive the positioning frame to rotate through the connecting slider and the connecting slide, 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 at the top of the connecting slider to slide along the outer wall of the connecting slide through the guide rail slider, thereby realizing 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 sliding plate is movably connected in the hole of the driven orifice plate, One end of the sliding plate is fixedly connected to a driven splint, and the outer wall of the positioning frame is provided with a driven slide groove which is slidably connected to the bottom end of the driven splint. When working, 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 splint 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 sets of driven orifice plates to move synchronously, and the driven orifice plate slides through the sliding plate to drive the driven splint 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 quick installation and positioning of the welding part, and by setting a spring, it is prevented that the active splint and the driven splint cannot be stably fitted with the welding part.

[0017] Preferably, the welding part forms a clamping structure between the active splint and the positioning baffle, and the active splint 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 slide groove, and the active plate slides through the active splint 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 between the driven orifice plate and the sliding plate and the welded part. 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 splint and a driven splint, 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 splint 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 sets of driven orifice plates to move synchronously, and the driven orifice plate slides through the sliding plate to drive the driven splint to fit both 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 splint and the driven splint from being unable to fit stably with the weldment.

[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 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, 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. Then, the Z-axis motor works to drive the welding 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 gun. Then, the rotary motor works to drive 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 weldment. The welding gun positioning speed is fast, thereby realizing multi-degree-of-freedom welding operation of the weldment.

[0023] 4. By setting the fine-tuning guide plate, the fine-tuning motor drives 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 can fit closely with the welding area of ​​the weldment. 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 cross-sectional structural diagram of the linkage block of the present invention;

[0027] Figure 4 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 This is a schematic diagram of the connection structure between the loading platform and the positioning frame of the present invention;

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

[0031] Figure 8 Schematic diagram of the connection structure between the rotating disk and the rotating guide rail of the present invention;

[0032] Figure 9 This is a schematic diagram of the matching structure of the positioning groove and the positioning column of the present invention;

[0033] Figure 10 This is a schematic diagram of the connection structure of the positioning frame and the welded parts of the present invention;

[0034] Figure 11 This is a schematic diagram of the internal structure of the positioning frame of the present invention;

[0035] Figure 12 This is a schematic diagram of the external structure of the positioning frame of the present invention;

[0036] Figure 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. Loading 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 groove; 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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 multi-degree-of-freedom welding robot 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 a linkage block 104 is sleeved on the outer wall of the X-axis crossbeam 103;

[0040] 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;

[0041] The bottom end of the linkage block 104 is fixedly connected to the Z-axis frame 108, the inner wall of the Z-axis frame 108 is fixedly connected to the Z-axis motor 109, the output end of the Z-axis motor 109 is fixedly connected to the Z-axis screw rod 110, the outer wall of the Z-axis screw rod 110 is threadedly connected to the 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 the rotating motor 112, the output end of the rotating motor 112 is fixedly connected to the rotating base 113, the bottom end of the rotating base 113 is screwed to the welding base 114, and the bottom end of the welding base 114 is fixedly connected to the 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 end 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 end 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 end 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 end 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 Figure 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, and 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, and the top of the supporting block 6 is provided with a welding part 7. The side wall of the welding part 7 is fitted with a positioning baffle 8 fixedly connected to the top of the positioning frame 5, and a protective baffle 9 is fixedly connected to the middle of the top of the positioning frame 5. During work, by setting the protective baffle 9, the strong light generated by the welding part 7 during welding can be prevented from harming 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 there are two groups of positioning frames 5. 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 to the fine-tuning motor 201, and the output end of the fine-tuning motor 201 is fixedly connected to the fine-tuning screw 202. The outer wall of the fine-tuning screw 202 is threadedly connected to the threaded slider 203, and the threaded slider 203 is slidingly connected to the fine-tuning frame 2. The bottom end of the threaded slider 203 is fixedly connected to the sliding hole plate 204, and the hole of the sliding hole plate 204 is movably connected to the 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 gun 115 at the bottom of the welding base 114 to rotate synchronously, so that the welding wire in the welding gun 115 of the welding machine fits closely 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 between the sliding hole plate 204 and the rotating base 113. 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 connected as one piece. 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 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, a connecting groove 306 is provided at the connection between the feeding base 3 and the connecting slider 305, the bottom edge of the positioning frame 5 is fixedly connected to a limiting slider 307, a limiting groove 308 is provided at the connection between the feeding base 3 and the limiting slider 307, a positioning groove 309 is provided on the side wall of the positioning frame 5, and the outer wall of the feeding base 3 is fixedly connected to the positioning groove 309. The positioning column 310 cooperates with the inner wall. When working, the rotating disk 302 rotates to drive the two sets of rotating guide rails 303 to rotate synchronously. The rotating guide rail 303 rotates through the connecting slider 305 and the connecting slide 306 to drive the positioning frame 5 to rotate, and rotates 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 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 When the loading platform 4 is rotated, the loading platform 4 forms a rotating structure with the loading base 3 through the rotating disk 302 and the connecting slide 306. The positioning frame 5 forms a sliding structure with the rotating guide rail 303 and the guide rail slider 304 and the connecting slide 306. The limiting slider 307 is provided with two groups. The two groups of limiting sliders 307 and the connecting slider 305 are distributed in an isosceles triangle. When working, the rotating guide rail 303 rotates through the connecting slider 305 and the connecting slide 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 306, thereby realizing 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 to a connecting plate 502. The top of the connecting plate 502 is fixedly connected to a sliding connecting plate 503, and 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 that is 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, and one end of the telescopic column 506 is fixedly connected to an active splint 507 that fits the side wall of the weldment 7. The connecting portion of the active splint 507 and the active plate 504 is fixedly connected with a spring 508. Both ends of the connecting plate 502 are fixedly connected to a driven orifice plate 509, and a sliding plate 510 is movably connected in the hole of the driven orifice plate 509. One end of the sliding plate 510 is fixed The fixed connection is provided with a driven splint 511, and the outer wall of the positioning frame 5 is provided with a driven slide groove 512 which is slidably connected to the bottom end of the driven splint 511. When working, 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. At the same time, the connecting plate 502 slides to drive the two sets of driven orifice plates 509 to move synchronously. The driven orifice plate 509 slides through the sliding plate 510 to drive the driven splint 511 to fit the two sides of the welding part 7, 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, the active splint 507 and the driven splint 511 are prevented from being unable to fit stably with the welding part 7.

[0050] For further information, see Figure 10 and Figure 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 parallel, it is beneficial to the stable fit of the welding part 7 and the positioning baffle 8.

[0051] For further information, see Figure 10 and Figure 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 sets 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 with both 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 using the multi-degree-of-freedom welding robot, first, the welding part 7 is placed on the supporting block 6 of the positioning frame 5, 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 splint 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 sets of driven orifice plates 509 to move synchronously, and the driven orifice plate 509 slides through the sliding plate 510 to drive the driven splint 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, and by setting the spring 508, it is prevented that the active splint 507 and the driven splint 511 cannot be stably fitted with the welding part 7.

[0053] Then, 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. The rotation of the rotating disk 302 drives the two sets of rotating guide rails 303 to rotate synchronously. The rotating guide rail 303 rotates through the connecting slider 305 and the connecting slide 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 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.

[0054] Then, the mains electricity is connected to the welding power supply, which heats the welding wire in the welding gun 115 of the heating welder to a molten state, and performs a welding operation on the welding area of ​​the weldment 7.

[0055] Next, the welding gun 115 is spatially positioned. The X-axis motor 101 drives the X-axis crossbeam 103 to slide horizontally through the X-axis screw rod 102. The sliding of the X-axis crossbeam 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 crossbeam 107 to slide horizontally through the Y-axis screw rod 106. The sliding of the Y-axis crossbeam 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. Now the Y-axis positioning operation of the welding machine gun 115 is performed, and then the Z-axis motor 109 works to drive the welding machine gun 115 at the bottom end 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 end 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. The positioning speed of the welding machine gun 115 is relatively fast, thereby realizing the multi-degree-of-freedom welding operation of the welding part 7.

[0056] Finally, when welding the weldment 7, it is necessary to fine-tune the welding 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 gun 115 at the bottom of the welding base 114 to rotate synchronously, so that the welding wire in the welding gun 115 is closely fitted with the welding area of ​​the weldment 7.

[0057] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A welding manipulator with multiple degrees of freedom, comprising a working frame, characterized in that: The outer wall of the working frame is fixedly connected to the X-axis motor, the output end of the X-axis motor is fixedly connected to the X-axis screw, the outer wall of the X-axis screw is threadedly connected to the X-axis beam, the X-axis beam is laterally slidably connected in the working frame, and the outer wall of the X-axis beam is sleeved with a linkage block; The side wall of the working frame is fixedly connected to a Y-axis motor, the output end of the Y-axis motor is fixedly connected to a Y-axis screw, the outer wall of the Y-axis screw is threadedly connected to a Y-axis crossbeam that passes through the inner wall of the linkage block, and the Y-axis crossbeam is longitudinally slidably connected in the working frame; The bottom end of the linkage block is fixedly connected to the Z-axis frame, the inner wall of the Z-axis frame is fixedly connected to the Z-axis motor, the output end of the Z-axis motor is fixedly connected to the Z-axis screw, the outer wall of the Z-axis screw is threadedly connected to the lifting frame, the lifting frame is slidably connected in the Z-axis frame, the inner wall of the lifting frame is fixedly connected to the rotating motor, the output end of the rotating motor is fixedly connected to the rotating base, the bottom end of the rotating base is screwed to the welding base, and the bottom end of the welding base is fixedly connected to the welding gun of the welding machine; The outer wall of the rotating base is fixedly connected with a fine-tuning frame, the bottom end of the working frame is fixedly connected with a loading base, the top of the loading base is screwed with 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 with a support block, the top of the support block is provided with a welding piece, the side wall of the welding piece 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 with a protective baffle; 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 part 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 part of the feeding base and the limiting slider, a positioning groove is provided on the side wall of the positioning frame, and a positioning column matching the inner wall of the positioning groove is fixedly connected to the outer wall of the feeding base; Two groups of rotating guide rails are provided, 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 rails is arc-shaped, and the rotating guide rails 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 chute. The positioning frame forms a sliding structure with the rotating guide rails and the guide rail slider and the connecting chute. Two groups of limit sliders are provided, and the two groups of limit sliders and the connecting slider are distributed in an isosceles triangle. The outer wall of the positioning frame is provided with an active sliding groove which is slidably connected to the bottom end of the active plate, and the inner wall of the active plate is provided with a telescopic column, and one end of the telescopic column is fixedly connected to the active splint which fits the side wall of the welded part. The connecting part between the active splint and the active plate is fixedly connected with a spring, and both ends of the connecting plate are fixedly connected with a driven hole plate, and the sliding plate is movably connected in the hole of the driven hole plate. One end of the sliding plate is fixedly connected with the driven splint, 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 splint.

2. The multi-degree-of-freedom welding robot according to claim 1, characterized in that: 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, which are symmetrical about the protective baffle.

3. The multi-degree-of-freedom welding robot according to claim 1, characterized in that: 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 hole plate, and the hole of the sliding hole plate is movably connected to a fine-tuning guide plate fixedly connected to the outer wall of the welding base.

4. The multi-degree-of-freedom welding robot according to claim 3, characterized in that: The fine-tuning guide plate forms a rotating structure between 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. The welding base and the fine-tuning guide plate are connected in one piece.

5. The multi-degree-of-freedom welding robot according to claim 1, characterized in that: The welded parts form a clamping structure between the active clamping plate and the positioning baffle, and the active clamping plate and the positioning baffle are parallel.

6. The multi-degree-of-freedom welding robot according to claim 1, characterized in that: 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.

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