Welding robot capable of automatically feeding welding wires and wire feeding method thereof

Abstract

The invention discloses a welding robot capable of automatically feeding welding wires and a wire feeding method thereof, and relates to the technical field of welding robots, the welding robot comprises a mechanical arm and an automatic switching module, the automatic switching module is installed on the mechanical arm, and the automatic switching module is used for automatically replacing and continuously feeding the welding wires; the automatic switching module comprises a mounting box, a first motor, a mounting frame, a wire reel and a second motor. According to the automatic welding robot, the automatic switching module is installed, the functions of automatic replacement and continuous feeding of welding wires are achieved, the problem that a traditional welding robot needs to be manually replaced after the welding wires are used up is solved, the welding efficiency and the automation degree are improved, and production continuity is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, and in particular to a welding robot capable of automatically feeding welding wire and a wire feeding method thereof. Background Art

[0002] With the continuous development of industrial automation, welding robots are widely used in automobile manufacturing, aerospace, heavy machinery and other industries. This advanced welding technology not only significantly improves production efficiency, but also ensures the stability and reliability of welding quality. Compared with traditional manual welding methods, robot welding can completely eliminate the influence of human factors and greatly reduce labor intensity. At the same time, this technology is more adaptable to large-scale production and precision requirements.

[0003] However, traditional welding robots have obvious defects in the wire replacement process and can no longer meet the current manufacturing industry's goal of pursuing efficient production. Therefore, welding robots that automatically feed and replace welding wires have emerged and become a new trend in the development of the industry. The introduction of automatic wire replacement functions in welding robots not only helps to improve production efficiency and reduce labor costs, but also ensures the continuous stability of welding quality.

[0004] 1. Patent document CN118162720B discloses a large welding robot. The above patent realizes the free combination of the manipulator and the wire feeding structure, effectively reducing the structural complexity of the robot, but the above patent cannot realize the automatic replacement and continuous feeding functions of the welding wire.

[0005] 2. Patent document CN116750578B discloses an automatic wire feeding device for a welding robot. The above patent realizes high-frequency feeding and retraction of the welding wire and has a good application effect, but the above patent cannot realize the function of detecting the amount of welding wire.

[0006] 3. Patent document CN105834621B discloses a welding robot welding manipulator based on a symmetrical redundant parallel mechanism. The above patent realizes feeding welding wire while welding, but the above patent cannot realize the alarm function when the welding wire breaks.

[0007] 4. Patent document CN115781148B discloses a welding robot with a leak mark function. The above patent realizes the circumferential rotation welding of the pipeline, but the above patent cannot realize the automatic straightening function of the welding wire.

[0008] In summary, the above patents cannot realize the automatic replacement and re-feeding functions of welding wire, the detection function of welding wire quantity, the alarm function when welding wire breaks, and the automatic straightening function of welding wire, which leads to production interruption, failure to timely detect that the welding wire has been used up, damage to welding equipment, and unstable welding quality. To this end, the present application proposes a welding robot and a wire feeding method thereof that can realize automatic replacement and re-feeding of welding wire, detection of welding wire quantity, alarm when welding wire breaks, and automatic straightening of welding wire. Summary of the invention

[0009] The object of the present invention is to provide a welding robot with automatic wire feeding and a wire feeding method thereof, so as to solve the technical problems proposed in the above-mentioned background technology that the automatic replacement and re-feeding functions of the welding wire, the welding wire quantity detection function, the alarm function when the welding wire is broken, and the automatic straightening function of the welding wire cannot be realized, resulting in production interruption, failure to promptly detect that the welding wire has been used up, damage to the welding equipment, and unstable welding quality.

[0010] To achieve the above object, the present invention provides the following technical solution: a welding robot for automatically feeding welding wire, comprising a mechanical arm and an automatic switching module, wherein the mechanical arm is equipped with the automatic switching module, and the automatic switching module is used for automatically replacing and continuing to feed the welding wire; The automatic switching module comprises: a mounting box, a first motor, a mounting frame, a welding wire reel and a second motor; The bottom of the outer wall of the mechanical arm is fixedly connected to a base, the side wall of the mechanical arm is fixedly connected to a welding gun, the outer wall of the mechanical arm is fixedly connected to an installation box, the bottom of the inner wall of the installation box is provided with a first groove, the outer wall of the first groove is fixedly connected to a first motor, the outer wall of the first motor is installed with a first rotating shaft, the side wall of the first rotating shaft is fixedly connected to a first gear, and a mounting frame is installed in the installation box, the bottom of the outer wall of the mounting frame is fixedly connected to a first toothed plate, the first toothed plate is located in the first groove, the first toothed plate is meshed with the first gear, the bottom of the inner wall of the installation box is provided with a second groove, the second groove is located on both sides of the first groove, the bottom of the outer wall of the mounting frame is fixedly connected to a positioning block, the outer wall of the positioning block is sleeved with a second groove, the mounting frame is provided with a first placement groove and a second placement groove, the first placement groove and the second placement groove are respectively installed with a welding wire reel, the welding wire is installed in the welding wire reel, the first placement The first gear is connected with the second end of the gear to the first end, and the second gear is connected with the. 3rd gear of the first gear to the second end.

[0011] Preferably, a welding wire detection module is installed in the installation box, and the welding wire detection module is connected to the automatic switching module via Bluetooth, and the welding wire detection module is used to detect the amount of welding wire in the welding wire reel; The welding wire detection module includes: a high-definition camera, an image analyzer and a processor; A high-definition camera is fixedly connected to the top of the inner wall of the installation box, and the high-definition camera is located above the welding wire reel. An image analyzer is fixedly connected to the top of the outer wall of the installation box, and the high-definition camera is connected to the image analyzer through a signal line. A processor is fixedly connected to the top of the outer wall of the installation box, and the processor is connected to the image analyzer through a signal line. A first pressure sensor is fixedly connected to the outer wall of the mounting frame, and the first pressure sensor is connected to the processor through Bluetooth. A second fixed block is fixedly connected to the inner wall of the installation box, and a first hollow groove is opened in the second fixed block. A second spring is installed in the first hollow groove. The second fixed block is fixedly connected to one side of the second spring, and a pushing ball is fixedly connected to the other side of the second spring, and the pushing ball contacts the first pressure sensor. The top of the outer walls of the first placement slot and the second placement slot are respectively fixedly connected to a pressure analyzer, and the pressure analyzer is connected to the first pressure sensor through Bluetooth, the pressure analyzer is connected to the processor through Bluetooth, and the processor is connected to the first motor and the second motor through Bluetooth.

[0012] Preferably, a wire break alarm module is installed in the mounting frame, and the wire break alarm module is connected to the automatic switching module through the processor in the welding wire detection module for Bluetooth transmission. The wire break alarm module is used to send out an alarm signal in time and stop wire feeding when the welding wire breaks; The broken wire alarm module includes: an elastic block, a third spring, a second pressure sensor, a guide wheel and an audible and visual alarm; The outer walls of the first placement groove and the second placement groove are respectively provided with a second hollow groove, an elastic block is fixedly connected to the top of the outer wall of the second hollow groove, a third spring is installed in the second hollow groove, the mounting frame is fixedly connected to one side of the third spring, and the other side of the third spring is fixedly connected to a connecting plate, the outer wall of the connecting plate is sleeved with a second hollow groove, the top of the outer wall of the connecting plate is fixedly connected to the first connecting frame, the outer wall of the first connecting frame is sleeved with the mounting frame, the top of the outer wall of the connecting plate is fixedly connected to the second pressure sensor, the second pressure sensor is fixedly connected to the outer wall of the first connecting frame, the outer wall of the first connecting frame is fixedly connected to a guide wheel, the guide wheel is in contact with the welding wire, the second pressure sensor is connected to a pressure analyzer via Bluetooth, the side wall of the installation box is fixedly connected to an audible and visual alarm, and the processor is connected to an audible and visual alarm via Bluetooth.

[0013] Preferably, an automatic straightening module is installed in the installation box, and the automatic straightening module is connected to the automatic switching module through the processor in the welding wire detection module for Bluetooth transmission, and the automatic straightening module is used for automatic straightening of the welding wire; The automatic straightening module comprises: a guide groove, a second rotating shaft, a moving block, a fourth spring and a straightening wheel; A platform is fixedly connected to the bottom of the inner wall of the installation box, and a guide groove is opened on the top of the outer wall of the platform. A fixed shaft is fixedly connected to the top of the inner wall of the installation box, and the fixed shaft is mounted on the outer wall of the first rotating shaft. The outer wall of the first rotating shaft is fixedly connected to the second gear, and the outer wall of the second gear is meshingly installed with a third gear. The side wall of the third gear is fixedly connected to the third rotating shaft, and the third gear is installed on the side wall of the third motor. The outer wall of the third motor is fixedly connected to the installation box, and the processor is connected to the third motor via Bluetooth. The outer wall of the first rotating shaft is symmetrically fixedly connected to the first bevel gear, and the outer wall of the first bevel gear is meshingly installed with the second bevel gear. The second bevel gear is fixedly connected to the outer wall of the second rotating shaft, and the outer wall of the second rotating shaft is mounted with an installation box and a moving block. The bottom of the outer wall of the moving block is fixedly connected to a fourth spring, and the bottom of the outer wall of the fourth spring is fixedly connected to a moving plate. The bottom of the outer wall of the moving plate is fixedly connected to a second connecting frame, and a plurality of straightening wheels are installed on the second connecting frame, and the straightening wheels are in contact with the welding wire.

[0014] Preferably, the outer walls of the first placement groove and the second placement groove are respectively fixedly connected with a support plate, the outer wall of the support plate is provided with a mounting block, the support plate and the mounting block are provided on the outer wall of the mounting shaft, the support plate is connected with the mounting block by fastening bolts, and the outer wall of the mounting shaft is provided with a welding wire reel.

[0015] Preferably, a connecting tube is fixedly connected to the top of the outer wall of the platform, the connecting tube is aligned with the guide hole and the guide groove, a rotating block is installed in the connecting tube, a dust removal brush is fixedly connected to the outer wall of the rotating block, a second tooth plate is fixedly connected to the outer wall of the rotating block, a fourth gear is meshingly installed on the outer wall of the second tooth plate, a fourth rotating shaft is fixedly connected to the side wall of the fourth gear, the fourth rotating shaft is installed on the outer wall of the fourth motor, and the side wall of the fourth motor is fixedly connected to the platform.

[0016] Preferably, the installation box is connected to a welding gun via a hose.

[0017] Preferably, the processor is connected to a fourth motor via Bluetooth.

[0018] Preferably, the wire feeding method comprises the following steps: S1, the first placement slot is located in the installation box, the image analyzer analyzes the image of the welding wire reel captured by the high-definition camera, and evaluates the number of welding wires in the welding wire reel. When the image analyzer determines that there is welding wire in the welding wire reel, the processor receives the analysis data of the image analyzer, and the processor controls the first pressure sensor to start; S2, the first pressure sensor detects pressure, the first pressure sensor transmits the pressure signal to the pressure analyzer, the pressure analyzer transmits the signal to the processor, and the processor controls the second motor to start; S3, the second motor drives the second rotating shaft to rotate, the second rotating shaft drives the first transmission wheel to rotate, the first transmission wheel drives the belt, the belt drives the second transmission wheel to rotate, the second transmission wheel drives the first rotating rod to rotate, the first rotating rod drives the first roller to rotate, and the first roller drives the welding wire to move.

[0019] Preferably, the wire feeding method further comprises the following steps: S11, the image analyzer determines that there is no welding wire in the welding wire reel, the processor receives analysis data from the image analyzer, and the processor controls the first motor to start; S12, the first motor drives the first rotating shaft, the first rotating shaft drives the first gear, the first gear drives the first toothed plate, the first toothed plate drives the mounting frame to move the second placement slot into the mounting box.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the automatic replacement and re-feeding functions of welding wire by installing an automatic switching module, which solves the problem that the traditional welding robot needs to manually replace the welding wire after it runs out, improves the welding efficiency and automation level, and ensures the continuity of production; 2. The present invention realizes the function of detecting the number of welding wires by installing a welding wire detection module, realizes intelligent monitoring of the number of welding wires, reduces the frequency of manual inspections, and solves the problem of production interruption caused by exhaustion of welding wires; 3. The present invention is equipped with a wire break alarm module to realize the alarm function when the welding wire is broken, thereby solving the problem that the welding wire break cannot be discovered in time, reducing the time of production interruption, and improving production efficiency and operation safety; 4. The present invention realizes the automatic straightening function of the welding wire by installing an automatic straightening module, solves the problem of low efficiency of traditional manual straightening, ensures that the welding wire remains straight during the welding process, and improves the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 It is a partial structural schematic diagram of the welding wire detection module of the present invention; Figure 3 It is a partial structural schematic diagram of the automatic switching module of the present invention; Figure 4 It is a partial structural schematic diagram of the wire breaking alarm module of the present invention; Figure 5 It is a partial structural schematic diagram of the automatic straightening module of the present invention; Figure 6 It is a schematic cross-sectional structural diagram of the first fixing block of the present invention; Figure 7 is a schematic cross-sectional structural diagram of a second fixing block of the present invention; Figure 8 It is a schematic diagram of the cross-sectional structure of the connecting pipe of the present invention.

[0022] In the figure: 1, mechanical arm; 2, installation box; 3, base; 4, welding gun; 5, first groove; 6, first motor; 7, first rotating shaft; 8, first gear; 9, mounting frame; 10, first tooth plate; 11, second groove; 12, positioning block; 13, first placement groove; 14, second placement groove; 15, welding wire reel; 16, first fixed block; 17, third groove; 18, guide hole; 19, second motor; 20, second rotating shaft; 21, first transmission wheel; 22, belt; 23, first rotating rod; 24, first roller; 25, second transmission wheel; 26, first spring; 27, limit block; 28, second rotating rod; 29, second roller; 30, high-definition camera; 31, image analyzer; 32, processor; 33, first pressure sensor; 34, second fixed block; 35, first hollow groove; 36, second spring; 37, push ball; 38, pressure analyzer; 39, elastic block; 40, second hollow groove; 41, third spring; 42, connecting plate; 43, first connecting frame; 44, second pressure sensor; 45, guide wheel; 46, third motor; 47, sound and light alarm; 48, platform; 49, guide groove; 50, fixed shaft; 51, first rotating shaft; 52, second gear; 53, third gear; 54, third rotating shaft; 55, first bevel gear; 56, second bevel gear; 57, second rotating shaft; 58, moving block; 59, fourth spring; 60, moving plate; 61, second connecting frame; 62, straightening wheel; 63, support plate; 64, mounting block; 65, fastening bolt; 66, mounting shaft; 67, connecting pipe; 68, rotating block; 69, dust removal brush; 70, second tooth plate; 71, fourth gear; 72, fourth rotating shaft; 73, fourth motor. DETAILED DESCRIPTION

[0023] 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.

[0024] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Example 1 See also Figure 1 , Figure 2 , Figure 3 and Figure 6 , an embodiment provided by the present invention: a welding robot for automatically feeding welding wire, comprising a mechanical arm 1 and an automatic switching module, wherein the mechanical arm 1 is equipped with the automatic switching module, and the automatic switching module is used for automatic replacement and continuous feeding of welding wire; The automatic switching module includes: a mounting box 2, a first motor 6, a mounting frame 9, a welding wire reel 15 and a second motor 19; The bottom of the outer wall of the mechanical arm 1 is fixedly connected to a base 3, the side wall of the mechanical arm 1 is fixedly connected to a welding gun 4, the outer wall of the mechanical arm 1 is fixedly connected to an installation box 2, the bottom of the inner wall of the installation box 2 is provided with a first groove 5, the outer wall of the first groove 5 is fixedly connected to a first motor 6, the outer wall of the first motor 6 is installed with a first shaft 7, the side wall of the first shaft 7 is fixedly connected to a first gear 8, a mounting frame 9 is installed in the installation box 2, the bottom of the outer wall of the mounting frame 9 is fixedly connected to a first toothed plate 10, the first toothed plate 10 is located in the first groove 5, the first tooth plate 10 is meshed with the first gear 8, the bottom of the inner wall of the installation box 2 is provided with a second groove 11, the second groove 11 is located on both sides of the first groove 5, the bottom of the outer wall of the installation frame 9 is fixedly connected with a positioning block 12, the outer wall of the positioning block 12 is sleeved with a second groove 11, the installation frame 9 is provided with a first placement groove 13 and a second placement groove 14, the first placement groove 13 and the second placement groove 14 are respectively installed with a welding wire reel 15, the welding wire is installed in the welding wire reel 15, the first placement groove 13 and the second placement groove 14 are respectively installed with a welding wire, and the first placement groove 13 and the second placement groove 14 are respectively installed with a welding wire. The outer walls are each fixedly connected with a first fixing block 16, a third groove 17 is provided in the first fixing block 16, a guide hole 18 is provided on the outer wall of the first fixing block 16, the guide hole 18 is communicated with the third groove 17, a second motor 19 is fixedly connected to the side wall of the third groove 17, a second rotating shaft 20 is installed on the side wall of the second motor 19, a first transmission wheel 21 is fixedly connected to the side wall of the second rotating shaft 20, the outer wall of the first transmission wheel 21 is tightly fitted with the belt 22, and the first fixing block 16 is sleeved on the outer wall of the first rotating rod 23. The first rotating rod 23 is fixedly connected to the outer wall with a first roller 24 and a second transmission wheel 25, the side wall of the first roller 24 is fixedly connected to the second transmission wheel 25, the outer wall of the second transmission wheel 25 is tightly fitted with the belt 22, the first fixing block 16 is symmetrically fixedly connected to the first spring 26, the bottom of the outer wall of the first spring 26 is fixedly connected to a limiting block 27, the outer wall of the limiting block 27 is sleeved with the first fixing block 16, the limiting block 27 is sleeved on the outer wall of the second rotating rod 28, and the outer wall of the second rotating rod 28 is fixedly connected to the second roller 29; Further, the first placement slot 13 of the mounting frame 9 is in the mounting box 2. When the welding wire in the welding wire reel 15 of the first placement slot 13 is used up, the first motor 6 is started, the first motor 6 drives the first rotating shaft 7 to rotate forward, the first rotating shaft 7 drives the first gear 8 to rotate, the first gear 8 drives the first toothed plate 10 meshing therewith to move, the first toothed plate 10 drives the mounting frame 9 to move, the mounting frame 9 drives the positioning block 12 to move in the second groove 11, the second groove 11 limits the moving range of the positioning block 12, limits the moving range of the mounting frame 9, thereby moving the second placement slot 14 of the mounting frame 9 into the mounting box 2, realizing the replacement of the welding wire, the first spring 26 squeezes the limit block 27, and the limit block 27 exerts pressure on the second rotating rod 28 The second rotating rod 28 applies force to the second roller 29, so that the second roller 29 squeezes the welding wire, and the first roller 24 and the second roller 29 form a space for clamping the welding wire. The first spring 26 increases the friction between the welding wire and the first roller 24 and the second roller 29, which is conducive to the stable transportation of the welding wire. The second motor 19 is started, and the second motor 19 drives the second rotating shaft 20 to rotate, and the second rotating shaft 20 drives the first transmission wheel 21 to rotate, the first transmission wheel 21 drives the belt 22 to move, and the belt 22 drives the second transmission wheel 25 to rotate, and the second transmission wheel 25 drives the first rotating rod 23 to rotate, and the first rotating rod 23 drives the first roller 24 to rotate, and the first roller 24 drives the movement of the welding wire, thereby realizing the transportation of the welding wire.

[0027] Example 2 See also Figure 1 , Figure 2 , Figure 3 and Figure 7 , an embodiment provided by the present invention: a welding robot for automatically feeding welding wire, wherein a welding wire detection module is installed in the installation box 2, the welding wire detection module is connected to an automatic switching module via Bluetooth, and the welding wire detection module is used to detect the amount of welding wire in the welding wire reel 15; The welding wire detection module includes: a high-definition camera 30, an image analyzer 31 and a processor 32; A high-definition camera 30 is fixedly connected to the top of the inner wall of the installation box 2, and the high-definition camera 30 is located above the welding wire reel 15. An image analyzer 31 is fixedly connected to the top of the outer wall of the installation box 2, and the high-definition camera 30 is connected to the image analyzer 31 through a signal line. A processor 32 is fixedly connected to the top of the outer wall of the installation box 2, and the processor 32 is connected to the image analyzer 31 through a signal line. A first pressure sensor 33 is fixedly connected to the outer wall of the mounting frame 9, and the first pressure sensor 33 is connected to the processor 32 through Bluetooth. A second fixed block 34 is fixedly connected to the inner wall of the installation box 2, and the second fixed block 34 has an inner portion. A first hollow groove 35 is provided, a second spring 36 is installed in the first hollow groove 35, a second fixing block 34 is fixedly connected to one side of the second spring 36, a pushing ball 37 is fixedly connected to the other side of the second spring 36, the pushing ball 37 is in contact with the first pressure sensor 33, the top of the outer wall of the first placement groove 13 and the second placement groove 14 are respectively fixedly connected to a pressure analyzer 38, the pressure analyzer 38 is connected to the first pressure sensor 33 via Bluetooth, the pressure analyzer 38 is connected to the processor 32 via Bluetooth, and the processor 32 is connected to the first motor 6 and the second motor 19 via Bluetooth; Further, when the first placement slot 13 is in the installation box 2 and the second placement slot 14 is outside the installation box 2, the high-definition camera 30 captures the image of the welding wire reel 15 in the first placement slot 13 in real time, and transmits the image data to the image analyzer 31 through the signal line. The image analyzer 31 records and analyzes the image. The image analyzer 31 determines whether the welding wire in the welding wire reel 15 is exhausted according to the image. When the image analyzer 31 determines that the welding wire is exhausted, the image analyzer 31 transmits the analysis data to the processor 32 through the signal line. The processor 32 starts the first pressure sensor 33 in the first placement slot 13 and the second placement slot 14, and the second spring 36 squeezes the push ball 37, pushing the ball 3 7 squeezes the first pressure sensor 33 in the first placement slot 13. After the first pressure sensor 33 detects the pressure, it transmits the pressure signal to the pressure analyzer 38. After receiving the pressure signal, the pressure analyzer 38 transmits the position signal to the processor 32. After the processor 32 receives the position signal, the processor 32 determines that the signal is transmitted by the pressure analyzer 38 in the first placement slot 13. The processor 32 determines that the welding wire in the first placement slot 13 is exhausted. The processor 32 generates a control instruction to control the first motor 6 to start, move the first placement slot 13 out of the installation box 2, and move the second placement slot 14 into the installation box 2. The processor 32 controls the second motor 19 to start and feed the wire.

[0028] Example 3 See also Figure 2 , Figure 3 and Figure 4, an embodiment provided by the present invention: a welding robot for automatically feeding welding wire, wherein a wire-breaking alarm module is installed in the mounting frame 9, and the wire-breaking alarm module is connected to the automatic switching module through the processor 32 in the welding wire detection module for Bluetooth transmission, and the wire-breaking alarm module is used to send out an alarm signal in time and stop wire feeding when the welding wire is broken; The wire breaking alarm module includes: an elastic block 39, a third spring 41, a second pressure sensor 44, a guide wheel 45 and an audible and visual alarm 47; The outer walls of the first placement groove 13 and the second placement groove 14 are respectively provided with a second hollow groove 40, the top of the outer wall of the second hollow groove 40 is fixedly connected to an elastic block 39, a third spring 41 is installed in the second hollow groove 40, a mounting frame 9 is fixedly connected to one side of the third spring 41, and a connecting plate 42 is fixedly connected to the other side of the third spring 41, the outer wall of the connecting plate 42 is sleeved with the second hollow groove 40, the top of the outer wall of the connecting plate 42 is fixedly connected to the first connecting frame 43, the outer wall of the first connecting frame 43 is sleeved with the mounting frame 9, the top of the outer wall of the connecting plate 42 is fixedly connected to the second pressure sensor 44, the second pressure sensor 44 is fixedly connected to the outer wall of the first connecting frame 43, the outer wall of the first connecting frame 43 is fixedly connected to a guide wheel 45, the guide wheel 45 is in contact with the welding wire, the second pressure sensor 44 is connected to the pressure analyzer 38 via Bluetooth, the side wall of the installation box 2 is fixedly connected to an audible and visual alarm 47, and the processor 32 is connected to the audible and visual alarm 47 via Bluetooth; Further, the welding wire passes through the first connecting frame 43 and passes through the guide wheel 45 in the first connecting frame 43. When the welding wire is not broken, the welding wire exerts a downward force on the guide wheel 45, and the guide wheel 45 exerts pressure on the first connecting frame 43. The first connecting frame 43 exerts pressure on the connecting plate 42, so that the connecting plate 42 squeezes the third spring 41, so that the second pressure sensor 44 on the connecting plate 42 does not contact the elastic block 39. After the welding wire breaks, the guide wheel 45 loses the pressure exerted by the welding wire, and the third spring 41 recovers its shape, so that the third spring 41 exerts an elastic force on the connecting plate 42, so that the connecting plate 42 moves upward, and the connecting plate 42 drives the second pressure sensor 44 to move upward. 4 moves upward, so that the second pressure sensor 44 squeezes the elastic block 39. After detecting the pressure, the second pressure sensor 44 transmits the pressure data to the pressure analyzer 38. After receiving the pressure data, the pressure analyzer 38 generates an abnormal signal and transmits the abnormal signal to the processor 32. After receiving the abnormal signal, the processor 32 determines that the welding wire is broken and generates an early warning signal. The processor 32 transmits the early warning signal to the sound and light alarm 47. After receiving the signal, the sound and light alarm 47 sends out an sound and light alarm to remind relevant personnel to pay attention. At the same time, the processor 32 stops the operation of the automatic switching module and stops feeding the wire.

[0029] Example 4 See also Figure 1 , Figure 2 and Figure 5, an embodiment provided by the present invention: a welding robot for automatically feeding welding wire, wherein an automatic straightening module is installed in the installation box 2, the automatic straightening module is connected to the automatic switching module through the processor 32 in the welding wire detection module for Bluetooth transmission, and the automatic straightening module is used for automatic straightening of the welding wire; The automatic straightening module includes: a guide groove 49, a second rotating shaft 57, a moving block 58, a fourth spring 59 and a straightening wheel 62; The bottom of the inner wall of the installation box 2 is fixedly connected to a platform 48, and the top of the outer wall of the platform 48 is provided with a guide groove 49. The top of the inner wall of the installation box 2 is fixedly connected to a fixed shaft 50, and the fixed shaft 50 is sleeved on the outer wall of the first rotating shaft 51. The outer wall of the first rotating shaft 51 is fixedly connected to a second gear 52, and the outer wall of the second gear 52 is meshed and installed with a third gear 53. The side wall of the third gear 53 is fixedly connected to a third rotating shaft 54, and the third gear 53 is installed on the side wall of the third motor 46. The outer wall of the third motor 46 is fixedly connected to the installation box 2, and the processor 32 is connected to the third motor 46 via Bluetooth. A first bevel gear 55 is symmetrically fixedly connected to the outer wall of a rotating shaft 51, a second bevel gear 56 is meshedly installed on the outer wall of the first bevel gear 55, the second bevel gear 56 is fixedly connected to the outer wall of a second rotating shaft 57, the outer wall of the second rotating shaft 57 is sleeved with a mounting box 2 and a moving block 58, a fourth spring 59 is fixedly connected to the bottom of the outer wall of the moving block 58, a moving plate 60 is fixedly connected to the bottom of the outer wall of the fourth spring 59, a second connecting frame 61 is fixedly connected to the bottom of the outer wall of the moving plate 60, a plurality of straightening wheels 62 are installed on the second connecting frame 61, and the straightening wheels 62 are in contact with the welding wire; Further, after the processor 32 controls the automatic straightening module to complete the switching and feeding of the welding wire, the welding wire passes through the guide groove 49, and the guide groove 49 prevents the welding wire from being misplaced. The processor 32 starts the third motor 46, and the third motor 46 drives the third rotating shaft 54 ​​to rotate, and the third rotating shaft 54 ​​drives the third gear 53 to rotate, and the third gear 53 drives the second gear 52 meshing therewith to rotate, and the second gear 52 drives the first rotating shaft 51 to rotate, and the first rotating shaft 51 drives the first bevel gear 55 to rotate, and the first bevel gear 55 drives the second bevel gear 56 meshing therewith to rotate. The second bevel gear 56 drives the second rotating shaft 57 to rotate, and the second rotating shaft 57 drives the moving block 58 to move, so that the moving block 58 gradually approaches the platform 48, and the moving block 58 drives the fourth spring 59 to move, and the fourth spring 59 drives the moving plate 60 to move, and the moving plate 60 drives the second connecting frame 61 to move, and the second connecting frame 61 drives the straightening wheel 62 to move, so that the straightening wheel 62 contacts the welding wire, and the straightening wheel 62 straightens the welding wire by rotating, and the fourth spring 59 automatically adjusts the pressure on the welding wire according to the thickness of the welding wire to ensure that the welding wire will not be damaged during the straightening process.

[0030] Example 5 See also Figure 1 , Figure 2and Figure 3 , an embodiment of the present invention: a welding robot for automatically feeding welding wire, wherein the outer walls of the first placement slot 13 and the second placement slot 14 are respectively fixedly connected with a support plate 63, the outer wall of the support plate 63 is sleeved with a mounting block 64, the support plate 63 and the mounting block 64 are sleeved on the outer wall of the mounting shaft 66, the support plate 63 is connected with the mounting block 64 by a fastening bolt 65, and the outer wall of the mounting shaft 66 is sleeved with a welding wire reel 15; Furthermore, when the welding wire in the wire reel 15 in the first placement slot 13 or the second placement slot 14 is used up, the operator removes the fastening bolt 65, removes the mounting block 64 from the support plate 63, takes out the wire reel 15 and the mounting shaft 66, replaces the wire reel 15, installs the mounting shaft 66 on the new wire reel 15, and then installs the mounting shaft 66 on the support plate 63, and then puts the mounting block 64 on the support plate 63, screws the fastening bolt 65 back in, fixes the support plate 63 and the mounting block 64, and realizes the disassembly and assembly of the wire reel 15 in the first placement slot 13 or the second placement slot 14, and realizes the replacement of the wire reel 15, thereby ensuring the automatic replacement and continued feeding of the welding wire by the welding robot and avoiding the problem of wire interruption during the wire feeding process of the welding robot.

[0031] Example 6 See also Figure 1 , Figure 2 , Figure 5 and Figure 8 , an embodiment of the present invention: a welding robot for automatically feeding welding wire, the top of the outer wall of the platform 48 is fixedly connected with a connecting pipe 67, the connecting pipe 67 is aligned with the guide hole 18 and the guide groove 49, a rotating block 68 is installed in the connecting pipe 67, the outer wall of the rotating block 68 is fixedly connected with a dust removal brush 69, the outer wall of the rotating block 68 is fixedly connected with a second tooth plate 70, the outer wall of the second tooth plate 70 is meshed with a fourth gear 71, the side wall of the fourth gear 71 is fixedly connected with a fourth rotating shaft 72, the fourth rotating shaft 72 is installed on the outer wall of the fourth motor 73, and the side wall of the fourth motor 73 is fixedly connected with the platform 48; Furthermore, the welding wire passes through the guide hole 18, the connecting tube 67 and the guide groove 49 respectively. In the process of the welding wire passing through the connecting tube 67, the fourth motor 73 is started, the fourth motor 73 drives the fourth rotating shaft 72 to rotate, the fourth rotating shaft 72 drives the fourth gear 71 to rotate, the fourth gear 71 drives the second tooth plate 70 meshing therewith to rotate, the second tooth plate 70 drives the rotating block 68 to rotate, the rotating block 68 drives the dust removal brush 69 to rotate, the rotation of the dust removal brush 69 brushes away the dust and tiny particles on the surface of the welding wire, and before the welding wire is conveyed to the welding area, the welding wire is first dusted to prevent the dust and tiny particles on the welding wire from affecting the welding quality, avoiding wear and blockage on the welding robot, and protecting the welding equipment.

[0032] Working principle: the staff installs the welding wire reel 15 on the support plate 63, passes the welding wire along the guide wheel 45 on the first connecting frame 43, passes the welding wire into the guide hole 18 in the first fixing block 16, and places the welding wire between the first roller 24 and the second roller 29. The first spring 26 squeezes the limit block 27, the limit block 27 pushes the second rotating rod 28, and the second rotating rod 28 pushes the second roller 29, so that the second roller 29 squeezes the welding wire to fix the welding wire; The image analyzer 31 determines whether the welding wire in the welding wire reel 15 in the installation box 2 is exhausted according to the image captured by the high-definition camera 30. The processor 32 starts the first pressure sensor 33 of the installation frame 9 according to the analysis data of the image analyzer 31. The pressure analyzer 38 receives the pressure signal of the first pressure sensor 33. The processor 32 receives and analyzes the signal transmitted by the pressure analyzer 38, and determines that the signal is the pressure analyzer 38 in the first placement slot 13 or the second placement slot 14; The processor 32 determines that the first placement slot 13 of the mounting frame 9 is in the mounting box 2, starts the first motor 6, and makes the first rotating shaft 7 rotate forward. The processor 32 determines that the second placement slot 14 of the mounting frame 9 is in the mounting box 2, makes the first rotating shaft 7 rotate reversely, and moves the first placement slot 13 or the second placement slot 14 outside the mounting frame 9 into the mounting box 2. The image analyzer 31 determines that there is welding wire in the welding wire reel 15. The processor 32 receives the analysis data of the image analyzer 31 and the pressure signal of the pressure analyzer 38. The processor 32 controls the second motor 19 in the same slot as the pressure analyzer 38 to start, so as to realize automatic transportation of the welding wire. After the processor 32 starts the second motor 19, the processor 32 controls the third motor 46 and the fourth motor 73 to start, so as to realize straightening and dust removal of the welding wire.

[0033] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A welding robot for automatically feeding welding wire, characterized in that: It comprises a mechanical arm (1) and an automatic switching module, wherein the automatic switching module is installed on the mechanical arm (1), and the automatic switching module is used for automatic replacement and continuous feeding of welding wire; The automatic switching module comprises: a mounting box (2), a first motor (6), a mounting frame (9), a welding wire reel (15) and a second motor (19); The bottom of the outer wall of the mechanical arm (1) is fixedly connected to a base (3); the side wall of the mechanical arm (1) is fixedly connected to a welding gun (4); the outer wall of the mechanical arm (1) is fixedly connected to a mounting box (2); the bottom of the inner wall of the mounting box (2) is provided with a first groove (5); the outer wall of the first groove (5) is fixedly connected to a first motor (6); the outer wall of the first motor (6) is installed with a first rotating shaft (7); the side wall of the first rotating shaft (7) is fixedly connected to a first gear (8); a mounting frame (9) is installed in the mounting box (2); the bottom of the outer wall of the mounting frame (9) is fixedly connected to a first toothed plate (10); the first toothed plate (10) is located in the first groove. The first tooth plate (10) is meshed with the first gear (8), the bottom of the inner wall of the installation box (2) is provided with a second groove (11), the second groove (11) is located on both sides of the first groove (5), the bottom of the outer wall of the installation frame (9) is fixedly connected with a positioning block (12), the outer wall of the positioning block (12) is sleeved with the second groove (11), the installation frame (9) is provided with a first placement groove (13) and a second placement groove (14), the first placement groove (13) and the second placement groove (14) are respectively provided with a welding wire reel (15), the welding wire reel (15) is provided with welding wire, the first placement groove (13) and the second placement groove (14) are respectively provided with a welding wire reel (15), the first placement groove (13) and the second placement groove (14) are provided with welding wire, The outer walls of the grooves (14) are each fixedly connected to a first fixing block (16), a third groove (17) is formed in the first fixing block (16), a guide hole (18) is formed on the outer wall of the first fixing block (16), the guide hole (18) is communicated with the third groove (17), a second motor (19) is fixedly connected to the side wall of the third groove (17), a second rotating shaft (20) is installed on the side wall of the second motor (19), a first transmission wheel (21) is fixedly connected to the side wall of the second rotating shaft (20), the outer wall of the first transmission wheel (21) is tightly fitted with the belt (22), and the first fixing block (16) is sleeved on the outer side of the first rotating rod (23). The first rotating rod (23) is provided with a first roller (24) and a second transmission wheel (25) fixedly connected to its outer wall, the second transmission wheel (25) is fixedly connected to its side wall, the outer wall of the second transmission wheel (25) is tightly fitted with the belt (22), a first spring (26) is symmetrically fixedly connected inside the first fixing block (16), a limiting block (27) is fixedly connected to the bottom of the outer wall of the first spring (26), the first fixing block (16) is sleeved on its outer wall, the limiting block (27) is sleeved on the outer wall of the second rotating rod (28), and the second roller (29) is fixedly connected to its outer wall.

2. A welding robot with automatic wire feeding according to claim 1, characterized in that: A welding wire detection module is installed in the installation box (2), the welding wire detection module is connected to the automatic switching module via Bluetooth, and the welding wire detection module is used to detect the amount of welding wire in the welding wire reel (15); The welding wire detection module comprises: a high-definition camera (30), an image analyzer (31) and a processor (32); A high-definition camera (30) is fixedly connected to the top of the inner wall of the installation box (2), and the high-definition camera (30) is located above the welding wire reel (15). An image analyzer (31) is fixedly connected to the top of the outer wall of the installation box (2), and the high-definition camera (30) is connected to the image analyzer (31) via a signal line. A processor (32) is fixedly connected to the top of the outer wall of the installation box (2), and the processor (32) is connected to the image analyzer (31) via a signal line. A first pressure sensor (33) is fixedly connected to the outer wall of the installation frame (9), and the first pressure sensor (33) is connected to the processor (32) via Bluetooth. A second fixed block (34) is fixedly connected to the inner wall of the installation box (2), and the inner wall of the second fixed block (34) is fixedly connected to the inner wall of the installation box (2). A first hollow groove (35) is provided, a second spring (36) is installed in the first hollow groove (35), a second fixed block (34) is fixedly connected to one side of the second spring (36), a push ball (37) is fixedly connected to the other side of the second spring (36), the push ball (37) is in contact with the first pressure sensor (33), the top of the outer wall of the first placement groove (13) and the second placement groove (14) are respectively fixedly connected to a pressure analyzer (38), the pressure analyzer (38) is connected to the first pressure sensor (33) via Bluetooth, the pressure analyzer (38) is connected to the processor (32) via Bluetooth, and the processor (32) is connected to the first motor (6) and the second motor (19) via Bluetooth.

3. The welding robot with automatic wire feeding according to claim 1, characterized in that: A wire break alarm module is installed in the mounting frame (9), and the wire break alarm module is connected to the automatic switching module through the processor (32) in the welding wire detection module for Bluetooth transmission. The wire break alarm module is used to promptly send out an alarm signal and stop wire feeding when the welding wire breaks. The broken wire alarm module comprises: an elastic block (39), a third spring (41), a second pressure sensor (44), a guide wheel (45) and an audible and visual alarm (47); The first placement groove (13) and the second placement groove (14) are each provided with a second hollow groove (40) on their outer walls; an elastic block (39) is fixedly connected to the top of the outer wall of the second hollow groove (40); a third spring (41) is installed in the second hollow groove (40); a mounting frame (9) is fixedly connected to one side of the third spring (41); a connecting plate (42) is fixedly connected to the other side of the third spring (41); the second hollow groove (40) is sleeved on the outer wall of the connecting plate (42); a first connecting frame (43) is fixedly connected to the top of the outer wall of the connecting plate (42); the first connecting frame ( The outer wall of the connecting plate (43) is provided with a mounting frame (9), the top of the outer wall of the connecting plate (42) is fixedly connected to a second pressure sensor (44), the second pressure sensor (44) is fixedly connected to the outer wall of the first connecting frame (43), the outer wall of the first connecting frame (43) is fixedly connected to a guide wheel (45), the guide wheel (45) is in contact with the welding wire, the second pressure sensor (44) is connected to a pressure analyzer (38) via Bluetooth, the side wall of the mounting box (2) is fixedly connected to an audible and visual alarm (47), and the processor (32) is connected to the audible and visual alarm (47) via Bluetooth.

4. The welding robot with automatic wire feeding according to claim 1, characterized in that: An automatic straightening module is installed in the installation box (2), and the automatic straightening module is connected to the automatic switching module through the processor (32) in the welding wire detection module for Bluetooth transmission, and the automatic straightening module is used for automatic straightening of the welding wire; The automatic straightening module comprises: a guide groove (49), a second rotating shaft (57), a moving block (58), a fourth spring (59) and a straightening wheel (62); The bottom of the inner wall of the installation box (2) is fixedly connected to a platform (48), the top of the outer wall of the platform (48) is provided with a guide groove (49), the top of the inner wall of the installation box (2) is fixedly connected to a fixed shaft (50), the fixed shaft (50) is sleeved on the outer wall of the first rotating shaft (51), the outer wall of the first rotating shaft (51) is fixedly connected to a second gear (52), the outer wall of the second gear (52) is meshingly mounted with a third gear (53), the side wall of the third gear (53) is fixedly connected to a third rotating shaft (54), the third gear (53) is mounted on the side wall of the third motor (46), the outer wall of the third motor (46) is fixedly connected to the installation box (2), and the processor (32) is connected to the third motor (46) via Bluetooth. The first rotating shaft (51) is symmetrically fixedly connected to the outer wall of the first bevel gear (55), the outer wall of the first bevel gear (55) is meshingly installed with a second bevel gear (56), the second bevel gear (56) is fixedly connected to the outer wall of the second rotating shaft (57), the outer wall of the second rotating shaft (57) is sleeved with a mounting box (2) and a moving block (58), the bottom of the outer wall of the moving block (58) is fixedly connected to a fourth spring (59), the bottom of the outer wall of the fourth spring (59) is fixedly connected to a moving plate (60), the bottom of the outer wall of the moving plate (60) is fixedly connected to a second connecting frame (61), a plurality of straightening wheels (62) are installed on the second connecting frame (61), and the straightening wheels (62) are in contact with the welding wire.

5. The welding robot with automatic wire feeding according to claim 1, characterized in that: The first placement groove (13) and the second placement groove (14) are each fixedly connected to a support plate (63) on their outer walls, a mounting block (64) is sleeved on the outer wall of the support plate (63), the support plate (63) and the mounting block (64) are sleeved on the outer wall of the mounting shaft (66), the support plate (63) is connected to the mounting block (64) via a fastening bolt (65), and a welding wire reel (15) is sleeved on the outer wall of the mounting shaft (66).

6. The welding robot with automatic wire feeding according to claim 4, characterized in that: A connecting tube (67) is fixedly connected to the top of the outer wall of the platform (48), the connecting tube (67) is aligned with the guide hole (18) and the guide groove (49), a rotating block (68) is installed in the connecting tube (67), a dust removal brush (69) is fixedly connected to the outer wall of the rotating block (68), a second tooth plate (70) is fixedly connected to the outer wall of the rotating block (68), a fourth gear (71) is meshingly installed on the outer wall of the second tooth plate (70), a fourth rotating shaft (72) is fixedly connected to the side wall of the fourth gear (71), the fourth rotating shaft (72) is installed on the outer wall of a fourth motor (73), and the side wall of the fourth motor (73) is fixedly connected to the platform (48).

7. The welding robot with automatic wire feeding according to claim 1, characterized in that: The installation box (2) is connected to a welding gun (4) via a hose.

8. The welding robot with automatic wire feeding according to claim 2, characterized in that: The processor (32) is connected to a fourth motor (73) via Bluetooth.

9. A wire feeding method for a welding robot with automatic wire feeding, applicable to a welding robot with automatic wire feeding according to any one of claims 1 to 8, characterized in that: The wire feeding method comprises the following steps: S1, the first placement slot (13) is located in the installation box (2), the image analyzer (31) analyzes the image of the welding wire reel (15) captured by the high-definition camera (30), and evaluates the amount of welding wire in the welding wire reel (15); when the image analyzer (31) determines that welding wire exists in the welding wire reel (15), the processor (32) receives the analysis data of the image analyzer (31), and the processor (32) controls the first pressure sensor (33) to start; S2, the first pressure sensor (33) detects pressure, the first pressure sensor (33) transmits a pressure signal to the pressure analyzer (38), the pressure analyzer (38) transmits the signal to the processor (32), and the processor (32) controls the second motor (19) to start; S3, the second motor drives the second rotating shaft (20) to rotate, the second rotating shaft (20) drives the first transmission wheel (21) to rotate, the first transmission wheel (21) drives the belt (22), the belt (22) drives the second transmission wheel (25) to rotate, the second transmission wheel (25) drives the first rotating rod (23) to rotate, the first rotating rod (23) drives the first roller (24) to rotate, and the first roller (24) drives the welding wire to move.

10. A wire feeding method for a welding robot with automatic wire feeding according to claim 9, characterized in that: The wire feeding method further comprises the following steps: S11, the image analyzer (31) determines that there is no welding wire in the welding wire reel (15), the processor (32) receives analysis data from the image analyzer (31), and the processor (32) controls the first motor (6) to start; S12, the first motor (6) drives the first rotating shaft (7), the first rotating shaft (7) drives the first gear (8), the first gear (8) drives the first toothed plate (10), and the first toothed plate (10) drives the mounting frame (9) to move the second placement slot (14) into the mounting box (2).

Images