Welding robot and auxiliary dust removal device

Abstract

The invention discloses a welding robot and an auxiliary dust removal device, and belongs to the technical field of manufacturing of metal cutting and welding equipment such as automatic and semi-automatic electric arc and plasma arc welding machines, the welding robot comprises a multi-stage mechanical arm, a base and a welding gun head, the welding gun head comprises a rotating part, and the rotating part is rotationally connected with the tail end of the multi-stage mechanical arm; a gun head rotating part is arranged at the bottom of the rotating part and rotationally connected with the rotating part, an overturning part is arranged at the bottom of the gun head rotating part and connected with the gun head rotating part through a rotating shaft, a welding gun is installed at the bottom of the overturning part, and an extension displacement mechanism is arranged below the base and comprises a limiting extension assembly, a lead screw transmission assembly and a positioning assembly. An auxiliary dust removal device is arranged at the welding gun head and comprises a gun head dust removal mechanism and a gun tip dust removal mechanism, and a dust removal power source assembly is arranged on the side face of the gun head dust removal mechanism. The device has the advantages of small size, light weight, small occupied area, convenience in extension of a welding area and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of manufacturing metal cutting and welding equipment such as automatic and semi-automatic arc and plasma arc welding machines, and in particular relates to a welding robot and an auxiliary dust removal device. Background Art

[0002] Welding robots are automated welding equipment that integrates multidisciplinary technologies such as machinery, computers, electronics, sensors, and artificial intelligence. They can efficiently and accurately complete various complex welding tasks, significantly improve welding quality and production efficiency, and reduce the health risks brought by manual welding. Welding robots are widely used in the automotive, aerospace, shipbuilding and other fields, and are an indispensable and important tool in modern manufacturing.

[0003] During the welding process, a large amount of tiny and sticky toxic and harmful welding fumes are generated, which not only cause serious pollution to the environment, but also greatly endanger the health of welding technicians. However, the existing welding equipment dust removal technology and equipment have problems such as heavy weight, large size, and large occupied area. More importantly, they often only adopt filtering dust removal, electrostatic dust removal and other methods after welding is completed, which are inefficient and ineffective. They can only reduce the concentration of welding dust, but cannot fundamentally solve the pollution problem of welding dust.

[0004] At the same time, welding robots on the current market generally face the problem of limited welding range and difficulty in effectively extending the welding area. These robots are often limited to a specific working space in design, and it is difficult to fully meet the welding needs of large workpieces or complex structures. Due to the limited length and flexibility of the welding arm, the scope of welding operations is narrow and cannot be flexibly adapted to diverse welding tasks. In addition, existing expansion solutions are often complex and inefficient, making it difficult to achieve wide coverage of the welding area while ensuring welding quality, which seriously restricts the application and development of welding robots in a wider range of fields.

[0005] The published patent CN114749277A discloses a welding dust removal system that solves the pollution from the source of welding fume. In this solution, a multi-stage dust storage device is set on the side of the welding robot arm, and the position of the multi-stage dust storage device is adjusted by another robot arm to perform dust removal. However, the linkage effect of the two robot arms requires multiple designs to achieve a high level of coordination, and the design of the dual robot arms also requires a large turning space, which makes it difficult to achieve the purpose of reducing the occupied space. Summary of the invention

[0006] The purpose of the present invention is to provide a welding robot and an auxiliary dust removal device in order to solve the problems that the dust removal components of common welding robots are heavy, bulky, occupy a large area, the welding range of the welding robot is limited, and it is difficult to effectively extend the welding area.

[0007] The present invention achieves the above-mentioned purpose through the following technical scheme: it includes a multi-stage mechanical arm, a base and a welding gun head, the welding gun head includes a rotating part, the rotating part is rotatably connected to the end of the multi-stage mechanical arm, a gun head rotating part is provided at the bottom of the rotating part and is rotatably connected, a flip part is provided at the bottom of the gun head rotating part, the flip part is connected to the gun head rotating part through a rotating shaft, a welding gun is installed at the bottom of the flip part, an extension and displacement mechanism is provided under the base, the extension and displacement mechanism includes a limit extension component, a screw drive component, and a positioning component, an auxiliary dust removal device is provided at the welding gun head, the auxiliary dust removal device includes a gun head dust removal mechanism and a gun tip dust removal mechanism, and a dust removal power source component is provided on the side of the gun head dust removal mechanism.

[0008] Furthermore, the limit extension assembly includes a limit cover plate with a long through hole in the middle, side panels are fixed at both ends of the limit cover plate, a limit track plate is provided under the two side panels, external limit strips are provided on both sides of the limit track plate, the limit track plate and the external limit strip are connected to the side panels by screws, a large gap is left between the upper surface of the limit track plate and the bottom surface of the limit cover plate, the upper surface of the external limit strip is fitted with the bottom surface of the limit cover plate, and the limit track plate and the external limit strip are embedded in the side panels.

[0009] Furthermore, the limiting track plate is provided with a cylindrical sliding block, the bottom of the sliding block is provided with a sliding groove, the sliding groove is slidably connected to the limiting track plate, both sides of the sliding block are provided with cut surfaces, the cut surfaces are slidably connected to the inner side walls of the outer limit strip, a connecting column is fixedly provided on the top of the sliding block, the connecting column is connected to the base by screws, the diameter of the connecting column is the same as the width of the through hole on the limiting cover plate, the spacing between the two cut surfaces of the sliding block is greater than the diameter of the connecting column, the sliding block is located in the gap between the limiting track plate and the limiting cover plate, the sliding block slides on the limiting track plate to adjust the horizontal position of the base, assisting the multi-stage robotic arm to move thereby extending the welding range, and the outer limit strip further limits the moving direction of the sliding block to avoid offset thereby affecting the welding accuracy.

[0010] Furthermore, the screw transmission assembly includes two groups of four screw mounting blocks, the two screw mounting blocks in each group are respectively located at the two ends of the outer limit strip and are connected by screws, a transmission screw is provided between the two screw mounting blocks in each group and are connected by a rotating shaft, one end of the transmission screw is connected to a screw motor, the screw motor is connected to the screw mounting block by screws, an internal thread transmission block is provided on the transmission screw and is rotated and transmitted through threaded engagement, a displacement linkage mounting block is installed on the outer side of the internal thread transmission block, the displacement linkage mounting block is connected to the side of the base by screws, the transmission screw and the screw motor drive the internal thread transmission block and the displacement linkage mounting block to move, thereby driving the base to move horizontally.

[0011] Furthermore, the positioning component includes two laser ranging transmitters, which are installed on the limit cover plate. Photoelectric receivers are installed at both ends of the base respectively. The photoelectric receivers correspond to the positions of the laser ranging transmitters. The laser ranging transmitter emits laser to the photoelectric receiver, and the distance between the two is calculated by the host to accurately control the horizontal displacement distance of the base.

[0012] Furthermore, the gun tip dust removal mechanism includes an annular box, the bottom surface of the annular box is designed as an inner inclined surface, the inclination angle of the bottom surface of the annular box is 10~25 degrees, and a plurality of dust suction holes are opened at equal angles on the bottom surface of the annular box. A plurality of connecting plates are fixedly provided on the inner wall of the annular box, and the connecting plates are connected to the rotating part by screws. The diameter of the annular box is relatively large, so that the adsorption range of the dust suction holes can cover the surrounding area of ​​the welding gun head, and the inner inclined surface design enables the direction of the dust suction holes to face the welding area, thereby reducing the area of ​​the invalid adsorption air duct.

[0013] Furthermore, the gun tip dust removal mechanism includes a mounting circular plate, one side of the mounting circular plate is provided with an electric telescopic rod, the bottom end of the electric telescopic rod is connected to the mounting circular plate by screws, the output end of the electric telescopic rod is fixed to the gun head rotating member by buckles and screws, and when the gun head rotating member drives the flip member and the gun head rotating member to rotate, the gun tip dust removal mechanism is driven to rotate simultaneously by the electric telescopic rod, so that the large-area dust suction port is always facing the welding gun.

[0014] Furthermore, a connecting shaft is provided at the bottom of the mounting circular plate, and the connecting shaft includes two outer parts and an inner part and is rotatably connected, a small motor is installed on one of the outer parts, and the output end of the small motor is connected to the inner part, a fixed circular plate is provided at the bottom of the inner part, and a dust removal box is installed at the bottom of the fixed circular plate, and the small motor drives the inner part to rotate so as to adjust the angle between the fixed circular plate and the dust removal box.

[0015] Furthermore, the dust removal box includes a semi-cylindrical box body, a first electromagnet adsorption round rod is installed on the inner side of the box body, one side of the box body is of flat design and is provided with a large-area dust suction port, a plurality of dust suction square tubes obliquely downward are provided on the curved surface of the box body, the dust suction square tubes are connected through and after being fixed to the box body, an arc-shaped closing plate is fitted on the inner wall of the box body, both ends of the arc-shaped closing plate are slidably connected to the dust suction port, a first connecting pipe fitting is passed through and fixedly connected to the outer surface of the box body, the suction airflow generated in the installation box enters the dust removal box through a hose to generate negative pressure, and metal dust is sucked into the dust removal box through the dust suction port or the dust suction square tube, the first electromagnet adsorption round rod adsorbs and fixes the metal dust after being energized to prevent it from spilling, and the dust is sucked into the dust storage tank through the first connecting pipe fitting and the hose after power is off, and the dust suction square tube is closed or opened by adjusting the position of the arc-shaped closing plate in the dust removal box before performing welding work.

[0016] Furthermore, the dust removal power source assembly includes an installation box, which is connected to the side wall of the annular box after installation, the inner side of the installation box is divided into two layers, a servo motor is installed on the top of the installation box, and a turbine fan blade is installed on the output end of the servo motor, and the turbine fan blade is located inside the upper cavity of the installation box, and a cavity closing plate is installed on the side of the upper cavity of the installation box, a circular through hole is provided between the upper cavity and the lower cavity of the installation box and is covered with an isolation gauze, a dust storage tank is provided at the bottom of the lower cavity of the installation box and is connected by threads, a second electromagnet adsorption round rod is provided on the inner side of the dust storage tank, and the second electromagnet adsorption round rod is connected to the installation box The inner wall of the lower cavity is connected by a bracket, and a plurality of ventilation holes are provided on the side wall of the upper cavity of the installation box. A second connecting pipe is installed on one side of the inner wall of the lower cavity of the installation box, and the first connecting pipe is connected to the second connecting pipe by a hose. The lower cavity of the installation box is communicated with the annular box, and negative pressure is generated after the turbine blades rotate, so that the annular box attracts external metal dust through the dust suction hole. When the metal dust passes through the lower cavity of the installation box, it is adsorbed and wrapped by the second electromagnet adsorption round rod. After the servo motor and the turbine blades stop, the second electromagnet adsorption round rod also disconnects the power supply, so that the metal dust falls into the dust storage tank.

[0017] Beneficial effects: The invention is reasonably designed and has the following beneficial effects: 1. In the scheme of the present invention, a gun tip dust removal mechanism with a larger dust suction range is arranged at the upper outer side of the welding gun tip, which can provide a better dust removal effect without affecting the flexibility of the welding gun, and form a comprehensive adsorption of the space outside the welding gun, and a gun tip dust removal mechanism with a small volume and capable of following is arranged at the gun tip of the welding gun, which can follow the gun tip into a narrow space to complete the welding operation and adsorb the generated metal dust at the same time; 2. In the scheme of the present invention, by arranging an extension displacement mechanism under the base, the range of motion of the multi-stage robot arm can be increased, so that the welding gun head has higher flexibility and a larger working range, and can cover the entire welding work area during welding operations, without adopting a multi-machine linkage method to increase the welding range, thereby reducing equipment costs; 3. In the scheme of the present invention, the gun tip dust removal mechanism adjusts the spatial position of the dust removal box through the electric telescopic rod and the connecting shaft, so that the dust removal box can move synchronously with the welding gun, ensuring that at least one of the dust suction port or the dust suction square tube can cover the adsorption area on the working point of the welding gun. Before performing welding work, the position of the arc-shaped closing plate in the dust removal box is adjusted to close or open the dust suction square tube, so as to flexibly adjust the dust suction area; 4. In the scheme of the present invention, an electromagnet-like round rod is arranged in the dust removal box and the dust storage tank, which generates magnetism after being energized. The metal dust generated by welding is easily driven by the negative pressure airflow to reach the vicinity of the first electromagnet adsorption round rod and the second electromagnet adsorption round rod, and will be adsorbed and wrapped on the outside of the electromagnet-like round rod to prevent it from flying around. When the welding work is completed, the electromagnet-like round rod is disconnected from the power supply to allow the metal dust to fall and then be transported to the dust storage tank by the negative pressure airflow. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the structure of the extension displacement mechanism of the present invention; Figure 3 It is an exploded view of the local structure of the position-limiting extension assembly of the present invention; Figure 4 This is a schematic diagram of the structure of the welding gun head of the present invention; Figure 5 This is a schematic diagram of the structure of the auxiliary dust removal device of the present invention; Figure 6 This is a cross-sectional view of the gun tip dust removal mechanism structure of the present invention; Figure 7 This is a schematic diagram of the structure of the dust removal power source assembly of the present invention; Figure 8 This is a schematic diagram of the structure of the gun tip dust removal mechanism of the present invention; Fig. 9 It is a schematic diagram of the partial structure of the gun tip dust removal mechanism of the present invention; Fig.10 It is a partial structural sectional view of the gun tip dust removal mechanism of the present invention.

[0019] In the figure: 1-multi-stage robotic arm, 2-base, 3-welding gun head, 4-extension displacement mechanism, 5-auxiliary dust removal device; 301-rotating part, 302-gun head rotating part, 303-flipping part, 304-welding gun, 401-limiting extension assembly, 402-screw drive assembly, 403-positioning assembly, 501-gun head dust removal mechanism, 502-gun tip dust removal mechanism, 503-dust removal power source assembly; 4011-limit cover plate, 4012-side panel, 4013-limit track plate, 4014-external limit strip, 4015-sliding block, 4016-slideway, 4017-section, 4018-connecting column, 4021-screw mounting block, 4022-transmission screw, 4023-screw motor, 4024-internal thread transmission block, 4025-displacement linkage mounting block, 4031-laser ranging transmitter, 4032-photoelectric receiver, 5011 - annular box, 5012 - dust suction hole, 5013 - connecting plate, 5021 - mounting circular plate, 5022 - electric telescopic rod, 5023 - connecting shaft, 5024 - dust removal box, 5031 - mounting box, 5032 - servo motor, 5033 - turbine blades, 5034 - cavity closing plate, 5035 - circular through hole, 5036 - dust storage tank, 5037 - second electromagnet adsorption circular rod, 5038 - vent hole, 5039 - second connecting pipe fitting; 50231-peripheral parts, 50232-inner parts, 50233-small motor, 50234-fixed circular plate, 50241-box body, 50242-first electromagnet adsorption round rod, 50243-dust suction port, 50244-dust suction square tube, 50245-arc-shaped closing plate, 50246-first connecting pipe fitting. DETAILED DESCRIPTION

[0020] 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.

[0021] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] Combination Figures 1 to 10 A welding robot and an auxiliary dust removal device are shown, comprising a multi-stage mechanical arm 1, a base 2 and a welding gun head 3, wherein the welding gun head 3 comprises a rotating part 301, wherein the rotating part 301 is rotatably connected to the end of the multi-stage mechanical arm 1, a gun head rotating part 302 is provided at the bottom of the rotating part 301 and is rotatably connected, a flip part 303 is provided at the bottom of the gun head rotating part 302, the flip part 303 is connected to the gun head rotating part 302 through a rotating shaft, a welding gun 304 is installed at the bottom of the flip part 303, an extension displacement mechanism 4 is provided below the base 2, the extension displacement mechanism 4 comprises a limit extension component 401, a screw drive component 402, and a positioning component 403, an auxiliary dust removal device 5 is provided at the welding gun head 3, the auxiliary dust removal device 5 comprises a gun head dust removal mechanism 501 and a gun tip dust removal mechanism 502, and a dust removal power source component 503 is provided on the side of the gun head dust removal mechanism 501.

[0023] Combination Figures 1 to 3 As shown, the limit extension component 401 includes a limit cover plate 4011 with a long through hole in the middle, side panels 4012 are fixed at both ends of the limit cover plate 4011, limit track plates 4013 are provided under the two side panels 4012, and external limit strips 4014 are provided on both sides of the limit track plate 4013. The limit track plate 4013 and the external limit strip 4014 are connected to the side panels 4012 by screws, and a large gap is left between the upper surface of the limit track plate 4013 and the bottom surface of the limit cover plate 4011, the upper surface of the external limit strip 4014 is in contact with the bottom surface of the limit cover plate 4011, and the limit track plate 4013 and the external limit strip 4014 are embedded in the side panels 4012.

[0024] Combination Figures 1 to 3As shown, a cylindrical sliding block 4015 is provided on the limiting track plate 4013, a sliding groove 4016 is provided at the bottom of the sliding block 4015, and the sliding groove 4016 is slidably connected to the limiting track plate 4013, and a cut surface 4017 is provided on both sides of the sliding block 4015, and the cut surface 4017 is slidably connected to the inner wall of the outer limiting strip 4014, and a connecting column 4018 is fixedly provided on the top of the sliding block 4015, and the connecting column 4018 is connected to the base 2 by screws, and the diameter of the connecting column 4018 is the same as that of the limiting cover plate 40 The through holes on 11 have the same width, the spacing between the two cut surfaces 4017 of the sliding block 4015 is greater than the diameter of the connecting column 4018, the sliding block 4015 is located in the gap between the limiting track plate 4013 and the limiting cover plate 4011, the sliding block 4015 slides on the limiting track plate 4013 to adjust the horizontal position of the base 2, assisting the multi-stage robot 1 to move so as to extend the welding range, and the external limiting strip 4014 further limits the moving direction of the sliding block 4015 to avoid offset and thus affect the welding accuracy.

[0025] Combination Figure 1 , Figure 2 As shown, the screw transmission assembly 402 includes two groups of four screw mounting blocks 4021, each group of two screw mounting blocks 4021 are respectively located at both ends of the outer limit strip 4014 and are connected by screws, a transmission screw 4022 is arranged between each group of two screw mounting blocks 4021 and are connected by a rotating shaft, one end of the transmission screw 4022 is connected with a screw motor 4023, the screw motor 4023 is connected to the screw mounting block 4021 by screws, an internal thread transmission block 4024 is arranged on the transmission screw 4022 and is rotated and driven by thread engagement, a displacement linkage mounting block 4025 is installed on the outer side of the internal thread transmission block 4024, the displacement linkage mounting block 4025 is connected to the side of the base 2 by screws, the transmission screw 4022 and the screw motor 4023 drive the internal thread transmission block 4024 and the displacement linkage mounting block 4025 to move, thereby driving the base 2 to move horizontally.

[0026] Combination Figure 1 , Figure 2 As shown, the positioning component 403 includes two laser ranging transmitters 4031, and the two laser ranging transmitters 4031 are installed on the limit cover 4011. Photoelectric receivers 4032 are installed at both ends of the base 2. The photoelectric receivers 4032 correspond to the positions of the laser ranging transmitters 4031. The laser ranging transmitter 4031 emits laser to the photoelectric receiver 4032, and the distance between the two is calculated by the host to accurately control the horizontal displacement distance of the base 2.

[0027] Combination Figure 5 , Figure 6As shown, the gun tip dust removal mechanism 501 includes an annular box 5011, the bottom surface of the annular box 5011 is designed as an inner inclined surface, the inclination angle of the bottom surface of the annular box 5011 is 10~25 degrees, and a plurality of dust suction holes 5012 are opened at equal angles on the bottom surface of the annular box 5011. A plurality of connecting plates 5013 are fixedly provided on the inner wall of the annular box 5011, and the connecting plates 5013 are connected to the rotating part 301 by screws. The diameter of the annular box 5011 is relatively large, so that the adsorption range of the dust suction holes 5012 can cover the surrounding area of ​​the welding gun tip 3, and the inner inclined surface design enables the direction of the dust suction holes 5012 to face the welding area, thereby reducing the area of ​​the invalid adsorption air duct.

[0028] Combination Figure 5 , Figure 7 As shown, the gun tip dust removal mechanism 502 includes a mounting circular plate 5021, and an electric telescopic rod 5022 is provided on one side of the mounting circular plate 5021. The bottom end of the electric telescopic rod 5022 is connected to the mounting circular plate 5021 by screws, and the output end of the electric telescopic rod 5022 is fixed to the gun head rotating member 302 by buckles and screws. When the gun head rotating member 302 drives the flip member 303 and the gun head rotating member 302 to rotate, the gun tip dust removal mechanism 502 is driven to rotate at the same time by the electric telescopic rod 5022, so that the large-area dust suction port 50243 is always facing the welding gun 304.

[0029] Combination Figures 8 to 10 As shown, a connecting shaft 5023 is provided at the bottom of the mounting circular plate 5021, and the connecting shaft 5023 includes two outer parts 50231 and an inner part 50232, which are rotatably connected. A small motor 50233 is installed on one of the outer parts 50231, and the output end of the small motor 50233 is connected to the inner part 50232. A fixed circular plate 50234 is provided at the bottom of the inner part 50232, and a dust removal box 5024 is installed at the bottom of the fixed circular plate 50234. The small motor 50233 drives the inner part 50232 to rotate so as to adjust the angle between the fixed circular plate 50234 and the dust removal box 5024.

[0030] Combination Figures 8 to 10As shown, the dust removal box 5024 includes a semi-cylindrical box body 50241, a first electromagnet adsorption round rod 50242 is installed on the inner side of the box body 50241, one side of the box body 50241 is designed to be flat and has a large dust suction port 50243, a plurality of dust suction square tubes 50244 obliquely downward are arranged on the arc surface of the box body 50241, and the dust suction square tubes 50244 are connected to the box body 50241 after being fixed, and an arc-shaped closing plate 50245 is attached to the inner wall of the box body 50241, and both ends of the arc-shaped closing plate 50245 are slidably connected to the dust suction port 50243, and a first The connecting pipe fitting 50246 is fixedly connected, and the suction airflow generated in the installation box 5031 enters the dust removal box 5024 through the hose to generate negative pressure, and the metal dust is sucked into the dust removal box 5024 through the dust suction port 50243 or the dust suction square tube 50244. After the first electromagnet adsorption round rod 50242 is energized, it adsorbs and fixes the metal dust to prevent it from spilling. After the power is off, the dust is sucked into the dust storage tank 5036 through the first connecting pipe fitting 50246 and the hose. Before performing welding work, the position of the arc-shaped closing plate 50245 in the dust removal box 5024 is adjusted to close or open the dust suction square tube 50244.

[0031] Combination Figures 5 to 7 As shown, the dust removal power source component 503 includes an installation box 5031, which is connected to the side wall of the annular box 5011 after installation, and the inner side of the installation box 5031 is divided into two layers. A servo motor 5032 is installed on the top of the installation box 5031, and a turbine blade 5033 is installed on the output end of the servo motor 5032. The turbine blade 5033 is located inside the upper cavity of the installation box 5031, and a cavity closing plate 5034 is installed on the side of the upper cavity of the installation box 5031. A circular through hole 5035 is provided between the upper cavity and the lower cavity of the installation box 5031 and is covered with an isolation gauze. A dust storage tank 5036 is provided at the bottom of the lower cavity of the installation box 5031 and is connected by threads. A second electromagnet adsorption round rod 5037 is provided on the inner side of the dust storage tank 5036, and the second electromagnet adsorption round rod 5037 is connected to the installation The inner wall of the lower cavity of the box 5031 is connected by a bracket, and a plurality of ventilation holes 5038 are provided on the side wall of the upper cavity of the installation box 5031. A second connecting pipe 5039 is installed on one side of the inner wall of the lower cavity of the installation box 5031. The first connecting pipe 50246 is connected to the second connecting pipe 5039 through a hose. The lower cavity of the installation box 5031 is connected to the annular box 5011. The turbine blades 5033 generate negative pressure after rotation, so that the annular box 5011 attracts external metal dust through the dust suction hole 5012. When the metal dust passes through the lower cavity of the installation box 5031, it is absorbed and wrapped by the second electromagnet adsorption rod 5037. After the servo motor 5032 and the turbine blades 5033 stop, the second electromagnet adsorption rod 5037 also disconnects the power supply, so that the metal dust falls into the dust storage tank 5036.

[0032] Working principle: During use, the present invention drives the base 2 and the sliding block 4015 to slide horizontally along the limit track plate 4013 through the screw transmission assembly 402. During the movement, the laser ranging transmitter 4031 emits laser to the photoelectric receiver 4032, and the distance between the two is calculated by the host to accurately control the horizontal displacement distance of the base 2; When the welding gun head 3 is ready for welding, the annular box 5011 is rotated and adjusted with the welding gun 304 through the connecting plate 5013. When the welding gun 304 is turned over and adjusted in angle by the turning piece 303, the host controls the electric telescopic rod 5022 and the small motor 50233 to adjust the height and angle of the dust removal box 5024, so that the dust removal box 5024 can move synchronously with the welding gun 304, ensuring that at least one of the dust suction port 50243 or the dust suction square tube 50244 can cover the adsorption area on the working point of the welding gun 304. Before performing welding work, the position of the arc-shaped closing plate 50245 in the dust removal box 5024 is adjusted to close or open the dust suction square tube 50244, so as to flexibly adjust the dust suction area. After the servo motor 5032 is started, the turbine blades 5033 are driven to rotate to generate negative pressure, so that the annular box 5011 attracts external metal dust through the dust suction hole 5012. When the metal dust passes through the lower cavity of the installation box 5031, it is absorbed and wrapped by the second electromagnet adsorption rod 5037. After the servo motor 5032 and the turbine blades 5033 stop, the second electromagnet adsorption rod 5037 is also disconnected from the power supply, so that the metal dust falls into the dust storage tank 5036. The suction airflow generated in the installation box 5031 enters the dust removal box 5024 through the hose to generate negative pressure, and sucks the metal dust into the dust removal box 5024 through the dust suction port 50243 or the dust suction square tube 50244. After the first electromagnet adsorption round rod 50242 is powered on, it adsorbs and fixes the metal dust to prevent it from spilling. After the power is turned off, the dust is sucked into the dust storage tank 5036 through the first connecting pipe 50246 and the hose. The gun tip dust removal mechanism 501 can fully absorb the space outside the welding gun 304 without affecting the flexibility of the welding gun 304. The small and movable gun tip dust removal mechanism 502 can follow the gun tip into the narrow space to complete the welding operation and absorb the generated metal dust.

[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.

[0034] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A welding robot and an auxiliary dust removal device, comprising a multi-stage mechanical arm (1), a base (2) and a welding gun head (3), wherein the welding gun head (3) comprises a rotating member (301), wherein the rotating member (301) is rotatably connected to the end of the multi-stage mechanical arm (1), a gun head rotating member (302) is provided at the bottom of the rotating member (301) and is rotatably connected to the rotating member, a flip member (303) is provided at the bottom of the gun head rotating member (302), wherein the flip member (303) is connected to the gun head rotating member (302) via a rotating shaft, and a welding gun (304) is installed at the bottom of the flip member (303), wherein the welding gun (304) is installed at the bottom of the flip member (303), and the welding gun (304) is characterized in that: An extension displacement mechanism (4) is provided below the base (2), the extension displacement mechanism (4) comprising a limit extension assembly (401), a screw drive assembly (402), and a positioning assembly (403); an auxiliary dust removal device (5) is provided at the welding gun head (3), the auxiliary dust removal device (5) comprising a gun head dust removal mechanism (501) and a gun tip dust removal mechanism (502); a dust removal power source assembly (503) is provided on the side of the gun head dust removal mechanism (501).

2. A welding robot according to claim 1, characterized in that: The limit extension component (401) comprises a limit cover plate (4011) with a long through hole in the middle, side panels (4012) are fixedly provided at both ends of the limit cover plate (4011), a limit track plate (4013) is provided below the two side panels (4012), and external limit strips (4014) are provided on both sides of the limit track plate (4013), the limit track plate (4013) and the external limit strip (4014) are connected to the side panels (4012) by screws, a large gap is left between the upper surface of the limit track plate (4013) and the bottom surface of the limit cover plate (4011), and the upper surface of the external limit strip (4014) is in contact with the bottom surface of the limit cover plate (4011).

3. A welding robot and auxiliary dust removal device according to claim 2, characterized in that: The limiting track plate (4013) is provided with a cylindrical sliding block (4015), the bottom of the sliding block (4015) is provided with a sliding groove (4016), the sliding groove (4016) is slidably connected to the limiting track plate (4013), both sides of the sliding block (4015) are provided with cut surfaces (4017), the cut surfaces (4017) are slidably connected to the inner wall of the outer limiting strip (4014), a connecting column (4018) is fixedly provided on the top of the sliding block (4015), the connecting column (4018) is connected to the base (2) by screws, the diameter of the connecting column (4018) is the same as the width of the through hole on the limiting cover plate (4011), and the spacing between the two cut surfaces (4017) of the sliding block (4015) is greater than the diameter of the connecting column (4018).

4. A welding robot and auxiliary dust removal device according to claim 3, characterized in that: The screw drive assembly (402) comprises two groups of four screw mounting blocks (4021), each group of two screw mounting blocks (4021) are respectively located at the two ends of the outer limit strip (4014) and are connected by screws, a transmission screw (4022) is provided between each group of two screw mounting blocks (4021) and are connected by a rotating shaft, one end of the transmission screw (4022) is connected to a screw motor (4023), the screw motor (4023) and the screw mounting block (4021) are connected by screws, an internal thread transmission block (4024) is provided on the transmission screw (4022) and is rotated and driven by thread engagement, a displacement linkage mounting block (4025) is installed on the outer side of the internal thread transmission block (4024), and the displacement linkage mounting block (4025) is connected to the side of the base (2) by screws.

5. A welding robot and auxiliary dust removal device according to claim 4, characterized in that: The positioning component (403) comprises two laser distance measuring transmitters (4031), the two laser distance measuring transmitters (4031) are mounted on the limit cover plate (4011), and photoelectric receivers (4032) are respectively mounted at both ends of the base (2), the photoelectric receivers (4032) are located at positions corresponding to the laser distance measuring transmitters (4031).

6. A welding robot and auxiliary dust removal device according to claim 5, characterized in that: The gun tip dust removal mechanism (501) comprises an annular box (5011), the bottom surface of the annular box (5011) is designed as an inner inclined surface, the inclination angle of the bottom surface of the annular box (5011) is 10-25 degrees, a plurality of dust suction holes (5012) are provided at equal angles on the bottom surface of the annular box (5011), a plurality of connecting plates (5013) are fixedly provided on the inner wall of the annular box (5011), and the connecting plates (5013) are connected to the rotating member (301) by screws.

7. A welding robot and auxiliary dust removal device according to claim 6, characterized in that: The gun tip dust removal mechanism (502) comprises a mounting circular plate (5021), one side of the mounting circular plate (5021) is provided with an electric telescopic rod (5022), the bottom end of the electric telescopic rod (5022) is connected to the mounting circular plate (5021) via screws, and the output end of the electric telescopic rod (5022) is fixed to the gun head rotating member (302) via a buckle and screws.

8. A welding robot and auxiliary dust removal device according to claim 7, characterized in that: A connecting shaft (5023) is provided at the bottom of the mounting circular plate (5021), and the connecting shaft (5023) comprises two outer peripheral parts (50231) and an inner peripheral part (50232) which are rotatably connected to each other, a small motor (50233) is installed on one of the outer peripheral parts (50231), and an output end of the small motor (50233) is connected to the inner peripheral part (50232), and a fixed circular plate (50234) is provided at the bottom of the inner peripheral part (50232), and a dust removal box (5024) is installed at the bottom of the fixed circular plate (50234).

9. A welding robot and auxiliary dust removal device according to claim 8, characterized in that: The dust removal box (5024) comprises a semi-cylindrical box body (50241), a first electromagnet adsorption round rod (50242) is installed on the inner side of the box body (50241), one side of the box body (50241) is designed to be flat and has a large dust suction port (50243), a plurality of dust suction square tubes (50244) obliquely downward are arranged on the arc surface of the box body (50241), the dust suction square tubes (50244) are connected to the box body (50241) after being fixed, an arc-shaped closing plate (50245) is fitted on the inner wall of the box body (50241), and both ends of the arc-shaped closing plate (50245) are slidably connected to the dust suction port (50243), and a first connecting pipe (50246) is passed through the outer surface of the box body (50241) and fixedly connected.

10. A welding robot and auxiliary dust removal device according to claim 9, characterized in that: The dust removal power source component (503) comprises an installation box (5031), wherein the installation box (5031) is connected to the side wall of the annular box (5011) after installation, and the inner side of the installation box (5031) is divided into two layers, a servo motor (5032) is installed on the top of the installation box (5031), and a turbine blade (5033) is installed on the output end of the servo motor (5032), and the turbine blade (5033) is located inside the upper cavity of the installation box (5031), and a cavity closing plate (5034) is installed on the side of the upper cavity of the installation box (5031), and a circular through hole (5035) is provided between the upper cavity and the lower cavity of the installation box (5031) and is covered with an isolation gauze, and the installation A dust storage tank (5036) is provided at the bottom of the lower cavity of the box (5031) and is connected via a thread; a second electromagnet adsorption round rod (5037) is provided on the inner side of the dust storage tank (5036); the second electromagnet adsorption round rod (5037) is connected to the inner wall of the lower cavity of the installation box (5031) via a bracket; a plurality of vent holes (5038) are provided through the side wall of the upper cavity of the installation box (5031); a second connecting pipe (5039) is installed on one side of the inner wall of the lower cavity of the installation box (5031); the first connecting pipe (50246) and the second connecting pipe (5039) are connected via a hose; and the lower cavity of the installation box (5031) is in communication with the annular box (5011).

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