Industrial automatic welding robot with omni-directional welding function

Abstract

The industrial automatic welding robot comprises an industrial robot body, a welding assembly and a moving auxiliary structure, the industrial robot body can accurately control the position, posture and movement track of the welding assembly, and the welding assembly is used for assisting welding operation. The moving auxiliary structure is clamped below the clamping arm and connected with the welding head and comprises a driving vehicle body, a movable connecting assembly and a guiding vehicle body, a driving motor in the driving vehicle body moves the vehicle body through a bevel gear box, a worm, a worm gear, a gear shaft and wheels, and the gear shaft is meshed with a section belt on a reel pipe in the guiding vehicle body. The magnet in the section belt can be magnetically attracted to the surface of a workpiece, the tooth-shaped guide rod drives the stirring rod to rotate when the section belt moves, and the stirring rod collects and treats welding scrap iron and prepares magnetic powder inspection liquid through cooperation of the spiral belt rod and the reel pipe and cooperation of the exhaust fan. The method is suitable for various industries.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, and in particular to an industrial automated welding robot with omnidirectional welding capabilities. Background Art

[0002] Industrial automation welding robots have been gradually developed since the 1960s. The early mechanical structure and functions were simple, and they have been continuously improved with the advancement of computers, sensors and other technologies. According to the welding process, they can be divided into arc welding robots and spot welding robots. According to the mechanical structure, they can be divided into articulated type, rectangular coordinate type, cylindrical coordinate type, etc. The programming methods include teaching programming and offline programming. During operation, attention should be paid to safety protection, correct parameter setting and regular maintenance. Compared with manual welding, its quality is more stable, efficiency is higher and it can adapt to harsh environments. The collaborative working mode includes the use of human-machine collaborative robots to safely collaborate in the same space, or to divide the work and collaborate, so that robots can undertake simple repetitive tasks and humans are responsible for complex parts that require judgment, so as to give full play to the advantages of both, improve the overall efficiency and quality of welding, play an important role in many industries such as automobiles, aerospace, and machinery manufacturing, and continue to promote the development and transformation of welding technology.

[0003] In the current machine tool parts processing and production scenarios, welding robots face many challenges when performing specific workpiece welding tasks. For example, in the operation of welding multiple small tubes at the end of a single tube, the small tubes are distributed in a complex spatial layout, and the tubes will inevitably hinder each other. This obstruction problem makes it difficult for the welding robot to achieve full coverage of the workpiece by itself, and it often needs to cooperate with the automated machine tool to carry out the operation. However, even with the assistance of the automated machine tool, the welding robot still needs to frequently and actively avoid obstacles during operation. Each obstacle avoidance will cause the welding to be interrupted, resulting in multiple welding breaks. After welding, obvious weld pits are usually left at the end of welding. Due to the existence of weld pits, in order to ensure the quality and integrity of the welded parts, multiple compensation operations have to be performed on the weld pits. This series of compensation operations not only greatly increases the difficulty and complexity of adjustment operations in the entire welding process, but also in the subsequent processing process, due to the difference between the metal structure of the weld pit compensation and the original welding part, serious quality problems such as cracking are prone to occur under the action of stress. This poses a major threat to the quality stability and reliability of the product, and to a certain extent restricts the efficient application and promotion of welding robots in the welding operations of complex workpieces of such machine tools.

[0004] Therefore, an industrial automated welding robot with all-round welding capabilities is proposed. Summary of the invention

[0005] The object of the present invention is to provide an industrial automated welding robot with omnidirectional welding function, so as to solve the problem that the industrial automated welding robot mentioned in the above background technology needs to interrupt welding multiple times.

[0006] To achieve the above object, the present invention provides the following technical solution: an industrial automated welding robot with omnidirectional welding, comprising:

[0007] Industrial robots, which include a base, an arm, a wrist and a clamping arm, can accurately control the position, posture and motion trajectory of welding components through pre-programming or teaching reproduction, thereby achieving high-quality and efficient welding operations;

[0008] The welding assembly is mainly composed of a welding power source, a protective gas system, etc., and is installed on one side of the industrial robot arm to assist the industrial robot in performing welding operations on the workpiece;

[0009] A mobile auxiliary structure is clamped and fixed under the clamping arm and connected to the welding head of the welding assembly on one side;

[0010] The movement auxiliary structure includes a driving body, one side of which is connected to a movable connection assembly by bolts, and the movable connection assembly assists the fixing of the bolts and guides the body to be movably connected;

[0011] Wherein, a driving motor is fixedly arranged on one side of the driving body close to the movable connection component, and the shaft of the driving motor is connected to a bevel gear of a bevel gear box through a coupling, and the transmission of the worm fixed to another bevel gear is performed through the meshing transmission relationship between the bevel gears inside the bevel gear box, the lower side of the worm is connected to the worm wheel rotatably arranged inside the driving body, and the rotating shaft of the worm wheel is fixed to the gear shaft rotatably arranged inside the driving body, and the rotating shaft of the gear shaft is connected and fixed to the wheel rotatably arranged at the lower corner position inside the driving body;

[0012] A P-shaped space is provided from the upper part of the interior of the guide vehicle body to the middle and lower position of the side opposite to the movable connection component, and a reel is rotatably connected to the interior of the space at the position of the axis through a bearing seat, a section belt is wound around the surface of the reel, and one side of the section belt is transmitted from the space where the reel is located to the bottom of the guide vehicle body and the driving vehicle body under the guidance of the toothed guide rod, and meshes with the exposed gear shaft at the lower part of the driving vehicle body, the rotating shaft at one end of the toothed guide rod extends out of the bearing seat and is fixed to the torsion bar, and the torsion bar cooperates with the torsion spring sleeved on the rod body to limit the rotation inside the torsion spring tube and reset after rotation, and one end of the torsion bar extends out of the torsion spring tube and is engaged with the toothed belt pulley of the toothed belt pulley set The torsion spring tube is fixed, one end of the torsion spring tube is connected to the end face of the bearing seat by bolts, the torsion bar cooperates with the toothed belt pulley group to be connected to the stirring rod for transmission, the stirring rod is rotatably arranged inside the liquid storage tube, the liquid storage tube is sealed and fixed to the end face of the bearing seat of the winding tube by bolts, and is communicated with the inside of the tube body of the winding tube through the bearing seat, one end of the stirring rod extends from the liquid storage tube into the interior of the winding tube, and is fixed to the spiral rod rotatably arranged inside the winding tube through the bearing frame, the winding tube is provided with a first torsion spring on the tube body at the end opposite to the liquid storage tube, the winding tube is connected to the first torsion spring at one end thereof and is connected to the drainage tube sealed and fixed to the end face of the bearing seat by bolts, and an exhaust fan is equipped at the pipe mouth of the drainage tube.

[0013] Preferably, a clamping connecting rod is connected to the middle position of the upper surface of the driving vehicle body on the side close to the industrial robot by bolts, and a bracket is integrally provided on the side of the clamping connecting rod on the side away from the industrial robot, and is connected and fixed to the hydraulic top by the bracket and bolts. The output end of the hydraulic top is connected to the mounting frame by bolts, and the mounting frame is used to cooperate with the bolt clamp to perform fixed support on the welding head of the welding assembly.

[0014] Preferably, the space where the gear shaft is located is open downward, and the lower side of the gear shaft is always exposed to the lower surface of the driving vehicle body.

[0015] Preferably, the segment belt is designed in a segment shape, and a magnet is fixedly arranged inside each segment, and cooperates with the magnet to perform magnetic attraction on the surface of the workpiece and magnetic engagement with the gear shaft. The toothed guide rod is movably positioned on the surface of the guide vehicle body through a bearing seat, and is located on the lower side of the segment belt output port.

[0016] Preferably, the spiral belt radius on the stirring rod is smaller than the inner radius of the liquid storage tube, the liquid storage tube is a special-shaped tube structure, and has a tube body undulation of a specified height on the tube diameter, and the tube body undulation is arranged at one end close to the guide vehicle body.

[0017] Preferably, the drainage pipe is an S-shaped pipe structure with the pipe opening facing the welding head position, and the exhaust fan is electrically connected to the power supply module inside the guide body through a line.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention can assist the industrial robot and the welding assembly in performing welding operations under normal conditions by means of the arrangement of the driving vehicle body, the hydraulic jack, the driving motor, the bevel gear box, the worm, the worm wheel, the gear shaft, the wheel, the movable connection assembly, the guide vehicle body, the winding tube, the first torsion spring, the node belt and the magnet. Moreover, when dealing with the welding operations of single tubes and multiple tubes, the present invention can be clamped and disengaged from the industrial robot, and the magnetic attraction can be used to perform magnetic attraction positioning on the surface of the branch pipe. Then, under the effect of magnetic attraction fixing, the driving motor, the worm and the worm wheel can be used to perform rotational driving on the gear shaft. Then, the rotating gear shaft is meshed with the node belt to realize the transmission creeping of the gear shaft along the node belt. In this process, the movable connection assembly, the guide vehicle body and the wheel can be used to perform the transmission creeping of the gear shaft along the node belt. Active assistance, under the effect of the coiling tube and the first torsion spring on the retracting and releasing of the section belt, the branch pipe is circled on the surface, so that the branch pipe can be fully covered and welded at the end of the main pipe, solving the problem that traditional welding robots are difficult to fully weld under such complex working conditions. Compared with traditional welding robots, it does not need to frequently perform obstacle avoidance actions, avoiding welding interruptions caused by obstacle avoidance, thereby significantly reducing the occurrence of welding breakpoints, which not only improves welding efficiency, but also reduces subsequent compensatory operations caused by welding pits at breakpoints, reduces the impact on welding quality, and improves the overall quality and stability of the welding part. The whole process is smooth and efficient, further reducing the welding interruption time caused by factors such as equipment adjustment, and ensuring the continuity and integrity of the welding work;

[0020] 2. The present invention realizes the recycling of resources through the arrangement of a guiding vehicle body, a winding tube, a first torsion spring, a node belt, a magnet, a spiral rod, a stirring rod, a toothed guide rod, a torsion rod, a torsion spring tube, a liquid storage tube, a drainage tube and an exhaust fan, and through a series of operations such as collecting, cleaning, remagnetizing and mixing welding iron filings, and converts the iron filings that may have been discarded into raw materials for magnetic particle flaw detection liquid, thereby reducing production costs. At the same time, the magnetic particle flaw detection liquid made from the processed iron filings has a better flaw detection effect, can more accurately detect defects in welding parts, improves the reliability of product quality detection, helps to promptly discover and solve quality problems that may exist in the welding process, and ensures the quality stability and reliability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A three-dimensional structural view of the present invention;

[0022] Figure 2 It is a schematic diagram of the mobile auxiliary structure of the present invention;

[0023] Figure 3 The mobile auxiliary structure section of the present invention is Figure 1 ;

[0024] Figure 4 The mobile auxiliary structure section of the present invention is Figure 2 ;

[0025] Figure 5 It is a schematic diagram of the coiled pipe and its connection structure of the present invention.

[0026] In the figure:

[0027] 1. Industrial robots;

[0028] 2. Welding components;

[0029] 3. Clamping arm;

[0030] 4. Mobile auxiliary structure; 41. Driving vehicle body; 411. Clamping connecting rod; 4111. Hydraulic jack; 4112. Mounting frame;

[0031] 412, driving motor; 4121, bevel gear box; 4122, worm; 4123, worm wheel; 4124, gear shaft; 4125, wheel; 42, movable connection assembly; 43, guide vehicle body; 431, winding tube; 4311, first torsion spring; 432, joint belt;

[0032] 4321, magnet; 433, screw rod; 4331, stirring rod; 434, toothed guide rod; 4341, torsion rod; 4342, torsion spring tube; 435, liquid storage tube; 436, drainage tube; 4361, exhaust fan. DETAILED DESCRIPTION

[0033] 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.

[0034] See also Figures 1 to 5 The present invention provides a technical solution for an industrial automated welding robot capable of all-round welding:

[0035] An industrial automated welding robot with all-round welding capabilities, comprising:

[0036] The industrial robot 1 includes a base, an arm, a wrist and a clamping arm 3, and can accurately control the position, posture and motion trajectory of the welding component 2 by pre-programming or teaching reproduction, so as to achieve high-quality and high-efficiency welding operations;

[0037] The welding assembly 2 is mainly composed of a welding power source, a wire feeding mechanism (for an arc welding robot), a shielding gas system, etc., and is installed on one side of the arm of the industrial robot 1 to assist the industrial robot 1 in performing welding operations on the workpiece.

[0038] The mobile auxiliary structure 4 is clamped and fixed under the clamping arm 3 and connected to the welding head of the welding assembly 2 on one side;

[0039] The mobile auxiliary structure 4 includes a driving body 41, one side of which is connected with a movable connection assembly 42 by bolts, and the movable connection assembly 42 assists the fixing of the bolts and guides the body 43 to be movably connected;

[0040] Among them, a clamping connecting rod 411 for plugging and positioning with the clamping arm 3 is connected by bolts at the middle position of the upper surface of the driving body 41 on the side close to the industrial robot 1, and a bracket is integrally provided on the side of the clamping connecting rod 411 on the side away from the industrial robot 1, and is connected and fixed to the hydraulic top 4111 through the bracket and bolts. The output end of the hydraulic top 4111 is connected to the mounting frame 4112 through bolts, and the mounting frame 4112 cooperates with the bolt clamp to perform fixed support on the welding head of the welding component 2. A driving motor 412 is fixedly provided on the inside of the driving body 41 on the side close to the movable connection component 42, and the shaft of the driving motor 412 is connected to a bevel gear of the bevel gear box 4121 through a coupling. The worm 4122 fixed to another bevel gear is connected and driven by the meshing transmission relationship between the bevel gears inside the bevel gear box 4121. The driving motor 412 and the worm 4122 are in mutually perpendicular directions. The lower side of the worm 4122 is connected to the worm wheel 4123 rotatably arranged inside the driving body 41. The rotating shafts of the worm wheel 4123 are all fixed to the gear shaft 4124 rotatably arranged inside the driving body 41. The space where the gear shaft 4124 is located is open downward, and the lower side of the gear shaft 4124 is always exposed to the lower surface of the driving body 41. The rotating shafts of the gear shaft 4124 are all connected and fixed to the wheels 4125 rotatably arranged at the lower corner positions inside the driving body 41.

[0041] A P-shaped space is provided from the upper part of the interior of the guide vehicle body 43 to the middle and lower position of the side opposite to the movable connection component 42, and a reel 431 is rotatably connected to the interior of the space at the axial position through a bearing seat, a section belt 432 is wound around the surface of the reel 431, and one side of the section belt 432 is transmitted from the space where the reel 431 is located, and is guided by the toothed guide rod 434 to the bottom of the guide vehicle body 43 and the driving vehicle body 41, and meshes with the gear shaft 4124 exposed at the lower part of the driving vehicle body 41, the section belt 432 is designed in a section shape, and a magnet 4321 is fixedly provided inside each section, and cooperates with the magnet 4321 to perform magnetic attraction on the surface of the workpiece and magnetic attraction engagement with the gear shaft 4124, the toothed guide rod 434 is movably positioned on the surface of the guide vehicle body 43 through the bearing seat, and is located at the lower side of the output port of the section belt 432, and wheels 4125 are also rotatably provided at the corner position at the lower part of the interior of the guide vehicle body 43.

[0042] During operation, the industrial robot 1 controls the welding assembly 2 to perform welding operations, and ordinary welding is performed according to specified steps; when welding pipelines and multi-branch pipes, the industrial robot 1 cooperates with the clamping arm 3 to move the movable auxiliary structure 4 to a suitable position, releases the positioning of the clamping connecting rod 411 by the clamping arm 3, and the movable auxiliary structure 4 is magnetically positioned at the initial welding position, and then the driving motor 412 drives the driving body 41 to move on the surface of the workpiece, the node belt 432 assists and engages with the gear shaft 4124, the movable connection assembly 42 adjusts the bending path of the pipe body, and the movable auxiliary structure 4 drives the welding head to move nearly one circle for all-round welding, and then the driving motor 412 is reversed and reset, the node belt 432 is lifted, and the relevant parts are rewound, the industrial robot 1 re-fixes the movable auxiliary structure 4 and then re-welds, and finally the flaw detection fluid can be extracted and the raw materials can be replenished through the side interface of the liquid storage tube 435.

[0043] In summary, by driving the vehicle body 41, hydraulic jack 4111, driving motor 412, bevel gear box 4121, worm 4122, worm wheel 4123, gear shaft 4124, wheel 4125, movable connection assembly 42, guide vehicle body 43, winding tube 431, first torsion spring 4311, node belt 432 and magnet 4321, not only can the industrial robot 1 and welding assembly 2 be assisted to perform welding operations under normal conditions, but also when dealing with single-tube and multi-tube welding operations, the industrial robot 1 can be clamped and detached, and magnetic positioning can be performed on the surface of the branch pipe in cooperation with the magnetic attraction effect. Then, under the effect of magnetic fixation, the driving motor 412, worm 4122 and worm wheel 4123 can be used to drive the gear shaft 4124 to rotate, and then the rotating gear shaft 4124 is engaged with the node belt 432 to achieve the gear shaft 4124 along the node belt 432. The transmission crawls, and in this process, with the assistance of the active connection component 42, the guide body 43 and the wheel 4125, under the effect of the retraction and extension of the winding tube 431 and the first torsion spring 4311 on the segment belt 432, it performs a circle on the surface of the branch pipe, so that the branch pipe can be fully covered and welded at the end of the main pipe, which solves the problem that traditional welding robots are difficult to weld in all directions under such complex working conditions. Compared with traditional welding robots, it does not need to perform obstacle avoidance actions frequently, thus avoiding welding interruptions caused by obstacle avoidance, thereby significantly reducing the occurrence of welding breakpoints, which not only improves the welding efficiency, but also reduces the subsequent compensatory operations caused by welding pits at the breakpoints, reduces the impact on welding quality, and improves the overall quality and stability of the welding part. The whole process is smooth and efficient, further reducing the welding interruption time caused by equipment adjustment and other factors, and ensuring the continuity and integrity of the welding work.

[0044] As an embodiment of the present invention, Figures 2 to 5As shown, the rotating shaft at one end of the toothed guide rod 434 extends out of the bearing seat and is fixed to the torsion bar 4341, and the torsion bar 4341 cooperates with the torsion spring sleeved on the rod body to limit the rotation inside the torsion spring tube 4342 and reset after rotation, and one end of the torsion rod 4341 extends out of the torsion spring tube 4342 and is fixed to the toothed belt wheel of the toothed belt wheel group on the same straight line, and one end of the torsion spring tube 4342 is connected to the end face of the bearing seat by a bolt, and the toothed belt wheel group consists of two toothed belt wheels and a The torsion bar 4341 cooperates with the toothed belt pulley group and is connected to the stirring rod 4331 whose shaft end is fixed to the toothed belt pulley. The stirring rod 4331 is rotatably arranged inside the liquid storage tube 435, and the spiral belt radius on the stirring rod 4331 is smaller than the inner radius of the liquid storage tube 435. The liquid storage tube 435 is a special-shaped tube structure with multiple input and output interfaces on the surface, and has a tube body undulation of a specified height on the tube diameter, and the tube body undulation is arranged at one end close to the guide vehicle body 43. The liquid storage tube 435 is fixed to the end face of the bearing seat of the winding tube 431 by bolt sealing, and is communicated with the inside of the tube body of the winding tube 431 through the bearing seat. One end of the stirring rod 4331 extends from the liquid storage tube 435 into the inside of the winding tube 431, and is fixed to the spiral rod 433 rotatably arranged inside the winding tube 431 through the bearing frame. The winding tube 431 is sleeved with a first torsion spring 4311 on the tube body at the end opposite to the liquid storage tube 435, and is guided by the first torsion spring 4311 to guide the vehicle body 4 3, the end of the rolling tube 431 connected to the first torsion spring 4311 is connected to the drainage tube 436 sealed and fixed to the end surface of the bearing seat by bolts, the drainage tube 436 is an S-shaped tube structure with the tube opening facing the welding head position, and the tube opening of the drainage tube 436 is equipped with an exhaust fan 4361, and the exhaust fan 4361 is electrically connected to the power supply module inside the guide body 43 through the line, and the upper surface of the drainage tube 436 is provided with fine air holes.

[0045] During operation, when the segment belt 432 moves and transmits along the toothed guide rod 434, it meshes with the transmission toothed guide rod 434, so that it drives the torsion bar 4341 to rotate and compress the torsion spring. The torsion bar 4341 drives the stirring rod 4331 to rotate through the toothed pulley group, and stirs the magnetic particle flaw detection liquid raw material in the liquid storage tube 435. The stirring rod 4331 coaxially drives the spiral rod 433 to rotate. The spiral rod 433 spirally transports the iron powder and iron filings collected by the exhaust fan 4361 to the drainage tube 436 in the opposite direction, mixes with the cleaning liquid in the reel tube 431 to clean the iron filings, and the magnet 4321 in the segment belt 432 replenishes the magnetism. The cleaned iron filings accumulate on the end of the reel tube 431 close to the liquid storage tube 435 and spread along its protruding tube body, and are mixed with the raw materials in the liquid storage tube 435 to form a crude magnetic particle flaw detection liquid.

[0046] To sum up, by guiding the vehicle body 43, the winding tube 431, the first torsion spring 4311, the node belt 432, the magnet 4321, the spiral rod 433, the stirring rod 4331, the toothed guide rod 434, the torsion rod 4341, the torsion spring tube 4342, the liquid storage tube 435, the drainage tube 436 and the exhaust fan 4361, through a series of operations such as the collection, cleaning, magnetization and mixing of welding iron filings, the recycling of resources is realized, and the iron filings that may have been discarded are converted into raw materials for magnetic particle flaw detection liquid, thereby reducing production costs. At the same time, the magnetic particle flaw detection liquid made from the processed iron filings has a better flaw detection effect, can more accurately detect defects in the welding area, improves the reliability of product quality detection, helps to promptly discover and solve quality problems that may exist in the welding process, and ensures the quality stability and reliability of the product.

[0047] Working principle: When working, the industrial robot 1 controls the position, posture and motion trajectory of the welding component 2 by pre-programming or teaching reproduction to perform welding operations. When performing ordinary welding operations, just follow the specified welding steps. If welding of pipelines and multi-branch pipelines is performed, first, the industrial robot 1 will cooperate with the clamping arm 3 to move the mobile auxiliary structure 4 to a suitable welding position. Then, under the control of the industrial robot 1, the clamping arm 3 will release the positioning of the clamping connecting rod 411. Then, the mobile auxiliary structure 4 will be stably magnetically positioned at the initial welding position with the assistance of the node belt 432. Then the hydraulic top 4111 adjusts the height of the welding head up and down to achieve a better welding height. The welding assembly 2 can be controlled to perform welding on the workpiece. At this time, the exhaust fan 4361 also starts to work to suck the iron filings generated by the welding. Then the driving motor 412 will drive the bevel gear in the bevel gear box 4121 to rotate, thereby causing the worm 4122 to rotate. The worm 4122 drives the worm wheel 4123 to rotate. The rotation of the worm wheel 4123 drives the gear shaft 4124 to rotate, thereby causing the wheel 4125 to rotate, thereby realizing the movement of the driving vehicle body 41 on the surface of the workpiece. At the same time, because the reel 431 in the guide vehicle body 43 has a certain initial tension under the action of the first torsion spring 4311, and the section belt 432 is wound on the reel 431 and meshes with the gear shaft 4124 under the guidance of the toothed guide rod 434, and then the rotating wheel 4125 will move on the branch pipe surface at a uniform speed along the node belt 432 under the meshing with the node belt 432, and the node belt 432 will be gradually pulled out from the inside of the guide vehicle body 43 as the driving vehicle body 41 and the guide vehicle body 43 move, and be magnetically attracted to the surface of the workpiece. During this process, the movable connection component 42 will synchronously adjust the curved path of the pipe body, so that the driving vehicle body 41 and the guide vehicle body 43 are in uniform and stable contact with the surface of the workpiece, and as the node belt 432 gradually moves out along the toothed guide rod 434, it will mesh and transmit the toothed guide rod 434 at the same time, and the rotating toothed guide rod 434 will drive the torsion bar 4341 to rotate, and rotate and compress the torsion spring, and the rotating torsion bar 4341 will cooperate with the toothed belt pulley group to drive the stirring The stirring rod 4331 rotates, and the stirring rod 4331 mixes and stirs the magnetic particle inspection liquid raw material stored in the liquid storage tube 435, and the rotating stirring rod 4331 coaxially drives the spiral rod 433 to rotate, and the spiral rod 433 spirally transports the iron powder and iron filings sucked and collected by the exhaust fan 4361 to the opposite direction of the drainage tube 436, and mixes with the clean liquid stored in the coil tube 431 during the transportation process to clean the iron filings. At the same time, the magnet 4321 inside the node belt 432 will supplement the magnetism of the iron filings, so that the iron filings have a better flaw detection effect, and the clean iron filings will accumulate on the coil tube 431 close to one end of the liquid storage tube 435, and gradually spread upward along the protruding tube body part of the liquid storage tube 435.Until the iron filings pass over the raised tube body of the liquid storage tube 435 and mix with the raw materials stored in the liquid storage tube 435 under the action of the stirring rod 4331, a rough magnetic particle flaw detection liquid can be made; when the mobile auxiliary structure 4 drives the welding head to move nearly one circle (when the node belt 432 is connected), the full-range welding processing of the workpiece can be realized, and then the welding of the workpiece is stopped, and the driving motor 412 is controlled to reverse, so that it moves reversely along the node belt 432 on the surface of the workpiece to reset, and when the driving vehicle body 41 and the guiding vehicle body 43 are moved and reset, the node belt 432 on the surface of the workpiece will be lifted, and then the torsion bar 4341 The coiled tube 431 will be rewound on the coiled tube 431 with the assistance of the torsion spring and the first torsion spring 4311 until the mobile auxiliary structure 4 moves to the initial welding position, and then the industrial robot 1 will re-dock with the clamping connecting rod 411 through the clamping arm 3, so as to fix the mobile auxiliary structure 4 at the clamping arm 3, and then the robot can be controlled to repair the welding pits and breakpoints at the end of the workpiece welding, so as to achieve comprehensive welding processing of the connection position between the branch pipe and the main pipe, and then the extraction of the internal flaw detection liquid of the liquid storage tube 435 and the replenishment of the cleaning and flaw detection materials can be performed through the interface on the side of the liquid storage tube 435.

[0048] It should be noted that the wheel 4125 can use a magnetic material wheel body as needed, the lower surface of the joint belt 432 is flush with the lower surface of the wheel 4125, and the gear shaft 4124 is initially in a magnetic state, and the heat conducted by welding will not affect the magnetic effect; the inner radius of the winding tube 431 is larger than the outer radius of the screw rod 433, and there is a specified annular gap between them; the pipeline structure used by the welding assembly 2 can meet the needs of mobile welding and will not interfere with the mobile welding operation.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial automated welding robot with all-round welding capabilities, comprising: An industrial robot (1) comprises a base, an arm, a wrist and a clamping arm (3), and can accurately control the position, posture and motion trajectory of a welding component (2) by pre-programming or teaching reproduction, thereby achieving high-quality and high-efficiency welding operations; The welding assembly (2) is mainly composed of a welding power source and a protective gas system and is mounted on one side of the arm of the industrial robot (1) to assist the industrial robot (1) in performing welding operations on a workpiece. The welding assembly (2) is characterized in that: A mobile auxiliary structure (4) is clamped and fixed below the clamping arm (3) and is connected to a welding head of the welding assembly (2) on one side; The movement auxiliary structure (4) comprises a driving body (41), one side of the driving body (41) is connected to a movable connection assembly (42) by bolts, and the movable connection assembly (42) assists in fixing the bolts and is movably connected to the guide body (43); A driving motor (412) is fixedly arranged on one side of the driving body (41) near the movable connection assembly (42), and the shaft of the driving motor (412) is connected to a bevel gear of a bevel gear box (4121) through a coupling, and a worm (4122) fixed to another bevel gear is driven through the meshing transmission relationship between the bevel gears inside the bevel gear box (4121), the lower side of the worm (4122) is drivingly connected to a worm wheel (4123) rotatably arranged inside the driving body (41), and the rotating shaft of the worm wheel (4123) is fixed to a gear shaft (4124) rotatably arranged inside the driving body (41), and the rotating shaft of the gear shaft (4124) is connected and fixed to a wheel (4125) rotatably arranged at a corner position below the driving body (41); A P-shaped space is provided from the upper part of the interior of the guide vehicle body (43) to the middle and lower part of the side opposite to the movable connection assembly (42), and a reel (431) is rotatably connected to the interior of the space at the axis position through a bearing seat, and a section belt (432) is wound around the surface of the reel (431), and one side of the section belt (432) is transmitted from the space where the reel (431) is located and guided by a toothed guide rod (434) to the bottom of the guide vehicle body (43) and the driving vehicle body (41). The toothed guide rod (434) is provided with a rotating shaft at one end thereof extending out of the bearing seat and being fixed to the torsion bar (4341). The torsion bar (4341) cooperates with the torsion spring sleeved on the rod body to limit the rotation inside the torsion spring tube (4342) and reset after rotation. One end of the torsion bar (4341) extends out of the torsion spring tube (4342) and is fixed to the toothed belt wheel of the toothed belt wheel set. The torsion spring tube (4341) is provided with a rotating shaft at one end thereof extending out of the torsion spring tube (4342) and being fixed to the toothed belt wheel of the toothed belt wheel set. One end of the torsion bar (4341) is connected to the end face of the bearing seat by bolts, the torsion bar (4341) cooperates with the toothed belt pulley group to be transmission-connected with the stirring rod (4331), the stirring rod (4331) is rotatably arranged inside the liquid storage tube (435), the liquid storage tube (435) is sealed and fixed to the end face of the bearing seat of the winding tube (431) by bolts, and is interconnected with the inside of the tube body of the winding tube (431) through the bearing seat, and one end of the stirring rod (4331) extends from the liquid storage tube (435) into the winding tube (431). The interior of the tube (431) is fixed to the interior of the reel tube (431) by a screw rod (433) rotatably arranged in the bearing frame, and the reel tube (431) is provided with a first torsion spring (4311) on the tube body at the end opposite to the liquid storage tube (435). The reel tube (431) is connected to the first torsion spring (4311) at one end thereof and is connected to a drainage tube (436) sealed and fixed to the end surface of the bearing seat by bolts, and an exhaust fan (4361) is installed at the pipe mouth of the drainage tube (436).

2. The industrial automated welding robot with omnidirectional welding according to claim 1, characterized in that: A clamping connecting rod (411) is connected to the middle position of the upper surface of the driving vehicle body (41) on a side close to the industrial robot (1) by means of bolts, and a bracket is integrally provided on the side of the clamping connecting rod (411) on a side away from the industrial robot (1), and is connected and fixed to a hydraulic jack (4111) by means of bolts in cooperation with the bracket, and an output end of the hydraulic jack (4111) is connected to a mounting frame (4112) by means of bolts, and the mounting frame (4112) cooperates with a bolt clamp to perform fixed support on a welding head of a welding assembly (2).

3. The industrial automated welding robot with omnidirectional welding according to claim 1, characterized in that: The space where the gear shaft (4124) is located is open downward, and the lower part of the side surface of the gear shaft (4124) is always exposed to the lower surface of the driving vehicle body (41).

4. The industrial automated welding robot with omnidirectional welding according to claim 1, characterized in that: The segment belt (432) is designed in a segment shape, and a magnet (4321) is fixedly arranged inside each segment, and cooperates with the magnet (4321) to perform magnetic attraction on the surface of the workpiece and magnetic attraction engagement with the gear shaft (4124). The toothed guide rod (434) is movably positioned on the surface of the guide vehicle body (43) through a bearing seat, and is located at the lower side of the output port of the segment belt (432).

5. The industrial automated welding robot with omnidirectional welding according to claim 1, characterized in that: The spiral radius on the stirring rod (4331) is smaller than the inner radius of the liquid storage tube (435). The liquid storage tube (435) is a special-shaped tube structure and has a tube body undulation of a specified height on the tube diameter. The tube body undulation is arranged at one end close to the guide vehicle body (43).

6. The industrial automated welding robot with omnidirectional welding according to claim 1, characterized in that: The drainage pipe (436) is an S-shaped pipe structure with the pipe opening facing the welding head position, and the exhaust fan (4361) is electrically connected to the power supply module inside the guide vehicle body (43) through a line.

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