Movable teaching-free welding robot

Abstract

The invention discloses a movable teaching-free welding robot, and relates to the technical field of welding robots, the movable teaching-free welding robot comprises a base and a welding mechanical arm, a welding gun is fixed on the welding mechanical arm, and the movable teaching-free welding robot further comprises a cleaning assembly and a pipe body; the welding gun is connected with an air source through an air pipe and located above the pipe body, and a reel is fixed to the base and used for winding and unwinding the air pipe connected with the welding gun. A space positioning instrument is fixed to the base and used for feeding back the space position relation between a welding gun and a workpiece in real time. The cleaning assembly comprises a ventilation part and a collection bin; the collecting bin is an arc-shaped plate with the hollow interior and is fixed to the welding gun, and a slag suction pipe is fixed to the position, close to the welding gun, of the inner arc face of the collecting bin. A slag spraying pipe is fixed to the position, away from the slag suction pipe, of the collecting bin and located above a welding bead of the pipe body, and the slag spraying pipe is located behind the welding gun. Oxides and impurities of each layer of welding bead can be removed while welding is achieved, and the welding quality of a pipe body is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, and in particular to a movable teaching-free welding robot. Background Art

[0002] By integrating motion control algorithms and welding process design, mobile welding robots can autonomously plan welding paths, accurately locate welding positions, and autonomously complete welding tasks. When welding metal workpieces, especially thick-walled pipes, in order to ensure the sealing of the pipeline after welding, multi-layer welding is usually adopted, and a large amount of welding slag is generated during the welding process. Because the welded pipes are made of easily oxidized materials, after each layer of weld is completed, there will be oxides and impurities in the weld. If the oxides in the weld are not cleaned in time, slag inclusions will occur, causing defects in the next layer of weld, seriously reducing the quality of the weld. Summary of the invention

[0003] The embodiment of the present application provides a movable teaching-free welding robot, which solves the problem in the prior art that after each layer of weld is welded, oxides and impurities will exist in the weld, and slag inclusion will occur if the oxides in the weld are not cleaned in time.

[0004] The embodiment of the present application provides a movable teaching-free welding robot, including a base and a welding mechanical arm, a welding gun is fixed on the welding mechanical arm, and also includes a cleaning component and a pipe body; The welding gun is connected to the gas source through an air pipe, the welding gun is located above the pipe body, and a reel is fixed on the base, and the reel is used to retract the air pipe connected to the welding gun; A spatial locator is fixed on the base, and the spatial locator is used to provide real-time feedback on the spatial position relationship between the welding gun and the workpiece; The cleaning assembly includes a vent and a collection bin; The collecting bin is an arc-shaped plate with a hollow interior and is fixed on the welding gun. A slag suction pipe is fixed on the arc surface of the collecting bin near the welding gun. A slag spraying pipe is fixed on the collecting bin away from the slag suction pipe, the slag spraying pipe is located above the weld of the pipe body, and the slag spraying pipe is located behind the welding gun, and a purification device is fixed in the collecting bin; The ventilation part includes an air extraction pipe and an air outlet pipe; One end of the air extraction pipe extends into the collecting bin, the other end of the air extraction pipe is connected to the air extraction end of the air pump, one end of the air outlet pipe extends into the slag spraying pipe, and the other end of the air outlet pipe is connected to the air outlet end of the air pump; The vent is used to suck the welding slag into the collection bin, and the welding slag is sprayed into the welding bead of the pipe body through the slag spraying pipe.

[0005] Furthermore, the cleaning assembly also includes a support plate, a spray pipe and a vent pipe; The support plate is fixed on the welding gun, the nozzle is fixed on the support plate away from the welding gun, and the nozzle is located in front of the welding gun; A cylindrical precision filter is fixed in the slag spraying pipe near the collecting bin, and there is a gap between the precision filter and the slag spraying pipe. The slag spraying pipe is divided into two spaces by the precision filter, one space is a slag inlet space, and the other space is an air inlet space; One end of the ventilation pipe extends into the spray pipe, the other end of the ventilation pipe extends into the air inlet space of the slag spraying pipe, and the jet end of the air outlet pipe extends into the slag inlet space of the slag spraying pipe.

[0006] Furthermore, the slag suction end of the slag suction pipe is inclined toward the welding gun, and the inclination angle is between 45° and 50°. There is a gap between the slag suction pipe and the welding gun, and the gap is between 6 cm and 8 cm. A gas cylinder is fixed on the base, and the gas cylinder is connected to the welding gun through a pipeline.

[0007] Furthermore, the cleaning assembly also includes a telescopic portion; The telescopic portion includes a soft bag 1; The soft bag 1 is a cylindrical rubber bag body with a hollow interior and openings at both ends, and is fixed to the outside of the slag spraying pipe. An air inlet pipe is fixed to the vent pipe, and the free end of the air inlet pipe extends into the soft bag 1; A fixing seat is fixed at the bottom of the soft bag, a through groove is opened inside the fixing seat, and the through groove is communicated with the inside of the slag spraying pipe; A cleaning part is fixed on the bottom of the fixing seat, and the cleaning part is in contact with the weld of the pipe body.

[0008] Furthermore, one end of the ventilation pipe extends into the through groove of the fixing seat, and the other end of the ventilation pipe is connected to the suction end of the suction pump. A distribution pipe is fixed on the air outlet end of the suction pump, and the free end of the distribution pipe extends into the nozzle.

[0009] Furthermore, one end of the air inlet pipe extends into the air inlet space of the slag spraying pipe, and the other end of the air inlet pipe extends into the soft bag, and an air valve is fixed on the air inlet pipe.

[0010] Furthermore, a nozzle cover is fixed on the nozzle near the bottom of the tube body; The nozzle cover is trumpet-shaped and a plurality of brush plates are evenly spaced and fixed on the bottom thereof, and each brush plate is in contact with the surface of the tube body.

[0011] Furthermore, a hose is fixed at the bottom of the slag spraying pipe, the hose is communicated with the inside of the slag spraying pipe, and a cylindrical soft bag 2 is fixed at the bottom of the soft bag 1; The second soft bag is located outside the hose, and the fixing seat is fixed on the bottom of the second soft bag.

[0012] Furthermore, a branch pipe is fixed on the second soft bag, and the free end of the branch pipe extends into the air inlet space of the slag spraying pipe. An air release valve is fixed on the second soft bag, and an air valve is fixed on the branch pipe.

[0013] Furthermore, the capsule hardness of the second soft capsule is greater than the capsule hardness of the first soft capsule.

[0014] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: Through the cleaning component that is set up, the welding slag generated by welding is sucked into the collection bin through the exhaust pipe, and then the welding slag is sent to the slag spraying pipe through the air outlet pipe. The welding slag with protective gas is sprayed out from the slag spraying pipe to clean the weld of the pipe body, thereby cleaning the oxides and impurities on the surface of the weld. It can achieve the oxides and impurities of each layer of weld while welding, thereby ensuring the quality of pipe body welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a side view stereoscopic structural schematic diagram of the movable teaching-free welding robot of the present invention; Figure 2 It is a top view of the three-dimensional structure of the movable teaching-free welding robot of the present invention; Figure 3 It is a three-dimensional structural schematic diagram of the positional relationship between the welding gun and the pipe body of the movable teaching-free welding robot of the present invention; Figure 4 It is a schematic structural diagram of the state in which the slag spraying pipe of the movable teaching-free welding robot of the present invention is sprayed on the weld bead of the pipe body; Figure 5 It is a structural schematic diagram of the positional relationship between the cleaning component and the pipe body of the movable teaching-free welding robot of the present invention; Figure 6 It is a schematic structural diagram of a state in which the nozzle of the movable teaching-free welding robot of the present invention sprays protective gas on the surface of the tube body; Figure 7 It is a structural schematic diagram of the connection relationship between the support plate and the slag spraying pipe of the movable teaching-free welding robot of the present invention; Figure 8 It is a three-dimensional structural schematic diagram of the positional relationship between the slag suction pipe and the slag spraying pipe of the movable teaching-free welding robot of the present invention; Fig. 9 It is a schematic diagram of a partial cross-section of a slag spraying pipe of the movable teaching-free welding robot of the present invention; Fig.10 It is a schematic diagram of the three-dimensional structure of the slag spraying pipe of the movable teaching-free welding robot of the present invention; Fig.11 It is a bottom-up three-dimensional structural schematic diagram of the telescopic part of the movable teaching-free welding robot of the present invention; Fig.12It is a structural schematic diagram of the connection relationship between the ventilation pipe and the air intake pipe of the movable teaching-free welding robot of the present invention; Fig.13 It is a structural schematic diagram of the connection relationship between the fixed seat and the soft bag of the movable teaching-free welding robot of the present invention; Fig.14 It is a three-dimensional structural schematic diagram of the connection relationship between the nozzle and the nozzle cover of the movable teaching-free welding robot of the present invention; Fig.15 It is a bottom-up three-dimensional structural schematic diagram of a fixed seat of the movable teaching-free welding robot of the present invention; Fig.16 It is a three-dimensional structural schematic diagram of the connection relationship between the ventilation pipe and the fixing seat of the movable teaching-free welding robot of the present invention; Fig.17 It is a schematic structural diagram of a state in which a brush plate on a nozzle cover of a movable teaching-free welding robot of the present invention contacts a surface of a pipe body; Fig.18 It is a three-dimensional structural schematic diagram of the positional relationship between the slag spraying pipe and the soft bag of the movable teaching-free welding robot of the present invention; Fig.19 It is a three-dimensional structural schematic diagram of the connection relationship between the soft bag 1 and the air intake pipe of the movable teaching-free welding robot of the present invention; Fig. 20 It is a three-dimensional structural schematic diagram of the connection relationship between the soft bag 1 and the soft bag 2 of the movable teaching-free welding robot of the present invention; Fig.21 It is a structural schematic diagram of the positional relationship between the soft bag 2 and the fixed seat of the movable teaching-free welding robot of the present invention; Fig. 22 It is a schematic structural diagram of a state in which the cleaning part of the movable teaching-free welding robot of the present invention conflicts with the weld bead of the pipe body; Fig.23 The present invention is a schematic diagram of the structure of the movable teaching-free welding robot when the soft bag 2 of the present invention is expanded and contracted to squeeze the hose.

[0016] In the figure: 100, base; 110, mobile chassis; 120, welding robot arm; 121, welding gun; 130, teaching-free device; 140, reel; 150, gas cylinder; 160, space positioning instrument; 200, cleaning assembly; 210, ventilation portion; 211, air extraction pipe; 212, air outlet pipe; 220, collecting bin; 221, slag suction pipe; 230, slag spraying pipe; 231, precision filter; 232, hose; 240, support plate; 241, spray pipe; 2411, nozzle cover; 2412, brush plate; 242, ventilation pipe; 2421, distribution pipe; 250, telescopic part; 251, fixed seat; 2511, cleaning part; 252, soft bag 1; 2521, air inlet pipe; 2522, branch pipe; 2523, soft bag 2; 300. Pipe body. DETAILED DESCRIPTION

[0017] To facilitate the understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

[0018] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more related listed items.

[0020] like Figures 1 to 10 As shown, the present application proposes a movable teaching-free welding robot, including a base 100 and a welding mechanical arm 120, the welding mechanical arm 120 is fixed on the base 100, a mobile chassis 110 is fixed at the bottom of the base 100, the mobile chassis 110 is used to drive the base 100 to move, so that the welding mechanical arm 120 can be freely transferred, which is convenient for flexible welding of workpieces, a welding gun 121 is fixed on the welding mechanical arm 120, and a teaching-free device 130 is fixed on the welding mechanical arm 120, and the teaching-free device 130 is a line laser 3D camera, and it can independently plan the welding path, accurately locate the welding position, and independently complete the welding task, and also includes a cleaning component 200 and a pipe body 300, and the cleaning component 200 is used to clean the weld of the pipe body 300; The welding gun 121 is connected to the gas source through an air pipe, one end of the air pipe is connected to the welding gun 121, and the other end of the air pipe is connected to the gas source. The gas source is a centralized gas supply box in the factory area. The welding shielding gas is delivered to the welding gun 121 through the air pipe. The welding gun 121 is located above the tube body 300. The wall thickness of the tube body 300 is in the range of 11mm to 12.5mm. The welding gun 121 is used to weld two tube bodies 300 for multiple layers. A reel 140 is fixed on the base 100, and the reel 140 is used to retract the air pipe connected to the welding gun 121. That is, when the air pipe is connected to the air source, it can move with the robot and automatically retract and release to avoid the air pipe entanglement affecting the welding progress; A spatial locator 160 is fixed on the base 100, and the spatial locator 160 is used to provide real-time feedback of the spatial position relationship between the welding gun 121 and the workpiece without repeated positioning; The cleaning assembly 200 includes a ventilating portion 210 and a collecting bin 220; The collecting bin 220 is an arc-shaped plate with a hollow interior and is fixed on the welding gun 121. The axis of the collecting bin 220 coincides with the axis of the tube body 300. That is, when the tube body 300 rotates, the collecting bin 220 always maintains the same distance from the tube body 300, which is convenient for cleaning the weld. A slag suction pipe 221 is fixed on the inner arc surface of the collecting bin 220 near the welding gun 121. The slag suction pipe 221 is used to suck away the welding slag generated by welding. A slag spraying pipe 230 is fixed on the collecting bin 220 away from the slag suction pipe 221. The slag spraying pipe 230 is located above the weld of the pipe body 300 and behind the welding gun 121. That is, after the pipe body 300 is welded by the welding gun 121, the welding slag sprayed by the slag spraying pipe 230 is used to clean the weld of the pipe body 300. A purification device is fixed in the collecting bin 220. The purification device is used to purify the toxic gas generated during welding without affecting the welding slag entering the slag spraying pipe 230. The ventilation part 210 includes an air extraction pipe 211 and an air outlet pipe 212; One end of the air extraction pipe 211 extends into the collecting bin 220, and the other end of the air extraction pipe 211 is connected to the air extraction end of the air pump, and the air pump is fixed on the collecting bin 220. One end of the air outlet pipe 212 extends into the slag spraying pipe 230, and the other end of the air outlet pipe 212 is connected to the air outlet end of the air pump. The vent 210 is used to suck the welding slag into the collection bin 220, and the welding slag is sprayed into the weld of the pipe body 300 through the slag spraying pipe 230 to clean the weld of the pipe body 300. The pipe body 300 is made of easily oxidizable high alloy steel, stainless steel, aluminum and its alloys.

[0021] It is worth noting that the shape of the welding slag is mostly irregular particles. The oxides and impurities in the tube body 300 are cleaned up by physical grinding of the sprayed welding slag and the weld of the tube body 300. The toxic gas mixed in the welding slag is purified by the purification device, and the welding slag is sent to the slag spraying pipe 230 through the air outlet pipe 212, so that the welding slag is sprayed out from the slag spraying pipe 230, and the welding slag is used to clean the oxides and impurities in the weld of the tube body 300.

[0022] Specifically, if Figures 3 to 10 As shown, the cleaning assembly 200 further includes a support plate 240, a nozzle 241 and a vent pipe 242; The support plate 240 is fixed on the welding gun 121, and the nozzle 241 is fixed on the support plate 240 away from the welding gun 121. The nozzle 241 is located in front of the welding gun 121. There is a gap between the nozzle 241 and the welding gun 121, and the gap is between 6cm and 8cm, which is convenient for processing the unwelded area on the surface of the tube body 300; A cylindrical precision filter 231 is fixed in the slag spraying pipe 230 near the collecting bin 220. There is a gap between the precision filter 231 and the slag spraying pipe 230. The slag spraying pipe 230 is divided into two spaces by the precision filter 231, one space is a slag inlet space, and the other space is an air inlet space. The precision filter 231 is used to intercept welding slag. One end of the vent pipe 242 extends into the nozzle 241, and the other end of the vent pipe 242 extends into the air inlet space of the slag spraying pipe 230. That is to say, the slag spraying pipe 230 and the nozzle 241 are connected through the interior of the vent pipe 242, and the jet end of the air outlet pipe 212 extends into the slag inlet space of the slag spraying pipe 230. That is to say, when slag is sprayed into the slag spraying pipe 230 through the air outlet pipe 212, the welding slag is intercepted in the slag inlet space by the precision filter screen 231 and sprayed out from the slag spraying pipe 230, and the protective gas enters the air inlet space and is sprayed into the nozzle 241 through the vent pipe 242.

[0023] It should be noted that the welding gun 121 will spray a large amount of shielding gas during welding. Therefore, when the welding slag is collected, the welding slag contains shielding gas, which will not be purified by the purification device. The shielding gas is nitrogen and contains heat. The shielding gas is sprayed from the nozzle 241 onto the tube body 300, which can preheat and clean the surface of the tube body 300 in the unwelded area in the initial state. After one layer of weld is completed, the shielding gas sprayed from the nozzle 241 can clean the upper layer of weld again to reduce the oxidation of the weld, thereby ensuring the welding quality of the tube body 300 and improving the welding efficiency.

[0024] Specifically, if Figures 4 to 8 As shown, the slag suction end of the slag suction pipe 221 is inclined toward the welding gun 121, and the inclination angle is between 45° and 50°. There is a gap between the slag suction pipe 221 and the welding gun 121, and the gap is between 6 cm and 8 cm. That is to say, by setting the inclined slag suction pipe 221, the welding slag can be better collected, and the loss of welding heat is not easily affected while sucking the slag; A gas cylinder 150 is fixed on the base 100 , and the gas cylinder 150 is connected to the welding gun 121 through a pipeline.

[0025] It should be noted that when there is no centralized gas supply box in the factory, the gas for welding operations is supplied by the carried gas cylinder 150, which is not necessary when there is a centralized gas supply box in the factory.

[0026] In the above embodiment, the welding robot arm 120 is driven to move to the tube body 300 by the mobile chassis 110, the two tube bodies 300 to be welded are fixed by the clamping device, and the tube body 300 is driven to make a circular motion by the clamping device, and the connection of the two tube bodies 300 is welded by the welding gun 121, and the welding slag generated by the welding is sucked into the collection bin 220 through the exhaust pipe 211, and then the welding slag is sent to the slag spraying pipe 230 through the outlet pipe 212, and the welding slag with protective gas is sprayed from the slag spraying pipe 230 to clean the weld of the tube body 300. When the welding slag is sprayed, it continuously impacts and cuts the surface of the weld, thereby cleaning the oxides and impurities on the surface of the weld. At the same time, shielding gas is introduced into the ventilation pipe 242 and sprayed out through the nozzle 241, which can not only reduce the oxidation of the weld of the pipe body 300, but also preheat and clean the surface of the pipe body 300 in the unwelded area, so that the weld can be cleaned while the pipe body 300 is welded, and oxides and impurities in the weld can be cleaned in time to avoid defects in the weld of the next layer. The unwelded area can be preheated and cleaned in advance to reduce the influence of particulate impurities on the surface of the pipe body 300 on welding, thereby improving welding efficiency and welding quality.

[0027] In some embodiments of the present application, Figures 11 to 19 As shown, the cleaning assembly 200 further includes a telescopic portion 250; The telescopic portion 250 includes a soft bag 252; The soft bag 1 252 is a cylindrical rubber bag body with a hollow interior and openings at both ends, and is fixed to the outside of the slag spraying pipe 230. An air inlet pipe 2521 is fixed to the vent pipe 242. The air inlet pipe 2521 is communicated with the interior of the vent pipe 242. The free end of the air inlet pipe 2521 extends into the soft bag 1 252. The connection between the air inlet pipe 2521 and the soft bag 1 252 is airtightly fixed. That is, when air is introduced into the vent pipe 242, the gas can enter the soft bag 1 252 from the air inlet pipe 2521 to inflate the inside of the soft bag 1 252. A fixing seat 251 is fixed at the bottom of the soft bag 1 252. A through groove is formed inside the fixing seat 251, and the through groove is communicated with the inside of the slag spraying tube 230. That is, the welding slag in the slag spraying tube 230 can pass through the inside of the fixing seat 251. A cleaning part 2511 is fixed at the bottom of the fixing seat 251. The cleaning part 2511 contacts the weld of the tube body 300 and is used to grind the weld of the tube body 300. The cleaning part 2511 is preferably a wire brush, but can also be other products that can grind the weld, such as emery paper, sponge sand block, etc.

[0028] On the basis of the above embodiment, when air is taken into the ventilation pipe 242, the soft bag 252 is inflated through the air intake pipe 2521. When the soft bag 252 is inflated, the fixing seat 251 is driven to move downward and approach the weld of the tube body 300, so that the cleaning part 2511 contacts the weld of the tube body 300, and the cleaning part 2511 is used to grind the weld. At this time, a relatively closed space is formed between the cleaning part 2511 and the weld, which can make the welding slag sprayed by the slag spraying pipe 230 to concentrate on grinding and cleaning the weld, thereby improving the effect of cleaning the weld.

[0029] In some embodiments of the present application, Figures 14 to 16 As shown, one end of the ventilation pipe 242 extends into the through groove of the fixing seat 251, and the other end of the ventilation pipe 242 is connected to the suction end of the suction pump. The suction pump is fixed on the support plate 240, and a distribution pipe 2421 is fixed on the air outlet end of the suction pump. The free end of the distribution pipe 2421 extends into the nozzle 241.

[0030] It should be noted that after the slag spraying pipe 230 sprays out the welding slag to clean the weld, the ventilation pipe 242 is intermittently evacuated by a vacuum pump to remove the welding slag in the enclosed space formed by the cleaning part 2511 and the weld, and the welding slag after cleaning the weld is reused to facilitate the cleaning of the surface of the tube body 300 and the cleaning of the previous layer of weld.

[0031] Specifically, if Figures 14 to 19 As shown, one end of the air inlet pipe 2521 extends into the air inlet space of the slag spraying pipe 230, and the other end of the air inlet pipe 2521 extends into the soft bag 252. An air valve is fixed on the air inlet pipe 2521, and the air valve is used to discharge the gas in the soft bag 252. After each layer of weld is cleaned, the soft bag 252 is deflated to reset it, so as to facilitate the cleaning of welds of various depths.

[0032] It is easy to understand that when the protective gas and welding slag enter the slag spraying tube 230, air is introduced into the soft bag 252 through the air inlet pipe 2521 to cause it to expand.

[0033] Specifically, if Figures 14 to 17 As shown, a nozzle cover 2411 is fixed to the bottom of the nozzle pipe 241 near the tube body 300, and the nozzle cover 2411 is communicated with the inside of the nozzle pipe 241; The nozzle cover 2411 is trumpet-shaped and has a plurality of brush plates 2412 fixed at even intervals at the bottom thereof, and each brush plate 2412 is in contact with the surface of the tube body 300 .

[0034] It is worth noting that when welding the first layer of weld, the brush plate 2412 can contact the surface of the tube body 300 in the unwelded area, and the welding slag sprayed from the nozzle 241 continuously contacts the brush plate 2412, causing the brush plate 2412 to continuously swing on the surface of the tube body 300.

[0035] On the basis of the above embodiment, after the slag spraying pipe 230 sprays out the welding slag to clean the weld, the vacuum pump then intermittently evacuates the ventilation pipe 242 to remove the welding slag in the closed space of the cleaning part 2511, and transports the welding slag with protective gas into the nozzle 241, and sprays the welding slag with protective gas onto the surface of the tube body 300. When the welding slag is sprayed, it continuously collides with the brush plate 2412, causing the brush plate 2412 to swing on the surface of the tube body 300, further increasing the contact force between the brush plate 2412 and the tube body 300, thereby reducing the accumulation of welding slag in the closed space of the cleaning part 2511, while increasing the cleaning effect on the surface of the tube body 300 or the upper layer of the weld, thereby improving the welding quality of the tube body 300.

[0036] In some embodiments of the present application, Figure 20 to Figure 23 As shown, a hose 232 is fixed at the bottom of the slag spraying pipe 230, and the hose 232 is connected to the inside of the slag spraying pipe 230. A cylindrical soft bag 2523 is fixed at the bottom of the soft bag 1 252; The second soft bag 2523 is located outside the hose 232 , and the fixing seat 251 is fixed on the bottom of the second soft bag 2523 .

[0037] Specifically, if Figure 20 to Figure 23 As shown, a branch pipe 2522 is fixed on the soft bag 2523, and the free end of the branch pipe 2522 extends into the air intake space of the slag spraying pipe 230. An air release valve is fixed on the soft bag 2523, and the air release valve is used to repeatedly deflate the soft bag 2523. An air valve is fixed on the branch pipe 2522, and the air valve is used to control the air intake amount in the soft bag 2523.

[0038] It is worth noting that by repeatedly opening and closing the air valve of the branch pipe 2522 and the air relief valve on the soft bag 2523, the soft bag 2523 is repeatedly expanded and contracted to repeatedly squeeze the hose 232, while increasing the contact strength between the cleaning part 2511 and the weld.

[0039] Specifically, if Figure 20 to Figure 23 As shown, the hardness of the soft capsule 2523 is greater than that of the soft capsule 1 252. That is to say, when the soft capsule 1 252 expands, it drives the soft capsule 2523 to move, which is not easy to cause a large deformation of the soft capsule 2523, and facilitates the repeated expansion and contraction of the soft capsule 2523.

[0040] In the above embodiment, after the air intake in the air inlet pipe 2521 drives the cleaning part 2511 to collide with the weld of the tube body 300, the air valve of the branch pipe 2522 is opened, and the air valve of the air inlet pipe 2521 is closed, and the soft bag 2523 is inflated to expand and squeeze the hose 232, thereby changing the air flow velocity in the slag spraying pipe 230, causing the air flow to be turbulent, thereby increasing the contact strength between the welding slag and the weld, and then the air valve of the branch pipe 2522 is closed, and the air in the soft bag 2523 is quickly deflated through the air release valve to reset it, and the air valve of the branch pipe 2522 and the air release valve on the soft bag 2523 are repeatedly opened and closed, so that the soft bag 2523 repeatedly expands and contracts and repeatedly squeezes the hose 232, further increasing the contact strength between the sprayed welding slag and the weld, thereby improving the cleaning efficiency.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A movable teaching-free welding robot, comprising a base (100) and a welding mechanical arm (120), wherein a welding gun (121) is fixed on the welding mechanical arm (120), characterized in that: It also includes a cleaning component (200) and a tube body (300); The welding gun (121) is connected to the gas source via an air pipe. The welding gun (121) is located above the tube body (300). A reel (140) is fixed on the base (100). The reel (140) is used to retract the air pipe connected to the welding gun (121). A spatial locator (160) is fixed on the base (100), and the spatial locator (160) is used to provide real-time feedback on the spatial position relationship between the welding gun (121) and the workpiece; The cleaning assembly (200) comprises a ventilating portion (210) and a collecting bin (220); The collecting bin (220) is an arc-shaped plate with a hollow interior and is fixed on the welding gun (121); a slag suction pipe (221) is fixed on the inner arc surface of the collecting bin (220) near the welding gun (121); A slag spraying pipe (230) is fixed on the collecting bin (220) away from the slag suction pipe (221), the slag spraying pipe (230) is located above the weld bead of the pipe body (300), and the slag spraying pipe (230) is located behind the welding gun (121), and a purification device is fixed in the collecting bin (220); The ventilation portion (210) comprises an air extraction pipe (211) and an air outlet pipe (212); One end of the air extraction pipe (211) extends into the collection bin (220), and the other end of the air extraction pipe (211) is connected to the air extraction end of the air pump; one end of the air outlet pipe (212) extends into the slag spraying pipe (230), and the other end of the air outlet pipe (212) is connected to the air outlet end of the air pump; The vent (210) is used to suck the welding slag into the collection bin (220), and the welding slag is sprayed into the welding bead of the pipe body (300) through the slag spraying pipe (230).

2. The movable teaching-free welding robot according to claim 1, characterized in that: The cleaning assembly (200) further comprises a support plate (240), a spray pipe (241) and a ventilation pipe (242); The support plate (240) is fixed on the welding gun (121), the nozzle (241) is fixed on the support plate (240) away from the welding gun (121), and the nozzle (241) is located in front of the welding gun (121); A cylindrical precision filter screen (231) is fixed in the slag spraying pipe (230) near the collecting bin (220), a gap exists between the precision filter screen (231) and the slag spraying pipe (230), and the slag spraying pipe (230) is divided into two spaces by the precision filter screen (231), one space being a slag inlet space and the other space being an air inlet space; One end of the ventilation pipe (242) extends into the spray pipe (241), the other end of the ventilation pipe (242) extends into the air inlet space of the slag spraying pipe (230), and the air jet end of the air outlet pipe (212) extends into the slag inlet space of the slag spraying pipe (230).

3. The movable teaching-free welding robot according to claim 1, characterized in that: The slag suction end of the slag suction pipe (221) is inclined toward the welding gun (121), and the inclination angle is between 45° and 50°. There is a gap between the slag suction pipe (221) and the welding gun (121), and the gap is between 6 cm and 8 cm. A gas cylinder (150) is fixed on the base (100), and the gas cylinder (150) is connected to the welding gun (121) via a pipeline.

4. The movable teaching-free welding robot according to claim 1, characterized in that: The cleaning assembly (200) further comprises a telescopic portion (250); The telescopic portion (250) comprises a soft bag 1 (252); The soft bladder one (252) is a cylindrical rubber bladder body which is hollow inside and open at both ends, and is fixed to the outside of the slag spraying pipe (230). An air intake pipe (2521) is fixed to the vent pipe (242), and the free end of the air intake pipe (2521) extends into the soft bladder one (252); A fixing seat (251) is fixed to the bottom of the first soft bag (252), a through groove is formed inside the fixing seat (251), and the through groove is communicated with the inside of the slag spraying pipe (230); A cleaning portion (2511) is fixed to the bottom of the fixing seat (251), and the cleaning portion (2511) is in contact with the weld of the tube body (300).

5. The movable teaching-free welding robot according to claim 2, characterized in that: One end of the ventilation pipe (242) extends into the through groove of the fixing seat (251), and the other end of the ventilation pipe (242) is connected to the air extraction end of the air extraction pump. A distribution pipe (2421) is fixed to the air outlet end of the air extraction pump, and the free end of the distribution pipe (2421) extends into the nozzle (241).

6. The movable teaching-free welding robot according to claim 4, characterized in that: One end of the air inlet pipe (2521) extends into the air inlet space of the slag spraying pipe (230), and the other end of the air inlet pipe (2521) extends into the soft bag 1 (252). An air valve is fixed on the air inlet pipe (2521).

7. The movable teaching-free welding robot according to claim 2, characterized in that: A nozzle cover (2411) is fixed on the nozzle pipe (241) near the bottom of the pipe body (300); The nozzle cover (2411) is trumpet-shaped and has a plurality of brush plates (2412) fixed at even intervals at its bottom, each brush plate (2412) being in contact with the surface of the tube body (300).

8. The movable teaching-free welding robot according to claim 1, characterized in that: A hose (232) is fixed at the bottom of the slag spraying pipe (230), the hose (232) is in communication with the interior of the slag spraying pipe (230), and a cylindrical soft bladder (2523) is fixed at the bottom of the soft bladder (252); The second soft bladder (2523) is located outside the hose (232), and the fixing seat (251) is fixed to the bottom of the second soft bladder (2523).

9. The movable teaching-free welding robot according to claim 8, characterized in that: A branch pipe (2522) is fixed on the second soft bag (2523), and the free end of the branch pipe (2522) extends into the air inlet space of the slag spraying pipe (230). An air release valve is fixed on the second soft bag (2523), and an air valve is fixed on the branch pipe (2522).

10. The movable teaching-free welding robot according to claim 8, characterized in that: The hardness of the soft capsule 2 (2523) is greater than the hardness of the soft capsule 1 (252).

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