Welding device for curved-surface framework machining and using method of welding device

Abstract

The invention is suitable for the technical field of welding devices, and provides a welding device for curved surface framework machining, which comprises a regulation and control robot, an assembly frame, an assembly bottom frame, an assembly top frame, a rotary control mechanism, a fixing frame and a welding gun, and further comprises a touch adjustment mechanism, a visual identification module and a reversing mechanism. According to the using method of the welding device for machining the curved-surface framework, by means of the welding device for machining the curved-surface framework, the welding gun is matched with the regulation and control robot, the assembly frame, the rotary control mechanism, the fixing frame, the touch adjustment mechanism, the visual recognition module and the reversing mechanism; the welding device can continuously and uniformly weld the seam of the framework along the outer contour track of the framework in a circumferential rotation mode, it is ensured that the position and shape of a weld joint meet the welding requirement, a welding gun can flexibly adapt to welding of the straight or curved seam of the framework, meanwhile, the continuity and stability of welding operation are ensured, and the welding efficiency is improved. And stress concentration or structural weakness caused by non-uniform welding is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding devices, and in particular relates to a welding device for processing curved surface skeletons and a use method thereof. Background Art

[0002] With the widespread application of various free-form surfaces, the precision and lightweight requirements of large components with complex closed surfaces in manufacturing are constantly increasing. During the manufacturing process, the internal structure of complex curved surface components has a great influence on the manufacturing accuracy and production efficiency of the entire component. This structure is mainly welded by ring structures of different sizes, referred to as curved skeleton. The curved skeleton is generally a structure formed by welding multiple straight or bent steel pipes.

[0003] The existing welding device for curved skeleton processing includes a shoulder joint module, an elbow joint module, a wrist joint module, a vision unit, a ranging unit and a welding gun. The elbow joint and the shoulder joint are fixedly connected, and the wrist joint and the elbow joint are fixedly connected. The vision unit, the ranging unit and the welding gun are all fixed on the wrist joint. Through the shoulder joint module, the elbow joint module, the wrist joint module, the vision unit and the ranging unit, the position and posture of the welding gun can be adjusted in time to quickly complete the welding operation of the curved skeleton.

[0004] Although the existing welding device can ensure that the welding gun can be flexibly moved to various positions in space, due to the different numbers of steel pipes arranged on the curved frame and the relatively dense arrangement of steel pipes in some positions, the existing welding setting cannot effectively drive the welding gun to perform continuous welding around the weld. This results in the need to weld the weld in layers, which is prone to broken welds or repeated welding, thereby increasing the possibility of welding defects.

[0005] Therefore, in view of the above situation, there is an urgent need to develop a welding device for curved frame processing and a method of using the same to overcome the shortcomings in current practical applications. Summary of the invention

[0006] In view of the deficiencies in the prior art, an embodiment of the present invention aims to provide a welding device for curved frame processing and a method of using the same, so as to solve the problems in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions: A welding device for processing curved skeletons, comprising a control robot, an assembly rack fixed on the output end of the control robot, the assembly rack consisting of an assembly base frame and an assembly top frame, the space between the assembly base frame and the assembly top frame is an installation space, a rotary control mechanism is arranged in the installation space, one end of the rotary control mechanism is slidably installed in an installation slide groove provided on the inner wall of the assembly base frame, the other end of the rotary control mechanism extends to the outside of the assembly top frame and is fixed with a fixed frame, one end of the fixed frame is provided with an arc guide groove, a welding gun is vertically slidably installed on one end of the fixed frame, and the ends of the assembly base frame, the assembly top frame and the rotary control mechanism at the same position are all open structures, and also comprises: A touch adjustment mechanism, the touch adjustment mechanism comprises a connecting component and a touch component, one end of the connecting component is perpendicular to the fixing frame and slidably cooperates with the arc-shaped guide groove, and the other end of the connecting component is connected to the touch component; The sensing component includes a sensing rod, a sensing ball, an assembly rod and a spring. The sensing rod is vertically slidably mounted on the other end of the connecting component and is parallel to the welding gun. A sensing ball is movably mounted on the bottom of the sensing rod. The sensing ball is in the same height as the welding nozzle of the welding gun. An assembly rod is fixed on the outer wall of one end of the sensing rod. One end of the assembly rod is locked with the welding gun through a top screw. One side of the assembly rod is connected to the connecting component through a spring. A visual recognition module is also fixed on the bottom of the sensing rod. The reversing mechanism is installed on the fixing frame and connected with the connecting component.

[0008] As a further technical solution of the present invention, the connection assembly includes: A screw connected to the reversing mechanism in the middle, both ends of the screw extending outside the fixing frame and slidingly cooperating with the arc-shaped guide groove, and both ends of the screw being threadedly connected with a screw sleeve and a nut; A sliding sleeve is arranged outside the fixing frame, a sensing rod is slidably mounted inside the sliding sleeve, and one end of the sliding sleeve is connected to a spring; a first connecting member sleeved on the outer wall of one end of the screw rod, wherein one end of the first connecting member is located between a screw sleeve and a nut provided on one side of the fixing frame, and the other end of the first connecting member is fixedly connected to the outer wall of one end of the sliding sleeve; and A second connecting piece is sleeved on the outer wall of the other end of the screw rod, one end of the second connecting piece is located between the screw sleeve and the nut arranged on the other side of the fixing frame, and the other end of the second connecting piece is rotatably connected to the outer wall of the other end of the sliding sleeve.

[0009] As a further technical solution of the present invention, the reversing mechanism comprises: A reversing motor fixed on the outer wall of the fixing frame; A gear E fixed to the output end of the reversing motor; and The gear F mounted on the fixed frame is rotated, the gear F is meshed with the gear E, the gear F is eccentrically connected to the screw rod, and the gear F is concentric with the welding gun.

[0010] As a further technical solution of the present invention, the rotary control mechanism includes: A drive control assembly mounted on the mounting chassis; and A rotating assembly is movably mounted on the mounting base, the rotating assembly is connected to the output end of the drive control assembly, and one side of the rotating assembly extends outside the mounting top frame and is fixedly connected to the fixing frame.

[0011] As a further technical solution of the present invention, the drive control component includes: A drive control motor fixed on the mounting chassis; Gear A fixed to the output end of the drive control motor; and Two gears B are symmetrically arranged on both sides of the gear A. The two gears B are respectively meshed with the two sides of the gear A. The two gears B are connected to the rotating assembly through a transmission member.

[0012] As a further technical solution of the present invention, the rotating assembly includes: Two gears C are symmetrically mounted on the assembly chassis, and the two gears C are respectively connected to the two gears B through transmission members; A rotating block movably mounted in the mounting slot, a fixing frame being fixed to one side of the rotating block; and A gear D is fixed on one side of the rotating block, and both sides of the gear D are intermittently meshed with two gears C.

[0013] As a further technical solution of the present invention, the gear D is a semicircular ring gear, the rotating block is a semicircular block structure with a U-shaped cross-section, and the arc length of the rotating block is consistent with the arc length of the gear D.

[0014] A method for using the above-mentioned curved frame processing welding device, the specific steps are as follows: 1. The output end of the visual recognition module is respectively aligned with the sensing ball and the welding nozzle of the welding gun, and the working status of the sensing ball and the welding nozzle is transmitted to the control system in real time. The control system quickly adjusts the control robot. The control base, the first rotating arm, the second rotating arm, the third rotating arm and the fourth rotating arm drive the assembly frame and the rotary control mechanism, the fixed frame, the reversing mechanism and the sensing adjustment mechanism thereon to move to the specified position at the same time through mutual cooperation. The sensing ball is in conflict with the outer contour of the frame through the moving adjustment, and the welding nozzle on the welding gun is aligned with the joint of the frame through the moving adjustment. Second, when the joint of the frame changes position, the reversing motor drives gear E to rotate, gear E drives the screw to rotate through gear F, and the screw drives the sliding sleeve to rotate around the center of the welding gun through the first connecting piece and the second connecting piece to sense the position of the sensing rod and the sensing ball. When the left end of the welding gun is the frame to be welded, the sensing rod and the sensing ball rotate to the right side of the welding gun, and when the right end of the welding gun is the frame to be welded, the sensing rod and the sensing ball rotate to the left side of the welding gun; 3. When the sensing ball contacts the outer contour of the frame and the welding nozzle is aligned with the joint of the frame, the driving motor drives gear A to rotate, gear A drives two gears B to rotate, two gears B drive two gears C to rotate through the transmission parts, two gears C intermittently mesh with gear D and drive gear D to rotate continuously by cooperating with each other, gear D drives the rotating block to rotate continuously, the rotating block drives the fixed frame on it to rotate around the joint of the frame, the fixed frame drives the sensing adjustment mechanism and the welding gun to rotate, and the welding nozzle on the welding gun performs continuous and uniform welding on the joint of the frame in a circular rotation manner; 4. The spring provides necessary external force support for the assembly rod and the sensing rod through its own elastic force and the cooperation with the connecting component. The sensing ball on the sensing rod always contacts the outer surface of the frame while rotating. The sensing ball in the rotating state adjusts the height position of the sensing rod in time according to the outer contour of the frame and drives the welding gun to move vertically on the fixed frame through the assembly rod. The welding gun follows the trajectory of the outer contour of the frame drawn by the sensing ball and effectively and fully welds the joints of the frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The output end of the visual recognition module is respectively aligned with the sensing ball and the welding nozzle of the welding gun, so that the working status of the sensing ball and the welding nozzle can be transmitted to the control system in real time, so that the control system can adjust the control robot in a timely and rapid manner. The control robot drives the assembly frame and the rotary control mechanism, the fixed frame and the sensing adjustment mechanism thereon to move to the specified position at the same time, ensuring that the joint of the skeleton can be placed inside the opening structure. The rotary control mechanism drives the fixed frame to rotate around the joint of the skeleton, and the fixed frame drives the sensing adjustment mechanism and the welding gun to rotate, so that the welding nozzle on the welding gun can perform continuous and uniform welding on the joint of the skeleton in a circular rotation manner, ensuring the continuity and stability of the welding operation, avoiding stress concentration or structural weaknesses caused by uneven welding, thereby improving the strength and durability of the overall structure of the skeleton; The touch adjustment mechanism can drive the welding gun to move vertically on the fixed frame, so that the welding gun can follow the trajectory of the outer contour of the frame drawn by the touch ball and effectively and fully weld the frame joints, ensuring that the position and shape of the weld meet the welding requirements and reduce welding errors. Regardless of the straight joints or curved joints of the frame, the welding gun can flexibly adapt, so that the device can be used for welding operations on complex-shaped frame structures, expanding the scope of the device; The reversing mechanism can drive the sensing adjustment mechanism to rotate around the center of the welding gun, thereby changing the positions of the sensing adjustment mechanism and the sensing ball. When the left end of the welding gun is the frame to be welded, the sensing adjustment mechanism rotates to the right side of the welding gun, and when the right end of the welding gun is the frame to be welded, the sensing adjustment mechanism rotates to the left side of the welding gun. In this way, during the welding of the frame, the sensing adjustment mechanism will not affect the welding operation of the welding gun, ensuring that the welding gun can continuously and effectively weld the joints of the frame, eliminating the risk of broken welding or repeated welding, and reducing the possibility of welding defects, avoiding stress concentration or structural weaknesses caused by uneven welding, and shortening the welding operation time of the frame, significantly improving the welding efficiency and welding quality of the device.

[0016] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic structural diagram of a first-angle view of a welding device for processing a curved skeleton provided in an embodiment of the present invention.

[0018] Figure 2 A schematic structural diagram of a second viewing angle of a welding device for processing a curved frame provided in an embodiment of the present invention.

[0019] Figure 3 for Figure 2 An enlarged structural view of the assembly frame and the mechanisms installed on it.

[0020] Figure 4 for Figure 3 Schematic diagram of the structure after removing the assembly top frame.

[0021] Figure 5 for Figure 4 An enlarged view of the structure of the central fixing frame, reversing mechanism, touch adjustment mechanism and welding gun.

[0022] Figure 6 for Figure 5 Structural side view of the center fixing frame, reversing mechanism, touch adjustment mechanism and welding gun.

[0023] Figure 7 for Figure 5Schematic diagram of the structure after removing the fixing frame and welding gun.

[0024] Figure 8 for Figure 7 Side view of the structure in an oblique orientation.

[0025] Fig. 9 for Figure 7 Exploded view of the first part of the connection assembly.

[0026] Fig.10 for Figure 7 Exploded view of the second part of the connection assembly.

[0027] Figure numerals: 100-control robot, 110-control base, 120-first rotating arm, 130-second rotating arm, 140-third rotating arm, 150-fourth rotating arm, 200-assembly frame, 210-assembly bottom frame, 220-assembly top frame, 230-installation slide, 300-rotation control mechanism, 310-drive control assembly, 311-drive control motor, 312-gear A, 313-gear B, 314-transmission member, 320-rotation assembly, 321-gear C, 322-gear D, 323-gear C, 324-gear D, 325-rotation assembly, 326-gear C, 327-gear D, 328-rotation assembly, 329-gear C, 330-gear D, 331-gear C, 332-gear D, 333-gear C, 334-gear D, 335-gear C, 336-gear D, 337-gear C, 338-gear D, 339-gear C, 340-gear D, 341-gear C, 342-gear D, 343-gear C, 344-gear D, 345-gear C, 346-gear D, 347-gear C, 348-gear D, 349-gear C, 350-gear C, 351-gear C, 352-gear D, 353-gear C, 354-gear D 3-rotating block, 400-fixed frame, 410-arc guide groove, 500-reversing mechanism, 510-reversing motor, 520-gear E, 530-gear F, 600-tactile adjustment mechanism, 610-connecting assembly, 611-screw, 612-screw sleeve, 613-nut, 614-first connecting piece, 615-second connecting piece, 616-sliding sleeve, 620-tactile assembly, 621-tactile rod, 622-tactile ball, 623-assembly rod, 624-spring, 700-welding gun. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0030] like Figures 1 to 10As shown, a welding device for curved skeleton processing provided as an embodiment of the present invention includes a control robot 100, an assembly frame 200 is fixed on the output end of the control robot 100, and the assembly frame 200 is preferably composed of an assembly base frame 210 and an assembly top frame 220. The space between the assembly base frame 210 and the assembly top frame 220 is an installation space, and a rotary control mechanism 300 is arranged in the installation space, and one end of the rotary control mechanism 300 is slidably installed in an installation slot 230 provided on the inner wall of the assembly base frame 210, and the other end of the rotary control mechanism 300 extends to the outside of the assembly top frame 220 and is fixed with a fixed frame 400, and an arc guide groove 410 is provided at one end of the fixed frame 400, and a welding gun 700 is vertically slidably installed on one end of the fixed frame 400, and the ends of the assembly base frame 210, the assembly top frame 220 and the rotary control mechanism 300 at the same position are all open structures, and also include: A touch adjustment mechanism 600, the touch adjustment mechanism 600 includes a connecting component 610 and a touch component 620, one end of the connecting component 610 is perpendicular to the fixing frame 400 and slidably cooperates with the arc-shaped guide groove 410, and the other end of the connecting component 610 is connected to the touch component 620; The sensing component 620 includes a sensing rod 621, a sensing ball 622, an assembly rod 623 and a spring 624. The sensing rod 621 is vertically slidably mounted on the other end of the connecting component 610 and is parallel to the welding gun 700. A sensing ball 622 is movably mounted on the bottom of the sensing rod 621. The height of the sensing ball 622 and the welding nozzle of the welding gun 700 can be consistent, or slightly higher or slightly lower than the welding nozzle of the welding gun 700. The specific height can be adjusted according to actual conditions. A fixed assembly rod 623, one end of which is locked with the welding gun 700 through a top screw, and one side of which is connected to the connecting assembly 610 through a spring 624. A visual recognition module is also fixed to the bottom of the sensing rod 621, and the output end of the visual recognition module is respectively aligned with the sensing ball 622 and the welding nozzle of the welding gun 700, so that the working status of the sensing ball 622 and the welding nozzle can be transmitted to the control system in real time, so that the control system can adjust the control robot 100 in a timely and rapid manner; The control robot 100 drives the assembly frame 200 and the rotary control mechanism 300, the fixed frame 400 and the touch adjustment mechanism 600 thereon to move to the designated position at the same time, ensuring that the joint of the frame can be placed inside the opening structure, and drives the touch ball 622 to collide with the outer surface of the frame, the rotary control mechanism 300 drives the fixed frame 400 to rotate around the joint of the frame, and the fixed frame 400 drives the touch adjustment mechanism 600 and the welding gun 700 to rotate, so that the welding nozzle on the welding gun 700 can continuously and evenly weld the joint of the frame in a circular rotation manner, ensuring the continuity and stability of the welding operation, avoiding stress concentration or structural weaknesses caused by uneven welding, thereby improving the strength and durability of the overall structure of the frame; The spring 624 can provide necessary external force support for the assembly rod 623 and the sensing rod 621 through its own elastic force and the way of cooperating with the connecting component 610, so that the sensing ball 622 on the sensing rod 621 can always contact the outer surface of the frame while rotating. This not only ensures that the sensing ball 622 can adjust the height position of the sensing rod 621 in time according to the outer contour of the frame, but also can drive the welding gun 700 to move vertically on the fixed frame 400 with the help of the assembly rod 623, so that the welding gun 700 can follow the trajectory of the outer contour of the frame drawn by the sensing ball 622 and effectively and fully weld the joints of the frame, ensuring that the position and shape of the weld meet the welding requirements and reduce welding errors. Regardless of the straight seams or curved seams of the frame, the welding gun 700 can flexibly adapt, so that the device can be used for welding operations on complex-shaped frame structures, thereby expanding the scope of the device.

[0031] The reversing mechanism 500 is installed on the fixing frame 400 and connected to the connecting assembly 610. The reversing mechanism 500 can drive the connecting assembly 610 and the sensing assembly 620 to rotate around the center of the welding gun 700 by rotating, thereby changing the positions of the sensing rod 621 and the sensing ball 622. When the left end of the welding gun 700 is the frame to be welded, the sensing rod 621 and the sensing ball 622 rotate to the right side of the welding gun 700, and when the right end of the welding gun 700 is the frame to be welded, the sensing rod 621 and the sensing ball 622 rotate to the right side of the welding gun 700. At the same time, the sensing rod 621 and the sensing ball 622 rotate to the left side of the welding gun 700. In this way, during the welding process of the frame, the sensing rod 621 and the sensing ball 622 will not affect the welding operation of the welding gun 700, ensuring that the welding gun 700 can continuously and effectively weld the joints of the frame, eliminating the risk of broken welding or repeated welding, while reducing the possibility of welding defects, avoiding stress concentration or structural weaknesses caused by uneven welding, and shortening the welding operation time of the frame, significantly improving the welding efficiency and welding quality of the device.

[0032] In this embodiment, the sensing rod 621 preferably adopts a columnar structure; The assembly rod 623 preferably consists of two circular sleeves and a connecting column, the two circular sleeves are respectively fixed on the two ends of the connecting column, one circular sleeve is fixedly connected to the outer wall of the sensing rod 621, and the other circular sleeve is locked together with the outer wall of the welding gun 700 through a top screw, so that the initial position of the welding nozzle can be manually adjusted, so that the sensing ball 622 is in contact with the outer contour of the skeleton, ensuring that the welding nozzle can effectively perform welding operations on the skeleton joints.

[0033] like Figures 4 to 10 As shown, as a preferred embodiment of the present invention, the connecting assembly 610 includes a screw 611, a screw sleeve 612, a nut 613, a first connecting member 614, a second connecting member 615 and a sliding sleeve 616. The middle part of the screw 611 is connected to the reversing mechanism 500. Both ends of the screw 611 extend outside the fixing frame 400 and slide with the arc guide groove 410. Both ends of the screw 611 are threadedly connected with a screw sleeve 612 and a nut 613. A first connecting member 614 is arranged between the screw sleeve 612 and the nut 613 on one side of the fixing frame 400. A second connecting member 615 is arranged between the screw sleeve 612 and the nut 613 on the other side of the fixing frame 400, one end of the first connecting member 614 and the second connecting member 615 are respectively sleeved on the outer walls at both ends of the screw rod 611, the other end of the first connecting member 614 is fixedly connected to the outer wall of one end of the sliding sleeve 616, and the other end of the second connecting member 615 is rotatably connected to the outer wall of the other end of the sliding sleeve 616, the sliding sleeve 616 is arranged on the outside of the fixing frame 400, and a sensing rod 621 is slidably installed inside the sliding sleeve 616, and one end of the sliding sleeve 616 is connected to a spring 624.

[0034] In this embodiment, the two screw sleeves 612 can effectively install the screw rod 611 on the fixing frame 400 and can rotate with the reversing mechanism 500 by being threadedly connected to the screw rod 611. The two nuts 613 can stably install the first connecting member 614 and the second connecting member 615 on both ends of the screw rod 611 by being threadedly connected to the screw rod 611 and cooperating with the two screw sleeves 612. In the process of connecting the sleeve 616 with the screw rod 611, the first connecting member 614 is first sleeved on one end of the screw sleeve 612, and then the rotatable second connecting member 615 is sleeved on the other end of the screw sleeve 612. In this way, not only can the connection between the sleeve 616 and the screw rod 611 be completed to form an integral structure, but also the sleeve 616 can be quickly removed later, which is convenient for workers to maintain and replace components in the touch adjustment mechanism 600, thereby improving the practicality and convenience of the device.

[0035] In a preferred embodiment, the first connecting member 614 is preferably composed of a connecting rod and a circular sleeve, wherein the circular sleeve is sleeved outside one end of the screw rod 611, and the two ends of the connecting rod are fixedly connected to the circular sleeve and the outer wall of the sliding sleeve 616 respectively; The second connecting member 615 is preferably composed of a circular sleeve and two mutually hinged connecting rods. The circular sleeve is sleeved on the outside of the other end of the screw rod 611, and the two mutually hinged connecting rods can rotate with each other, and the two ends of the two mutually hinged connecting rods are respectively fixedly connected to the circular sleeve and the outer wall of the sliding sleeve 616. The overall length of the second connecting member 615 is consistent with the overall length of the first connecting member 614, ensuring that the sliding sleeve 616 and the welding gun 700 can be relatively parallel.

[0036] like Figures 4 to 9 As shown, as a preferred embodiment of the present invention, the reversing mechanism 500 includes a reversing motor 510, a gear E520 and a gear F530. The reversing motor 510 is fixed on the outer wall of the fixed frame 400. The gear E520 is fixed on the output end of the reversing motor 510. The gear E520 is meshed with the gear F530 rotatably mounted on the fixed frame 400. The gear F530 is eccentrically connected to the screw 611, and the gear F530 is concentric with the welding gun 700.

[0037] In this embodiment, when the joint of the frame changes position, the reversing motor 510 drives the gear E520 to rotate, and the gear E520 drives the screw 611 to rotate through the gear F530, and the screw 611 drives the sliding sleeve 616 to rotate around the center of the welding gun 700 through the first connecting member 614 and the second connecting member 615, thereby changing the position of the sensing rod 621 and the sensing ball 622. When the left end of the welding gun 700 is the frame to be welded, the sensing rod 621 and the sensing ball 622 rotate to the right side of the welding gun 700, and when the right end of the welding gun 700 is the frame to be welded, the sensing rod 621 and the sensing ball 622 rotate to the right side of the welding gun 700. When welding the frame, the sensing rod 621 and the sensing ball 622 rotate to the left side of the welding gun 700. In this way, during the welding process of the frame, the sensing rod 621 and the sensing ball 622 will not affect the welding operation of the welding gun 700, ensuring that the welding gun 700 can continuously and effectively weld the joints of the frame, eliminating the risk of broken welds or repeated welding, and reducing the possibility of welding defects, avoiding stress concentration or structural weaknesses caused by uneven welding, and shortening the welding operation time of the frame, significantly improving the welding efficiency and welding quality of the device.

[0038] In a preferred embodiment, the gear E520 is preferably a spur gear; The gear F530 is preferably a ring-shaped spur gear.

[0039] like Figures 2 to 7 As shown, as a preferred embodiment of the present invention, the rotary control mechanism 300 includes a drive control component 310 and a rotation component 320, the drive control component 310 is installed on the assembly base 210, the rotation component 320 is movably installed on the assembly base 210, the output end of the drive control component 310 is connected to the rotation component 320, and one side of the rotation component 320 extends to the outside of the assembly top frame 220 and is fixedly connected to the fixed frame 400.

[0040] like Figures 2 to 7 As shown, as a preferred embodiment of the present invention, the drive control component 310 includes a drive control motor 311, a gear A312, a gear B313 and a transmission member 314. The drive control motor 311 is fixed on the assembly base 210. The gear A312 is fixed on the output end of the drive control motor 311. Gears B313 are symmetrically arranged on both sides of the gear A312. The two gears B313 are respectively meshed with the two sides of the gear A312. The two gears B313 are connected to the rotating component 320 through the transmission member 314.

[0041] In this embodiment, when the sensing ball 622 contacts the outer contour of the skeleton and the welding nozzle is aligned with the joint of the skeleton, the drive motor 311 drives the gear A312 to rotate, and the gear A312 drives the two gears B313 to rotate. The two gears B313 can drive the rotating component 320 to rotate by cooperating with the transmission member 314. The rotating component 320 drives the fixed frame 400 to rotate around the joint of the skeleton, and the fixed frame 400 drives the sensing adjustment mechanism 600 and the welding gun 700 to rotate, so that the welding nozzle on the welding gun 700 can rotate in a circular manner to continuously and evenly weld the joint of the skeleton, thereby ensuring the continuity and stability of the welding operation, avoiding stress concentration or structural weaknesses caused by uneven welding, and thus improving the strength and durability of the overall structure of the skeleton.

[0042] In a preferred embodiment, the gear A312 and the gear B313 are preferably spur gears; The transmission member 314 preferably adopts a belt transmission structure composed of a pulley and a belt.

[0043] like Figures 2 to 7As shown, as a preferred embodiment of the present invention, the rotating assembly 320 includes a gear C321, a gear D322 and a rotating block 323, the gear C321 is symmetrically mounted on the assembly base 210, and the two gears C321 are respectively connected to the two gears B313 through a transmission member 314, the rotating block 323 is movably mounted in the mounting slot 230, the gear D322 is fixed on one side of the rotating block 323, and the two sides of the gear D322 are intermittently meshed with the two gears C321, and a fixing frame 400 is fixed to one side of the rotating block 323.

[0044] like Figures 2 to 7 As shown, as a preferred embodiment of the present invention, the gear D322 is preferably a semicircular ring gear, the rotating block 323 is preferably a semicircular block structure with a U-shaped cross-section, and the arc length of the rotating block 323 is consistent with the arc length of the gear D322.

[0045] In this embodiment, the two gears B313 drive the two gears C321 to rotate through the transmission member 314. The two gears C321 intermittently mesh with the gear D322 and drive the gear D322 to rotate continuously through mutual cooperation. The gear D322 drives the rotating block 323 to rotate continuously. The rotating block 323 drives the fixed frame 400 thereon to rotate around the joint of the skeleton. The fixed frame 400 drives the touch adjustment mechanism 600 and the welding gun 700 to rotate, so that the welding nozzle on the welding gun 700 can perform continuous and uniform welding on the joint of the skeleton in a circular rotation manner, thereby ensuring the continuity and stability of the welding operation.

[0046] In a preferred embodiment, the gear D322 is an incomplete gear and the rotating block 323 is an incomplete annular block structure. This is to ensure that the skeleton joint can be effectively placed in the open structure, thereby facilitating the welding gun 700 to effectively and continuously perform welding operations on the skeleton joint.

[0047] like Figure 1 and Figure 2 As shown, as a preferred embodiment of the present invention, the control robot 100 includes a control base 110, a first rotating arm 120, a second rotating arm 130, a third rotating arm 140 and a fourth rotating arm 150, the first rotating arm 120 is horizontally rotatably mounted on the control base 110, the second rotating arm 130 is vertically rotatably mounted on the first rotating arm 120, the third rotating arm 140 is vertically rotatably mounted on the second rotating arm 130, the fourth rotating arm 150 is horizontally rotatably mounted on the third rotating arm 140, and the fourth rotating arm 150 is fixedly connected to one side of the assembly base 210.

[0048] In this embodiment, the output end of the visual recognition module is respectively aligned with the sensing ball 622 and the welding nozzle of the welding gun 700, so that the working status of the sensing ball 622 and the welding nozzle can be transmitted to the control system in real time, so that the control system can adjust the control robot 100 in a timely and rapid manner. The control base 110, the first rotating arm 120, the second rotating arm 130, the third rotating arm 140 and the fourth rotating arm 150 can drive the assembly frame 200 and the rotation control mechanism 300, the fixing frame 400, the reversing mechanism 500 and the sensing adjustment mechanism 600 thereon to move to the specified position at the same time, so that the sensing ball 622 can conflict with the outer contour of the skeleton, and at the same time, it can ensure that the welding nozzle of the welding gun 700 is aligned with the joint of the skeleton, so that the welding nozzle on the welding gun 700 can perform continuous and uniform welding on the joint of the skeleton in a circular rotation manner, thereby ensuring the continuity and stability of the welding operation, avoiding stress concentration or structural weaknesses caused by uneven welding, and thus improving the strength and durability of the overall structure of the skeleton.

[0049] like Figures 1 to 10 As shown, as an embodiment of the present invention, a method for using a curved surface skeleton processing welding device is provided. Using the curved surface skeleton processing welding device, the specific steps are as follows: 1. The output end of the visual recognition module is respectively aligned with the touch ball 622 and the welding nozzle of the welding gun 700, so that the working status of the touch ball 622 and the welding nozzle can be transmitted to the control system in real time, so that the control system can adjust the control robot 100 in a timely and rapid manner. The control base 110, the first rotating arm 120, the second rotating arm 130, the third rotating arm 140 and the fourth rotating arm 150 can drive the assembly frame 200 and the rotary control mechanism 300, the fixing frame 400, the reversing mechanism 500 and the touch adjustment mechanism 600 thereon to move to the specified position at the same time, so that the touch ball 622 can conflict with the outer contour of the frame, and at the same time, it can ensure that the welding nozzle of the welding gun 700 is aligned with the joint of the frame; Second, when the joint of the frame changes position, the reversing motor 510 drives the gear E520 to rotate, the gear E520 drives the screw 611 to rotate through the gear F530, and the screw 611 drives the sliding sleeve 616 to rotate around the center of the welding gun 700 through the first connecting member 614 and the second connecting member 615, thereby changing the position of the sensing rod 621 and the sensing ball 622. When the left end of the welding gun 700 is the frame to be welded, the sensing rod 621 and the sensing ball 622 are in contact with each other. Rotate to the right side of the welding gun 700, and when the right end of the welding gun 700 is the frame to be welded, the sensing rod 621 and the sensing ball 622 rotate to the left side of the welding gun 700, so that during the welding of the frame, the sensing rod 621 and the sensing ball 622 will not affect the welding operation of the welding gun 700, ensuring that the welding gun 700 can continuously and effectively weld the joints of the frame, eliminating the risk of broken welding or repeated welding, and reducing the possibility of welding defects; 3. When the touch ball 622 contacts the outer contour of the frame and the welding nozzle is aligned with the joint of the frame, the driving motor 311 drives the gear A312 to rotate, the gear A312 drives the two gears B313 to rotate, the two gears B313 drive the two gears C321 to rotate through the transmission member 314, the two gears C321 intermittently mesh with the gear D322 and drive the gear D322 to rotate continuously by mutual cooperation, the gear D322 drives the rotating block 323 to rotate continuously, the rotating block 323 drives the fixed frame 400 thereon to rotate around the joint of the frame, the fixed frame 400 drives the touch adjustment mechanism 600 and the welding gun 700 to rotate, so that the welding nozzle on the welding gun 700 can perform continuous and uniform welding on the joint of the frame in a circular rotation manner; Fourth, the spring 624 can provide necessary external force support for the assembly rod 623 and the sensing rod 621 through its own elastic force and the way of cooperating with the connecting component 610, so that the sensing ball 622 on the sensing rod 621 can always contact the outer surface of the frame while rotating. This not only ensures that the sensing ball 622 can timely adjust the height position of the sensing rod 621 according to the outer contour of the frame, but also can drive the welding gun 700 to move vertically on the fixing frame 400 with the help of the assembly rod 623, so that the welding gun 700 can follow the trajectory of the outer contour of the frame drawn by the sensing ball 622 and effectively and fully weld the joints of the frame, ensuring that the position and shape of the weld meet the welding requirements and reduce welding errors. Regardless of the straight seams or curved seams of the frame, the welding gun 700 can flexibly adapt to and complete the welding operation of the frame.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A welding device for processing curved skeletons, comprising a control robot, an assembly frame fixed on the output end of the control robot, the assembly frame consisting of an assembly base frame and an assembly top frame, the space between the assembly base frame and the assembly top frame is an installation space, a rotary control mechanism is arranged in the installation space, one end of the rotary control mechanism is slidably installed in an installation slide groove provided on the inner wall of the assembly base frame, the other end of the rotary control mechanism extends to the outside of the assembly top frame and is fixed with a fixed frame, one end of the fixed frame is provided with an arc guide groove, a welding gun is vertically slidably installed on one end of the fixed frame, and the ends of the assembly base frame, the assembly top frame and the rotary control mechanism at the same position are all open structures, characterized in that Also includes: A touch adjustment mechanism, the touch adjustment mechanism comprises a connecting component and a touch component, one end of the connecting component is perpendicular to the fixing frame and slidably cooperates with the arc-shaped guide groove, and the other end of the connecting component is connected to the touch component; The sensing component includes a sensing rod, a sensing ball, an assembly rod and a spring. The sensing rod is vertically slidably mounted on the other end of the connecting component and is parallel to the welding gun. A sensing ball is movably mounted on the bottom of the sensing rod. The sensing ball is in the same height as the welding nozzle of the welding gun. An assembly rod is fixed on the outer wall of one end of the sensing rod. One end of the assembly rod is locked with the welding gun through a top screw. One side of the assembly rod is connected to the connecting component through a spring. A visual recognition module is also fixed on the bottom of the sensing rod. The reversing mechanism is installed on the fixing frame and connected with the connecting component.

2. The curved frame processing welding device according to claim 1, characterized in that: The connection component comprises: A screw connected to the reversing mechanism in the middle, both ends of the screw extending outside the fixing frame and slidingly cooperating with the arc-shaped guide groove, and both ends of the screw being threadedly connected with a screw sleeve and a nut; A sliding sleeve is arranged outside the fixing frame, a sensing rod is slidably mounted inside the sliding sleeve, and one end of the sliding sleeve is connected to a spring; a first connecting member sleeved on the outer wall of one end of the screw rod, wherein one end of the first connecting member is located between a screw sleeve and a nut provided on one side of the fixing frame, and the other end of the first connecting member is fixedly connected to the outer wall of one end of the sliding sleeve; and A second connecting piece is sleeved on the outer wall of the other end of the screw rod, one end of the second connecting piece is located between the screw sleeve and the nut arranged on the other side of the fixing frame, and the other end of the second connecting piece is rotatably connected to the outer wall of the other end of the sliding sleeve.

3. The curved frame processing welding device according to claim 2, characterized in that: The reversing mechanism comprises: A reversing motor fixed on the outer wall of the fixing frame; A gear E fixed to the output end of the reversing motor; and The gear F mounted on the fixed frame is rotated, the gear F is meshed with the gear E, the gear F is eccentrically connected to the screw rod, and the gear F is concentric with the welding gun.

4. The curved frame processing welding device according to claim 1, characterized in that: The rotary control mechanism comprises: A drive control assembly mounted on the mounting chassis; and A rotating assembly is movably mounted on the assembly bottom frame, the rotating assembly is connected to the output end of the drive control assembly, and one side of the rotating assembly extends outside the assembly top frame and is fixedly connected to the fixing frame.

5. The curved frame processing welding device according to claim 4, characterized in that: The drive control component comprises: A drive control motor fixed on the mounting chassis; Gear A fixed to the output end of the drive control motor; and Two gears B are symmetrically arranged on both sides of the gear A. The two gears B are respectively meshed with the two sides of the gear A. The two gears B are connected to the rotating assembly through a transmission member.

6. The curved frame processing welding device according to claim 5, characterized in that: The rotating assembly comprises: Two gears C are symmetrically mounted on the assembly chassis, and the two gears C are respectively connected to the two gears B through transmission members; A rotating block movably mounted in the mounting slot, a fixing frame being fixed to one side of the rotating block; and A gear D is fixed on one side of the rotating block, and both sides of the gear D are intermittently meshed with two gears C.

7. The curved frame processing welding device according to claim 6, characterized in that: The gear D is a semicircular ring gear, the rotating block is a semicircular block structure with a U-shaped cross section, and the arc length of the rotating block is consistent with the arc length of the gear D.

8. A method for using the curved frame processing welding device as claimed in claim 7, characterized in that: The specific steps are as follows:

1. The output end of the visual recognition module is respectively aligned with the sensing ball and the welding nozzle of the welding gun, and the working status of the sensing ball and the welding nozzle is transmitted to the control system in real time. The control system quickly adjusts the control robot. The control base, the first rotating arm, the second rotating arm, the third rotating arm and the fourth rotating arm drive the assembly frame and the rotary control mechanism, the fixed frame, the reversing mechanism and the sensing adjustment mechanism thereon to move to the specified position at the same time through mutual cooperation. The sensing ball is in conflict with the outer contour of the frame through the moving adjustment, and the welding nozzle on the welding gun is aligned with the joint of the frame through the moving adjustment. Second, when the joint of the frame changes position, the reversing motor drives gear E to rotate, gear E drives the screw to rotate through gear F, and the screw drives the sliding sleeve to rotate around the center of the welding gun through the first connecting piece and the second connecting piece to sense the position of the sensing rod and the sensing ball. When the left end of the welding gun is the frame to be welded, the sensing rod and the sensing ball rotate to the right side of the welding gun, and when the right end of the welding gun is the frame to be welded, the sensing rod and the sensing ball rotate to the left side of the welding gun; 3. When the sensing ball contacts the outer contour of the frame and the welding nozzle is aligned with the joint of the frame, the driving motor drives gear A to rotate, gear A drives two gears B to rotate, two gears B drive two gears C to rotate through the transmission parts, two gears C intermittently mesh with gear D and drive gear D to rotate continuously by cooperating with each other, gear D drives the rotating block to rotate continuously, the rotating block drives the fixed frame on it to rotate around the joint of the frame, the fixed frame drives the sensing adjustment mechanism and the welding gun to rotate, and the welding nozzle on the welding gun performs continuous and uniform welding on the joint of the frame in a circular rotation manner; 4. The spring provides necessary external force support for the assembly rod and the sensing rod through its own elastic force and the cooperation with the connecting component. The sensing ball on the sensing rod always contacts the outer surface of the frame while rotating. The sensing ball in the rotating state adjusts the height position of the sensing rod in time according to the outer contour of the frame and drives the welding gun to move vertically on the fixed frame through the assembly rod. The welding gun follows the trajectory of the outer contour of the frame drawn by the sensing ball and effectively and fully welds the joints of the frame.

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