Clamping type multi-angle welding robot and welding method

Abstract

The present invention belongs to the field of welding technology, specifically relates to a clamping type multi-angle welding robot and a welding method; it comprises a welding workbench, on which a multi-axis spin welding robot is installed, the welding gun on the multi-axis spin welding robot is matched and connected with a workpiece, and the workpiece is matched and connected with a moving and clamping assembly; the moving and clamping assembly comprises a linkage square plate arranged on the welding workbench, and the linkage square plate is connected with the bottom surface of the welding workbench by bolts; a two-way telescopic cylinder is installed on the linkage square plate; through a multi-rotation angle adjustment unit, the workpiece can be adjusted to a suitable angle according to different welding requirements and welded by the multi-axis spin welding robot, avoiding the need to disassemble and reinstall the workpiece when adjusting its welding angle, reducing the work intensity while improving the welding efficiency, so that the limitations of the device during use are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of welding, and in particular relates to a clamping multi-angle welding robot and a welding method. Background Art

[0002] A welding robot is an industrial robot engaged in welding; according to the definition of the International Organization for Standardization (ISO), an industrial robot belongs to the standard welding robot. An industrial robot is a multi-purpose, reprogrammable automatic control manipulator with three or more programmable axes used in the field of industrial automation.

[0003] With the development of welding technology, the workpieces that need to be welded are becoming more and more complex, which requires welding processing at different positions of the workpiece during welding. This can generally be achieved by using a multi-angle welding robot. However, the workpiece needs to be clamped before welding to avoid reduced welding accuracy due to shaking of the workpiece during welding. After the workpiece is clamped, its installation angle cannot be adjusted again. When the installation angle is not suitable, the workpiece needs to be re-clamped, which not only increases the work intensity, but also reduces the welding efficiency, making the device highly limited when used. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a clamping type multi-angle welding robot and a welding method, which effectively solve the problems in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a clamping multi-angle welding robot, comprising a welding workbench, a multi-axis spin welding robot is installed on the welding workbench, a welding gun on the multi-axis spin welding robot is connected with a workpiece, the workpiece is connected with a moving clamping assembly, and the moving clamping assembly is used to clamp the workpiece;

[0006] The moving clamping assembly includes a linkage square plate arranged on the welding workbench, and the linkage square plate is connected to the bottom surface of the welding workbench by bolts; a two-way telescopic cylinder is installed on the linkage square plate, and a U-shaped square column is installed on the output end symmetrically arranged on the two-way telescopic cylinder, and a displacement square plate is arranged on the U-shaped square column, and a displacement square seat is installed on the displacement square plate, and a shock-blocking stopper is connected to the displacement square seat, and the shock-blocking stopper can prevent the workpiece from shaking during welding;

[0007] Displacement slide bars are symmetrically arranged on the displacement square plate, and the two displacement slide bars are commonly connected to a cross connecting frame, and the cross connecting frame is connected to a rotating disc through a multi-rotation angle adjustment unit, and the two rotating discs are cooperatively connected to two sides of the workpiece; the multi-rotation angle adjustment unit is used to adjust the angle setting of the workpiece during welding.

[0008] Preferably, the multi-rotation angle adjustment unit includes a rotating ring arranged on a cross-connecting frame, and the rotating ring is connected to a rotating groove provided on a rotating disc; a rotating gear ring is installed on the outer wall of one of the rotating discs, the rotating gear ring is meshed and connected to a rotating gear, a rotating shaft is installed on the rotating gear, the rotating shaft passes through a rotating base provided on the cross-connecting frame and is connected to a rotating circular block, and a rotating handle is provided on the rotating circular block.

[0009] Preferably, a plurality of rotational lock grooves are provided on the outer side wall of the rotating circular block, the rotational lock grooves are cooperatively connected with the rotational lock rod, a rotational cross plate is installed on the rotational lock rod, and the rotational cross plate is slidingly connected with a rotational slide rod provided on the rotational base; a rotational spring is sleeved on the rotational slide rod, one end of the rotational spring is connected with the rotational limit plate, and the other end is connected with the rotational cross plate.

[0010] Preferably, a displacement spring is sleeved on the displacement slide rod, one end of the displacement spring is connected to the cross connecting frame, and the other end is connected to the displacement square plate, the displacement square plate is symmetrically provided with guide L blocks, the guide L blocks are provided with guide square rods, and the guide square rods are slidably connected to the guide base provided on the welding workbench.

[0011] Preferably, a limit rotating block is symmetrically provided on one of the rotating discs, and the limit rotating block is slidably connected to a limit rotating groove provided on the limit ring; the limit ring and the cross connecting frame are connected via a plurality of linkage L rods.

[0012] Preferably, the impact stopper includes a cable arranged on the displacement square seat, the cable passes around a fixed pulley provided on the welding workbench and is connected to a wire beam roller, a linkage rotating shaft is installed on the wire beam roller, two ends of the linkage rotating shaft pass through a linkage base provided on the welding workbench and are connected to a linkage bevel gear; a clockwork spring is installed on the linkage rotating shaft, and the end points of the clockwork spring are connected to the linkage base; the linkage bevel gear is meshed with a driving bevel gear, and the driving bevel gear is connected to a displacement threaded shaft provided on the welding workbench; a stop block is threadedly installed on the displacement threaded shaft, and the stop block is slidably connected to a stop slide rod provided on the welding workbench.

[0013] Preferably, a stopping cross plate is installed on the stopping cross plate, and stopping cylinders are symmetrically arranged on the stopping cross plate. A plurality of stopping cylinders pass through the welding workbench and are connected to the fitting cross block. Fitting slide bars are symmetrically arranged on the fitting cross block. The two fitting slide bars are jointly connected to the fitting square plate, and the fitting square plate is connected to the workpiece through a buffer square pad. A fitting spring is sleeved on the fitting slide bar, and one end of the fitting spring is connected to the fitting square plate, and the other end is connected to the fitting cross block.

[0014] Preferably, a positioning tight contact mechanism is also provided on the rotating disc; the positioning tight contact mechanism includes touch substrates symmetrically arranged on both sides of the rotating disc, the two touch substrates are commonly connected to the touch slide rod, the two touch slide rods are commonly slidably connected to a touch cross block, and the touch cross block is connected to the processed part through a rubber pad; a touch spring is sleeved on the touch slide rod, one end of the touch spring is connected to the touch substrate, and the other end is connected to the touch cross block.

[0015] Preferably, a positioning slide bar is installed on the trigger cross block, a positioning slider is slidably arranged on the positioning slide bar, a stop lock rod is symmetrically arranged on the positioning slider, and the stop lock rod is connected with a plurality of stop lock grooves provided on the rotating disk; a tension spring is sleeved on the positioning slide bar, one end of the tension spring is connected with the positioning slider, and the other end is connected with the trigger limit plate.

[0016] The present invention also provides a welding method of a clamping multi-angle welding robot, comprising the following steps:

[0017] S1, operate the moving clamping assembly so that the two rotating discs move toward each other and clamp the workpiece;

[0018] S2, by rotating the handle on the rotating circular block, the rotating gear is driven by the rotating shaft;

[0019] S3, the rotating rotating gear meshes with the rotating gear ring, so that the rotating groove on the rotating disc rotates on the rotating ring;

[0020] S4. The rotating disc drives the workpiece to rotate, and the workpiece is rotated to the processing angle for welding according to different usage requirements.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] (1) By rotating the handle on the rotating circular block, the rotating gear is driven to rotate under the action of the rotating shaft, so that it engages with the rotating gear ring to rotate, and the rotating gear ring drives the rotating groove on the rotating disc to rotate on the rotating ring, so that the rotating disc is in a rotating state. Since the workpiece is fixed by the two rotating discs, and the position contact mechanism on the rotating disc is also in contact with the workpiece, the workpiece rotates with the rotating disc, thereby completing the angle adjustment setting of the workpiece, so that the workpiece can be adjusted to a suitable angle according to different welding requirements and welded by the multi-axis spin welding robot. , avoiding the need to disassemble and reinstall the workpiece when adjusting the welding angle, reducing the work intensity while improving the welding efficiency, so that the limitations of the device during use are reduced; at the same time, when the rotating disc adjusts the workpiece to a suitable angle, the rotating cross plate is loosened, and the rotating lock rod is driven to reset and move through the resetting of the rotating spring, and enters the rotating lock groove, so that the rotating round block is limited to prevent it from rotating due to non-human factors, so that the workpiece on the rotating disc can avoid movement due to non-human factors after the angle is adjusted, thereby improving the use effect of the device;

[0023] (2) The two touch cross blocks move toward each other on the touch slide bar, and the touch spring is in a buffering state, which makes the two touch cross blocks contact one side of the workpiece, and the workpiece is initially fixed. By loosening the positioning slide bar, the tension spring is reset to drive the stop lock rod to reset and move, so that it enters the stop lock groove, thereby limiting the touch cross block at the current position to prevent it from moving due to non-human factors. At the same time, the buffer touch spring cannot be reset, and the elastic force brought about by it strengthens the friction between the stop lock rod and the stop lock groove, thereby improving the use effect of the touch cross block. At the same time, the touch cross block strengthens the friction between the workpiece and the workpiece through the rubber pad, thereby preventing the clamped workpiece from displacement, etc. The phenomenon affects the welding accuracy; at the same time, the operator can stay away from the device and complete the overall fixing of the workpiece by moving the clamping assembly to avoid accidents that may cause harm to the staff, thereby improving the safety of the device when in use; after the moving clamping assembly completes the fixing of the workpiece as a whole, repeat the above operation so that the positioning and tight contact mechanism on the other rotating disc completes the installation of the other side of the workpiece, so that the two sides of the workpiece are fixed, avoiding the phenomenon of misalignment when the workpiece is fixed as a whole, and ensuring that the workpiece will not be dislocated when being welded, thereby improving the stability of the device during welding, so that the welding accuracy is improved, and the welding efficiency is also improved;

[0024] (3) When a multi-axis spin welding robot is needed to perform welding operations on a workpiece, the two-way telescopic cylinder is started so that its two output ends drive the displacement square plate on the U-shaped square column to move toward each other, and the cross connecting frame and the rotating disc are driven to move under the action of the displacement slide bar and the displacement spring, so that the two rotating discs move toward each other, thereby clamping the workpiece to avoid shaking during welding, improving the stability of the workpiece during welding, improving the welding effect, avoiding misalignment during welding, and improving the welding accuracy; at the same time, when the rotating disc contacts the workpiece, the displacement square plate continues to limit the displacement on the displacement slide bar. The displacement spring is in a buffering state, and the resulting buffer zone enables the rotating disc to provide corresponding clamping force for workpieces of different materials, avoiding damage to the workpiece caused by excessive clamping force, thereby improving the quality of welding; it is worth mentioning that when the displacement square plate is moving, the guide square rod on the guide L block moves at the upper limit of the guide base, avoiding shaking of the displacement square plate during movement, which not only improves the stability of the rotating disc during use, but also supports the rotating disc, avoiding increased use loss due to excessive gravity at one end of the displacement square plate, thereby improving the service life of the device during use;

[0025] (4) The rotation of the displacement threaded shaft causes the threaded stop block to move within the upper limit of the stop slide bar, and the stop cross plate and the stop cylinder drive the fitting cross block to move upward, so that the fitting square plate moves up and contacts the bottom surface of the workpiece, so that the fitting spring is in a buffering state, thereby preventing the workpiece from moving downward due to the lack of support at the bottom when it is welded. While supporting the workpiece, the buffering force brought by the fitting spring can absorb the impact force encountered by the workpiece during the welding process, thereby improving the stability of the workpiece during welding, thereby improving the welding effect and accuracy. At the same time, the buffering area brought by the fitting spring can avoid obstruction when the workpiece is adjusted through the multi-rotation angle adjustment unit, thereby reducing the limitations of the device during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0027] In the attached picture:

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of a bidirectional telescopic cylinder of the present invention;

[0030] Figure 3This is a schematic diagram of the structure of the impact stopper of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of the rotating circular block of the present invention;

[0032] Figure 5 This is a schematic diagram of the displacement square seat structure of the present invention;

[0033] Figure 6 This is a schematic diagram of the structure of the triggering horizontal block of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the position-limiting rotating block of the present invention;

[0035] Figure 8 This is a schematic diagram of the structure of the laminating horizontal block of the present invention;

[0036] Fig. 9 It is a schematic diagram of the structure of the rotating ring of the present invention;

[0037] In the figure: 1. welding workbench; 2. multi-axis spin welding robot; 3. linkage square plate; 4. two-way telescopic cylinder; 5. U-shaped square column; 6. displacement square plate; 7. displacement square seat; 8. displacement slide bar; 9. cross connecting frame; 10. rotating disk; 11. rotating ring; 12. rotating groove; 13. rotating gear ring; 14. rotating gear; 15. rotating shaft; 16. rotating base; 17. rotating round block; 18. rotating lock groove; 19. rotating lock rod; 20. rotating cross plate; 21. rotating slide bar; 22. rotating spring; 23. displacement spring; 24. guide L block; 25. guide square rod; 26. guide base; 27. limit rotating block; 28. limit ring; 29. ​​limit rotating slot; 30, linkage L rod; 31, cable; 32, fixed pulley; 33, cable roller; 34, linkage shaft; 35, linkage base; 36, linkage bevel gear; 37, spring; 38, driving bevel gear; 39, displacement threaded shaft; 40, stop block; 41, stop slide bar; 42, stop cross plate; 43, stop cylinder; 44, fitting cross block; 45, fitting slide bar; 46, fitting square plate; 47, buffer square pad; 48, fitting spring; 49, touch substrate; 50, touch slide bar; 51, touch cross block; 52, rubber pad; 53, touch spring; 54, positioning slide bar; 55, positioning slider; 56, stop lock rod; 57, stop lock slot; 58, tension spring. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] Example, by Figures 1 to 9 The present invention comprises a welding workbench 1, on which a multi-axis spin welding robot 2 is installed, the welding gun on the multi-axis spin welding robot 2 is connected with a workpiece, the workpiece is connected with a moving clamping assembly, and the moving clamping assembly is used to clamp the workpiece; the moving clamping assembly comprises a linkage square plate 3 arranged on the welding workbench 1, and the linkage square plate 3 is connected with the bottom surface of the welding workbench 1 by bolts; a two-way telescopic cylinder 4 is installed on the linkage square plate 3, and a U-shaped square column 5 is installed on the output end symmetrically provided on the two-way telescopic cylinder 4, a displacement square plate 6 is arranged on the U-shaped square column 5, a displacement square plate 6 is installed on the displacement square plate 6, a displacement square seat 7 is installed on the displacement square seat 7, and a shock-blocking stopper is connected to the shock-blocking stopper, which can Avoid the shaking of the workpiece during welding; the displacement slide bar 8 is symmetrically provided on the displacement square plate 6, and the two displacement slide bars 8 are connected to the cross connecting frame 9 together. The cross connecting frame 9 is connected to the rotating disc 10 through a multi-rotation angle adjustment unit, and the two rotating discs 10 are connected to the two sides of the workpiece in a coordinated manner; the multi-rotation angle adjustment unit is used to adjust the angle setting of the workpiece during welding; the displacement slide bar 8 is sleeved with a displacement spring 23, one end of the displacement spring 23 is connected to the cross connecting frame 9, and the other end is connected to the displacement square plate 6, and the displacement square plate 6 is symmetrically provided with a guide L block 24, and the guide L block 24 is provided with a guide square rod 25, and the guide square rod 25 is slidably connected to the guide base 26 provided on the welding workbench 1;

[0040] The multi-axis spin welding robot 2 can drive the welding gun to move in multiple axes, directions and angles. When it is needed to use it to perform welding operations on the workpiece, by starting the two-way telescopic cylinder 4, its two output ends drive the displacement square plate 6 on the U-shaped square column 5 to move toward each other, and under the action of the displacement slide bar 8 and the displacement spring 23, the cross connecting frame 9 and the rotating disc 10 are driven to move, so that the two rotating discs 10 move toward each other, thereby clamping the workpiece to avoid shaking during welding, improving the stability of the workpiece during welding, improving the welding effect, avoiding misalignment during welding, and improving the welding accuracy; at the same time, when the rotating disc 10 contacts the workpiece, the displacement square plate 6 continues to move. The limiting movement on the displacement slide bar 8 puts the displacement spring 23 in a buffering state. The resulting buffer zone enables the rotating disc 10 to provide corresponding clamping force for workpieces of different materials, avoiding damage to the workpieces due to excessive clamping force, thereby improving the quality of welding. It is worth mentioning that when the displacement square plate 6 is moving, the guide square rod 25 on the guide L block 24 moves within the limiting position on the guide base 26, avoiding shaking of the displacement square plate 6 during movement, which not only improves the stability of the rotating disc 10 during use, but also supports the rotating disc 10, avoiding increased use loss due to excessive gravity at one end of the displacement square plate 6, thereby improving the service life of the device during use.

[0041] The multi-rotation angle adjustment unit of this embodiment includes a rotating ring 11 arranged on a cross-connecting frame 9, and the rotating ring 11 is connected to a rotating groove 12 provided on a rotating disc 10; a rotating gear ring 13 is installed on the outer wall of one of the rotating discs 10, and the rotating gear ring 13 is meshed with a rotating gear 14, and a rotating shaft 15 is installed on the rotating gear 14. The rotating shaft 15 passes through a rotating base 16 provided on the cross-connecting frame 9 and is connected to a rotating circular block 17, and a rotating handle is provided on the rotating circular block 17; a plurality of rotating lock grooves 18 are provided on the outer wall of the rotating circular block 17, and the rotating lock grooves 18 and the rotating circular block 17 are connected to each other. The rotary lock rod 19 is connected in cooperation, and a rotary cross plate 20 is installed on the rotary lock rod 19, and the rotary cross plate 20 is slidably connected with the rotary slide bar 21 provided on the rotary base 16; a rotary spring 22 is sleeved on the rotary slide bar 21, and one end of the rotary spring 22 is connected with the rotary limit plate, and the other end is connected with the rotary cross plate 20; a limit rotating block 27 is symmetrically provided on one of the rotary discs 10, and the limit rotating block 27 is slidably connected with the limit rotating groove 29 provided on the limit ring 28; the limit ring 28 is connected with the cross connecting frame 9 through a plurality of linkage L rods 30;

[0042] After the workpiece is fixed by moving toward the clamping assembly and the position-dynamic tight contact mechanism, the rotating cross plate 20 is pulled outward to make it move within the upper limit position of the rotating slide bar 21, and the rotating spring 22 is in a buffering state, thereby making the rotating lock rod 19 on the rotating cross plate 20 no longer connected to the rotating lock groove 18, thereby releasing the limit setting of the rotating circular block 17. At this time, by rotating the handle on the rotating circular block 17, the rotating gear 14 is driven to rotate under the action of the rotating shaft 15, so that it meshes with the rotating gear ring 13 to rotate, and the rotating gear ring 13 drives the rotating groove 12 on the rotating disk 10 to rotate on the rotating ring 11, so that the rotating disk 10 is in a rotating state. Since the workpiece is fixed by the two rotating disks 10, and the position-dynamic tight contact mechanism on the rotating disk 10 is also in contact with the workpiece, the workpiece is moved along with the rotating disks. 10 rotates together, thereby completing the angle adjustment setting of the workpiece, so that the workpiece can be adjusted to a suitable angle according to different welding requirements to be welded by the multi-axis spin welding robot 2, avoiding the need to disassemble and reinstall the workpiece when adjusting the welding angle, reducing the work intensity while improving the welding efficiency, so that the limitations of the device when in use are reduced; at the same time, when the rotating disc 10 adjusts the workpiece to a suitable angle, the rotating cross plate 20 is released, and the rotating lock rod 19 is driven to reset and move through the resetting of the rotating spring 22, and enters the rotating lock groove 18, so that the rotating circle 17 is limited to prevent it from rotating due to non-human factors, so that the workpiece on the rotating disc 10 can avoid movement due to non-human factors after the angle is adjusted, thereby improving the use effect of the device.

[0043] The anti-collision stopper of this embodiment includes a cable 31 arranged on the displacement square seat 7, the cable 31 bypasses the fixed pulley 32 provided on the welding workbench 1 and is connected to the wire roller 33, and a linkage shaft 34 is installed on the wire roller 33, and the two ends of the linkage shaft 34 pass through the linkage base 35 provided on the welding workbench 1 and are connected to the linkage bevel gear 36; a clockwork spring 37 is installed on the linkage shaft 34, and the end point of the clockwork spring 37 is connected to the linkage base 35; the linkage bevel gear 36 is meshed with a driving bevel gear 38, and the driving bevel gear 38 is connected to a displacement threaded shaft 39 provided on the welding workbench 1; the displacement threaded shaft 39 is threadedly installed with A stop block 40 is slidably connected with a stop slide bar 41 provided on the welding workbench 1; a stop transverse plate 42 is installed on the stop block 40, and stop cylinders 43 are symmetrically provided on the stop transverse plate 42. A plurality of stop cylinders 43 pass through the welding workbench 1 and are connected with a bonding transverse block 44. A bonding slide bar 45 is symmetrically provided on the bonding transverse block 44. The two bonding slide bars 45 are connected to a bonding square plate 46, and the bonding square plate 46 is connected to the workpiece through a buffer square pad 47; a bonding spring 48 is sleeved on the bonding slide bar 45, and one end of the bonding spring 48 is connected to the bonding square plate 46, and the other end is connected to the bonding transverse block 44;

[0044] When the displacement square plate 6 moves, it will drive the displacement square seat 7 to move. Under the action of the cable 31 and the fixed pulley 32, the wire roller 33 is in a state of releasing and rotating. Then, the spring spring 37 is in a buffering state and drives the linkage bevel gear 36 to rotate, so that it meshes with the driving bevel gear 38 to rotate, so that the displacement threaded shaft 39 rotates, and then the threaded stop block 40 moves to the upper limit position of the stop slide rod 41, and the fitting cross block 44 is driven to move up under the action of the stop cross plate 42 and the stop cylinder 43, so that the fitting square plate 46 moves up and contacts with the bottom surface of the workpiece. , so that the fitting spring 48 is in a buffering state, avoiding the workpiece from moving downward due to the lack of support at the bottom when the workpiece is welded. While supporting the workpiece, the buffering force brought by the fitting spring 48 can absorb the impact force encountered by the workpiece during the welding process, thereby improving the stability of the workpiece during welding, and improving the welding effect and accuracy. At the same time, the buffering area brought by the fitting spring 48 can avoid obstruction when the workpiece is adjusted through the multi-rotation angle adjustment unit, thereby reducing the limitations of the device when in use.

[0045] The rotating disk 10 of this embodiment is also provided with a positioning and tight contact mechanism; the positioning and tight contact mechanism comprises a touch substrate 49 symmetrically arranged on both sides of the rotating disk 10, the two touch substrates 49 are commonly connected to the touch slide 50, the two touch slides 50 are commonly slidably connected to a touch cross block 51, and the touch cross block 51 is connected to the workpiece through a rubber pad 52; a touch spring 53 is sleeved on the touch slide 50, one end of the touch spring 53 is connected to the touch substrate 49 The other end is connected to the triggering horizontal block 51; a positioning slide bar 54 is installed on the triggering horizontal block 51, a positioning slide bar 55 is slidably arranged on the positioning slide bar 54, and a stop lock rod 56 is symmetrically arranged on the positioning slide bar 55, and the stop lock rod 56 is matched and connected with a plurality of stop lock grooves 57 provided on the rotating disk 10; a tension spring 58 is sleeved on the positioning slide bar 54, one end of the tension spring 58 is connected to the positioning slide bar 55, and the other end is connected to the triggering limit plate;

[0046] The workpiece can be initially fixed by loosening the positioning slide 55, so that the reset of the tension spring 58 drives the lock rod 56 to reset and move, so that it enters the lock groove 57, thereby limiting the touch cross block 51 in the current position, avoiding its movement due to non-human factors, and making the buffer touch spring 53 unable to reset, and the elastic force brought by it strengthens the stop. The friction force when the dynamic locking rod 56 contacts the stop lock groove 57 improves the use effect of the trigger cross block 51. At the same time, the trigger cross block 51 strengthens the friction force in contact with the workpiece through the rubber pad 52, avoiding the displacement of the clamped workpiece and the like, which may affect the welding accuracy. At the same time, the operator can stay away from the device and complete the overall fixing of the workpiece by moving to the clamping assembly, avoiding accidents that may cause harm to the staff, thereby improving the safety of the device when in use. After the moving to the clamping assembly completes the fixation of the workpiece as a whole, repeat the above operation so that the positioning and tightening mechanism on the other rotating disk 10 completes the installation of the other side of the workpiece, so that the two sides of the workpiece are fixed, avoiding the occurrence of dislocation when the workpiece is fixed as a whole, and ensuring that the workpiece will not be dislocated when being welded, thereby improving the stability of the device during welding, improving the welding accuracy, and improving the welding efficiency.

[0047] The present invention also provides a welding method of a clamping multi-angle welding robot, comprising the following steps:

[0048] S1, operate the moving clamping assembly so that the two rotating discs 10 move toward each other and clamp the workpiece;

[0049] S2, by rotating the handle on the rotating round block 17, the rotating gear 14 is driven by the rotating shaft 15;

[0050] S3, the rotating rotating gear 14 meshes with the rotating gear ring 13, so that the rotating groove 12 on the rotating disc 10 rotates on the rotating ring 11;

[0051] S4. The rotating rotary disc 10 drives the workpiece to rotate, and the workpiece is rotated to a desired processing angle for welding according to different usage requirements.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] 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. Clamping type multi-angle welding robot, characterized by: The invention comprises a welding workbench (1), wherein a multi-axis spin welding robot (2) is installed on the welding workbench (1), a welding gun on the multi-axis spin welding robot (2) is cooperatively connected with a workpiece, the workpiece is cooperatively connected with a moving clamping assembly, and the moving clamping assembly is used to clamp the workpiece; The moving clamping assembly comprises a linkage square plate (3) arranged on the welding workbench (1), the linkage square plate (3) being connected to the bottom surface of the welding workbench (1) by bolts; a bidirectional telescopic cylinder (4) is installed on the linkage square plate (3), a U-shaped square column (5) is installed on the output end symmetrically arranged on the bidirectional telescopic cylinder (4), a displacement square plate (6) is arranged on the U-shaped square column (5), a displacement square seat (7) is installed on the displacement square plate (6), and a shock-blocking stopper is connected to the displacement square seat (7), and the shock-blocking stopper can prevent the workpiece from shaking during welding; The displacement square plate (6) is symmetrically provided with displacement slide bars (8), the two displacement slide bars (8) are commonly connected to a cross connection frame (9), the cross connection frame (9) is connected to a rotating disk (10) via a multi-rotation angle adjustment unit, and the two rotating disks (10) are cooperatively connected to two sides of the workpiece; the multi-rotation angle adjustment unit is used to adjust the angle setting of the workpiece during welding; The multi-rotation angle adjustment unit comprises a rotating ring (11) arranged on a cross-connecting frame (9), the rotating ring (11) being connected to a rotating groove (12) provided on a rotating disc (10); a rotating gear ring (13) being mounted on the outer wall of one rotating disc (10), the rotating gear ring (13) being meshingly connected to a rotating gear (14), a rotating shaft (15) being mounted on the rotating gear (14), the rotating shaft (15) passing through a rotating base (16) provided on the cross-connecting frame (9) and being connected to a rotating circular block (17), and a rotating handle being provided on the rotating circular block (17); The displacement slide bar (8) is sleeved with a displacement spring (23), one end of the displacement spring (23) is connected to the cross connection frame (9), and the other end is connected to the displacement square plate (6), the displacement square plate (6) is symmetrically provided with a guide L block (24), the guide L block (24) is provided with a guide square rod (25), and the guide square rod (25) is slidably connected to a guide base (26) provided on the welding workbench (1); The impact stopper comprises a cable (31) arranged on a displacement square seat (7), the cable (31) passing through a fixed pulley (32) provided on a welding workbench (1) and connected to a wire bundling roller (33), a linkage shaft (34) being installed on the wire bundling roller (33), two ends of the linkage shaft (34) passing through a linkage base (35) provided on the welding workbench (1) and connected to a linkage bevel gear (36); a spring (37) being installed on the linkage shaft (34), an end point of the spring (37) being connected to the linkage base (35); the linkage bevel gear (36) being meshingly connected to a driving bevel gear (38), the driving bevel gear (38) being connected to a displacement threaded shaft (39) provided on the welding workbench (1); a stopper block (40) being threadedly installed on the displacement threaded shaft (39), the stopper block (40) being slidably connected to a stopper slide rod (41) provided on the welding workbench (1); The rotating disk (10) is also provided with a positioning and tight contact mechanism; the positioning and tight contact mechanism comprises a touch substrate (49) symmetrically arranged on both sides of the rotating disk (10); the two touch substrates (49) are commonly connected to a touch slide bar (50); the two touch slide bars (50) are commonly slidably connected to a touch cross block (51); the touch cross block (51) is connected to the workpiece through a rubber pad (52); a touch spring (53) is sleeved on the touch slide bar (50); one end of the touch spring (53) is connected to the touch substrate (49), and the other end is connected to the touch cross block (51).

2. The clamping type multi-angle welding robot according to claim 1, characterized in that: A plurality of rotary lock grooves (18) are provided on the outer wall of the rotary circular block (17), and the rotary lock grooves (18) are connected to the rotary lock rod (19). A rotary cross plate (20) is installed on the rotary lock rod (19), and the rotary cross plate (20) is slidably connected to a rotary slide rod (21) provided on the rotary base (16); a rotary spring (22) is sleeved on the rotary slide rod (21), and one end of the rotary spring (22) is connected to the rotary limit plate, and the other end is connected to the rotary cross plate (20).

3. The clamping type multi-angle welding robot according to claim 2, characterized in that: A limit rotating block (27) is symmetrically provided on one of the rotating disks (10), and the limit rotating block (27) is slidably connected to a limit rotating groove (29) provided on a limit circular ring (28); the limit circular ring (28) and the cross connecting frame (9) are connected via a plurality of linkage L rods (30).

4. The clamping type multi-angle welding robot according to claim 3, characterized in that: The stop block (40) is provided with a stop transverse plate (42), and the stop transverse plate (42) is symmetrically provided with stop cylinders (43), and a plurality of stop cylinders (43) pass through the welding workbench (1) and are connected to the bonding transverse block (44), and the bonding transverse block (44) is symmetrically provided with bonding slide bars (45), and the two bonding slide bars (45) are connected to the bonding square plate (46), and the bonding square plate (46) is connected to the workpiece through the buffer square pad (47); the bonding slide bar (45) is sleeved with a bonding spring (48), and one end of the bonding spring (48) is connected to the bonding square plate (46), and the other end is connected to the bonding transverse block (44).

5. The clamping type multi-angle welding robot according to claim 4, characterized in that: A positioning slide bar (54) is mounted on the triggering cross block (51), a positioning slide block (55) is slidably mounted on the positioning slide bar (54), a stop lock rod (56) is symmetrically mounted on the positioning slide block (55), and the stop lock rod (56) is connected to a plurality of stop lock grooves (57) provided on the rotating disk (10); a tension spring (58) is sleeved on the positioning slide bar (54), one end of the tension spring (58) is connected to the positioning slide block (55), and the other end is connected to the triggering limit plate.

6. A welding method using a clamping type multi-angle welding robot, using the clamping type multi-angle welding robot as claimed in claim 5, characterized in that: Includes steps: S1, operating the moving clamping assembly so that the two rotating discs (10) move towards each other and clamp the workpiece; S2, by rotating the handle on the rotating circular block (17), the rotating gear (14) is driven by the rotating shaft (15); S3, the rotating rotating gear (14) meshes with the rotating gear ring (13), so that the rotating groove (12) on the rotating disc (10) rotates on the rotating ring (11); S4. The rotating rotary disc (10) drives the workpiece to rotate, and the workpiece is rotated to a desired processing angle for welding according to different usage requirements.

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