A steel member welding collaborative robot and a welding method thereof

Abstract

The application discloses a steel member welding collaborative robot and a welding method thereof, and relates to the technical field of welding robots.The steel member welding collaborative robot comprises a workbench, a welding gun body is arranged above the workbench, a welding gun head is fixedly connected to the bottom of the welding gun body, a cooling assembly is arranged in the welding gun body, the cooling assembly comprises a driving push plate, a sliding groove is formed in the inner side wall of the welding gun body, the driving push plate is slidably connected in the sliding groove, the area surrounded by the driving push plate and the welding gun head is an empty bin, a driven push plate is slidably connected in the sliding groove, the driven push plate is arranged above the driving push plate, an inner rod is fixedly connected to the top of the driving push plate, an outer rod is sleeved with the inner rod, a plurality of clamping teeth are fixedly connected to the inner side wall of the outer rod, and the technical problem that the temperature of the welding gun head continuously rises during welding operation and the subsequent welding effect is affected if the welding gun head cannot be cooled in time after welding is solved.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to a collaborative welding robot for steel components and its welding method. Background Technology

[0002] Collaborative welding robots for steel components are modern automated equipment that integrates welding equipment and collaborative robot technology. They mainly consist of three parts: the robot body, the control system, and the welding equipment. The robot body has a multi-axis structure, enabling flexible motion control; the control system coordinates the robot's movement and welding parameters; and the welding equipment includes a welding power source, welding torch, sensors, etc., used to perform the actual welding operations. With the development of modern industry, the requirements for welding quality and efficiency are increasingly stringent. Traditional manual welding methods suffer from high labor intensity and inconsistent welding quality, making it difficult to meet the demands of large-scale, high-efficiency production. Therefore, welding automation has become an inevitable trend.

[0003] A search revealed that the patent document (authorization announcement number CN219443936U) includes: a machine base, with a horizontal sliding plate fixedly connected to the upper end of the machine base. The horizontal sliding plate has a sliding groove inside, and limit blocks are fixedly connected to both ends. A pulley is installed inside the sliding groove, and the pulley is movably connected to the lower end of a wheel bracket. The upper end of the wheel bracket is fixedly connected to the lower end of a fixing block, and the upper end of the fixing block is fixedly connected to the lower end of a sliding plate. A telescopic rod is installed inside the outer side of the sliding plate, and a baffle is fixedly connected to one end of the telescopic rod. This utility model design can both lift and transport steel components, eliminating the space limitations associated with using forklifts or large handling machines. Furthermore, it eliminates the need for secondary handling upon arrival at the destination, allowing for direct welding work. It is practical and suitable for widespread promotion and use.

[0004] However, the above-mentioned device still has shortcomings:

[0005] During welding, the temperature of the welding torch tip will continue to rise, and the temperature will slowly transfer to the torch body. If it is not cooled down in time after welding, it will affect the subsequent welding effect. Summary of the Invention

[0006] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a collaborative welding robot for steel components and its welding method, which solves the problem that during welding operations, the temperature of the welding torch tip continuously rises, and if it is not cooled down in time after welding, it will affect the subsequent welding effect.

[0007] To achieve the above objectives, this invention proposes a collaborative welding robot for steel components, comprising a workbench, a welding torch body disposed above the workbench, a welding torch head fixedly connected to the bottom of the welding torch body, and a cooling component disposed inside the welding torch body, wherein:

[0008] The cooling assembly includes an active push plate. A groove is formed on the inner wall of the welding torch body. The active push plate is slidably connected within the groove. The area enclosed by the active push plate and the welding torch head is an empty chamber. A driven push plate is slidably connected inside the groove and positioned above the active push plate. An inner rod is fixedly connected to the top of the active push plate. An outer rod is sleeved on the outer side of the inner rod. Several locking teeth are fixedly connected to the inner wall of the outer rod. A notched disc is rotatably connected to the inner end of the inner rod on the inner wall of the outer rod. A semi-circular notch is formed at the end of the notched disc. A locking rod is fixedly connected to the side wall of the notched disc. A limiting rod is fixedly connected to the inner end of the inner rod on the inner wall of the outer rod. The end of the limiting rod abuts against the horizontal tangent between the semi-circular notch and the notched disc. A liquid hole is formed on the top side wall of the welding torch body. A cooling pipe is fixedly connected to the outer wall of the welding torch body, and the cooling pipe communicates with the liquid hole.

[0009] Preferably, a gas chamber is fixedly connected to the top of the welding torch body, and a reinforcing component is provided inside the welding torch body. The reinforcing component includes a gas one-way valve, which is fixedly connected to the outer wall of the gas chamber. A support rod is fixedly connected to the top of the driven push plate. The top of the support rod passes through the top of the welding torch body and extends into the gas chamber. A gas compression plate is fixedly connected to one end of the support rod inside the gas chamber. The gas compression plate is slidably connected inside the gas chamber. A gas pipe is inserted into the gas compression plate. The bottom of the gas pipe passes through the top of the welding torch body and extends into it. One end of the gas pipe inside the welding torch body is fixedly connected to the driven push plate. A nozzle is fixedly connected to the side wall of the gas pipe near the driven push plate.

[0010] Preferably, the area enclosed by the driven push plate and the top of the welding torch body is a cooling liquid storage chamber. The interior of the chute is provided with a plurality of limiting components. The limiting components are located inside the cooling liquid storage chamber. Each limiting component includes a third groove, which is formed in the chute. A circular block is rotatably connected inside the third groove. A long rod is fixedly connected to the side of the circular block near the support rod. A limiting thin plate is fixedly connected inside the third groove, and the limiting thin plate is located below the long rod.

[0011] Preferably, the sidewall of the welding torch body is provided with a first groove, a second groove, and a fourth groove, all of which are interconnected. An auxiliary component is provided inside the welding torch body. The auxiliary component includes a manual sliding plate, which is slidably connected in the first groove. A long connecting rod is slidably connected inside the second groove. A crossbar is provided inside the fourth groove. A trigger rod is fixedly connected to the sidewall of the second groove. The crossbar abuts against the trigger rod. The manual sliding plate and the long connecting rod are fixedly connected to each other. The long connecting rod and the crossbar are fixedly connected to each other. The shape of the connection between the crossbar and the long connecting rod is L-shaped.

[0012] Preferably, the bottom of the workbench is fixedly connected to several bottom supports, the side walls of the bottom supports are fixedly connected to several crossbeams, and the top of the workbench is fixedly connected to a pad.

[0013] Preferably, a first axial displacement assembly is provided above the worktable. The first axial displacement assembly includes a slide rail, which is fixedly connected to the pad. A track block is slidably connected to the outer side of the slide rail. A placement plate is fixedly connected above the track block. A limit shaft is fixedly connected to the top of the worktable. A first threaded rod is rotatably connected inside the limit shaft. A first motor is rotatably connected to the end of the first threaded rod. The first motor is fixedly connected to the top of the worktable. A support fixing plate is threadedly connected to the side wall of the first threaded rod. The support fixing plate is fixedly connected to the bottom of the placement plate.

[0014] Preferably, a second axial displacement assembly is provided on the top of the worktable. The second axial displacement assembly includes a U-shaped plate, which is fixedly connected to the top of the worktable. A track block is slidably connected to the side wall of the second axial displacement assembly. A second threaded rod is threadedly connected to the inside of the track block. A second motor is rotatably connected to the end of the second threaded rod, and the second motor is fixedly connected to the U-shaped plate.

[0015] Preferably, a third-axis displacement assembly is provided above the worktable. The third-axis displacement assembly includes a tooling plate, which is fixedly connected to the track block. A third motor is fixedly connected to the top of the tooling plate, and a third threaded rod is rotatably connected to the bottom of the third motor. A mounting plate is threadedly connected to the end of the third threaded rod away from the third motor. A gun head mounting plate is fixedly connected to the side wall of the mounting plate, and a welding gun motor is fixedly connected to the side wall of the gun head mounting plate. The gas chamber is fixedly connected to the bottom of the welding gun motor.

[0016] Preferably, a pair of limiting blocks are fixedly connected to the top of the placement plate, and each pair of limiting blocks is threadedly connected to a limiting threaded rod. A washer is fixedly connected to one end of the pair of limiting threaded rods that are close to each other, and a turntable is fixedly connected to the other end of the limiting threaded rod.

[0017] Preferably, a welding method for a collaborative robot for welding steel components includes the following steps:

[0018] Step 1: When performing welding, place the workpiece to be welded between a pair of limit blocks, and then rotate the track block so that a pair of shims abut against the workpiece to be welded, thereby achieving a fixing effect.

[0019] Step 2: The first motor, second motor and third motor are started by the external control computer. The first motor, second motor and third motor drive the first threaded rod, second threaded rod and third threaded rod to rotate in sequence. Under the condition of being threadedly connected to the first threaded rod, second threaded rod and third threaded rod, the placement plate, track block and mounting plate can change their current position, so that the device can perform various welding operations.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. By setting up the cooling component, the temperature of the welding torch head needs a long time to decrease after welding. During this process, the gas in the empty chamber expands due to the temperature of the welding torch head, which pushes the active push plate to move. Due to the setting of the limiting rod, the locking rod can only rotate in one direction, so that the locking rod can push the outer rod to move by abutting the locking teeth. The outer rod pushes the driven push plate so that the cooling liquid in the cooling liquid storage chamber can flow into the cooling pipe through the liquid hole. At this time, the cooling liquid can be sprayed onto the welding torch head through the cooling pipe to achieve the cooling effect. As the driven push plate moves, the end of the driven push plate will be stuck on the long rod. Because the limiting thin plate set below the long rod will abut the long rod, the long rod can only push the driven push plate to move upward.

[0022] The advantages of this design are that the cooling operation can be completed by the heat provided by the welding torch head itself. Once the temperature of the welding torch head drops, the cooling operation is automatically released. This process requires no manual control, greatly reducing manual labor. In addition, the cooling component is controlled by the temperature of the welding torch head, allowing for a rapid response and timely cooling to prevent damage to the welding torch head and body due to high temperatures. Furthermore, the long rod and limiting plate ensure that the driven push plate remains in its moved position after movement. This guarantees that all the liquid in the cooling liquid storage chamber can be squeezed out, preventing the cooling liquid from remaining in the storage chamber for a long time, which would cause it to malfunction and lose its cooling function. This saves workers the work of cleaning the cooling liquid storage chamber and also prevents the residual cooling liquid from affecting the effectiveness of subsequent additions of cooling liquid.

[0023] 2. By strengthening the component settings, when the cooling component is working, the driven push plate pushes the gas check valve upward, and the support rod carries the gas compression plate upward. The gas compression plate will squeeze the air in the gas chamber, and this air will enter the gas pipeline and then be sprayed out through the nozzle. This sprayed gas can stir the cooling liquid in the cooling liquid storage chamber, preventing the cooling substances in the cooling liquid storage chamber from settling due to long-term non-use, thus affecting the cooling effect.

[0024] The advantage of this design is that it can agitate the cooling liquid in the storage chamber by squeezing gas without the need for an additional power source, which can effectively improve the cooling effect of the cooling liquid. The absence of additional power equipment means reduced noise and maintenance costs during operation, making the entire system more environmentally friendly, economical and easy to maintain, and achieving faster and more efficient cooling. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0026] Figure 2 This is a schematic diagram of the rear view structure of the present invention;

[0027] Figure 3 This is a schematic diagram of the first axial displacement component structure of the present invention;

[0028] Figure 4 This is a schematic diagram of the welding torch body structure of the present invention;

[0029] Figure 5 This is a schematic diagram of the auxiliary component structure of the present invention;

[0030] Figure 6 This is a schematic diagram of the limiting component structure of the present invention;

[0031] Figure 7 For the present invention Figure 4 Schematic diagram of the structure at point A in the middle;

[0032] Figure 8 For the present invention Figure 4 Schematic diagram of the structure at point B.

[0033] In the diagram: 1. Workbench; 101. Bottom support; 102. Crossbeam; 103. Pad; 2. First axis displacement assembly; 201. First motor; 21. Slide rail; 22. Track block; 23. Placement plate; 24. Limiting shaft; 25. First threaded rod; 26. Support fixing plate; 3. Second axis displacement assembly; 31. U-shaped plate; 32. Track block; 33. Second threaded rod; 34. Second motor; 4. Third axis displacement assembly; 41. Tooling long plate; 42. Third motor; 43. Third threaded rod; 44. Mounting plate; 5. Limiting block; 51. Limiting threaded rod; 52. Shim; 53. Turntable; 6. Gun head mounting plate; 7. Welding gun motor; 8. Welding gun body; 81. Welding gun head; 82. Empty chamber; 83. Cooling liquid storage chamber; 84. Gas chamber; 9. Cooling assembly ; 91. Active push plate; 92. Slide groove; 93. Driven push plate; 94. Inner rod; 95. Outer rod; 96. Clamping tooth; 97. Notched disc; 971. Semicircular notch; 972. Clamping rod; 98. Limiting rod; 99. Liquid hole; 910. Cooling pipe; 10. Reinforcing component; 1001. Gas one-way valve; 1002. Gas pipe; 1003. Nozzle; 1004. Support rod; 1005. Gas compression plate; 11. Limiting component; 1101. First groove; 1102. Second groove; 1103. Third groove; 1104. Fourth groove; 1105. Round block; 1106. Long rod; 1107. Limiting thin plate; 12. Auxiliary component; 1201. Manual sliding plate; 1202. Long connecting rod; 1203. Crossbar; 1204. Trigger short rod. Detailed Implementation

[0034] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figure 1-8 As shown, a collaborative robot for welding steel components includes a workbench 1. Several bottom supports 101 are fixedly connected to the bottom of the workbench 1, several crossbeams 102 are fixedly connected to the side walls of the bottom supports 101, and a pad 103 is fixedly connected to the top of the workbench 1.

[0036] A first axis displacement assembly 2 is provided above the workbench 1. The first axis displacement assembly 2 includes a slide rail 21, which is fixedly connected to the pad 103. A track block 22 is slidably connected to the outside of the slide rail 21. A placement plate 23 is fixedly connected above the track block 22. A limit shaft 24 is fixedly connected to the top of the workbench 1. A first threaded rod 25 is rotatably connected inside the limit shaft 24. A first motor 201 is rotatably connected to the end of the first threaded rod 25. The first motor 201 is fixedly connected to the top of the workbench 1. A support fixing plate 26 is threadedly connected to the side wall of the first threaded rod 25. The support fixing plate 26 is fixedly connected to the bottom of the placement plate 23.

[0037] The top of the workbench 1 is provided with a second axis displacement assembly 3. The second axis displacement assembly 3 includes a U-shaped plate 31, which is fixedly connected to the top of the workbench 1. A track block 32 is slidably connected to the side wall of the second axis displacement assembly 3. A second threaded rod 33 is threadedly connected to the inside of the track block 32. A second motor 34 is rotatably connected to the end of the second threaded rod 33. The second motor 34 is fixedly connected to the U-shaped plate 31.

[0038] A third axis displacement assembly 4 is provided above the workbench 1. The third axis displacement assembly 4 includes a tooling plate 41, which is fixedly connected to the track block 32. A third motor 42 is fixedly connected to the top of the tooling plate 41. A third threaded rod 43 is rotatably connected to the bottom of the third motor 42. A mounting plate 44 is threadedly connected to the end of the third threaded rod 43 away from the third motor 42. A gun head mounting plate 6 is fixedly connected to the side wall of the mounting plate 44. A welding gun motor 7 is fixedly connected to the side wall of the gun head mounting plate 6.

[0039] The first motor 201, the second motor 34, and the third motor 42 are started by an external control computer. The first motor 201, the second motor 34, and the third motor 42 drive the first threaded rod 25, the second threaded rod 33, and the third threaded rod 43 to rotate in sequence. Under the condition of being threadedly connected to the first threaded rod 25, the second threaded rod 33, and the third threaded rod 43, the placement plate 23, the track block 32, and the mounting plate 44 can change their current position and move on the first threaded rod 25, the second threaded rod 33, and the third threaded rod 43, thereby enabling the device to perform various welding operations.

[0040] A welding torch body 8 is mounted above the workbench 1, and a welding torch head 81 is fixedly connected to the bottom of the welding torch body 8. A cooling assembly 9, including an active pusher plate 91, is installed inside the welding torch body 8. After welding, the temperature of the welding torch head 81 needs a long time to decrease. During this process, the gas in the empty chamber 82 expands due to the temperature of the welding torch head 81, thereby pushing the active pusher plate 91 to move. A sliding groove 92 is provided on the inner side wall of the welding torch body 8, and the active pusher plate 91 is slidably connected within the sliding groove 92. The active pusher plate 91 and the welding torch head 81... The enclosed area is an empty chamber 82. A driven push plate 93 is slidably connected inside the chute 92. The driven push plate 93 is positioned above the active push plate 91. The area enclosed by the driven push plate 93 and the top of the welding torch body 8 is a cooling liquid storage chamber 83. An inner rod 94 is fixedly connected to the top of the active push plate 91. An outer rod 95 is sleeved on the outside of the inner rod 94. Several locking teeth 96 are fixedly connected to the inner side wall of the outer rod 95. A notched disc 97 is rotatably connected to the inner side wall of the inner rod 94 at one end of the outer rod 95. A semi-circular notch 971 is opened at the end of the notched disc 97. A locking rod 972 is fixedly connected to the side wall of the notched disc 97. A limiting rod 98 is fixedly connected to the side wall of one end of the inner rod 94 inside the outer rod 95. The end of the limiting rod 98 abuts against the horizontal tangential surface between the semi-circular notch 971 and the notched disc 97. A liquid hole 99 is opened on the top side wall of the welding torch body 8. A cooling pipe 910 is fixedly connected to the outer side wall of the welding torch body 8. Due to the setting of the limiting rod 98, the locking rod 972 can only rotate in one direction, allowing the locking rod 972 to push the outer rod 95 to move by abutting against the locking teeth 96. The outer rod 95 is pushed from... The movable push plate 93 allows the cooling liquid in the cooling liquid storage chamber 83 to flow into the cooling pipe 910 through the liquid hole 99. At this time, the cooling liquid can be sprayed onto the welding gun head 81 through the cooling pipe 910 to achieve the cooling effect. As the driven push plate 93 moves, the end of the driven push plate 93 will be stuck on the long rod 1106. Since the limiting thin plate 1107 set below the long rod 1106 will abut against the long rod 1106, the long rod 1106 can only cause the driven push plate 93 to move upward, and the cooling pipe 910 is connected to the liquid hole 99.

[0041] The cooling operation is completed by the heat provided by the welding torch head 81 itself. When the temperature of the welding torch head 81 drops, the cooling operation is automatically released. This process does not require manual control, greatly reducing manual labor. In addition, the temperature of the welding torch head 81 controls the operation of the cooling component 9, which makes the cooling component 9 react quickly and cool down in time, avoiding damage to the welding torch head 81 and welding torch body 8 due to high temperature. Furthermore, the long rod 1106 and the limiting thin plate 1107 ensure that the driven push plate 93 stays in the moved position after movement. This ensures that all the liquid in the cooling liquid storage chamber 83 can be squeezed out, preventing the cooling liquid from remaining in the cooling liquid storage chamber 83 for a long time, which would cause it to fail and lose its cooling function. This saves the work of cleaning the cooling liquid storage chamber 83 and also prevents the residual cooling liquid from affecting the effectiveness of subsequent addition of cooling liquid.

[0042] A gas chamber 84 is fixedly connected to the top of the welding torch body 8. A reinforcing component 10 is installed inside the welding torch body 8. The reinforcing component 10 includes a gas one-way valve 1001, which is fixedly connected to the outer wall of the gas chamber 84. A support rod 1004 is fixedly connected to the top of the driven push plate 93. The top of the support rod 1004 passes through the top of the welding torch body 8 and extends into the gas chamber 84. A gas compression plate 1005 is fixedly connected to one end of the support rod 1004 inside the gas chamber 84. The gas compression plate 1005 is slidably connected inside the gas chamber 84. A first groove 1101, a second groove 1102, and a fourth groove 1104 are provided on the side wall of the welding torch body 8. The first groove 1101, the second groove 1102, and the fourth groove 1104 are all interconnected. When the cooling component 9 is working, the driven push plate 93 pushes the gas... The one-way valve 1001 moves upward, and the support rod 1004 carries the gas compression plate 1005 upward. The gas compression plate 1005 will squeeze the air in the gas chamber 84. This air will enter the gas pipe 1002 and then be sprayed out through the nozzle 1003. The sprayed gas can stir the cooling liquid in the cooling liquid storage chamber 83, preventing the cooling liquid in the cooling liquid storage chamber 83 from settling due to long-term non-use, thus affecting the cooling effect. The gas pipe 1002 is inserted into the gas compression plate 1005. The bottom of the gas pipe 1002 passes through the top of the welding torch body 8 and extends into it. One end of the gas pipe 1002 is fixedly connected to the driven push plate 93 inside the welding torch body 8. The nozzle 1003 is fixedly connected to the side wall of the gas pipe 1002 near the driven push plate 93.

[0043] Without requiring an additional power source, the cooling liquid in the cooling liquid storage chamber 83 can be stirred by squeezing gas, which can effectively improve the cooling effect of the cooling liquid. The absence of additional power equipment means reduced noise and maintenance costs during operation, making the entire system more environmentally friendly, economical and easy to maintain, and achieving faster and more efficient cooling effect.

[0044] The slide 92 is provided with several limiting components 11. The limiting components 11 are located in the cooling liquid storage chamber 83. The limiting components 11 include a third groove 1103, which is opened in the slide 92. A round block 1105 is rotatably connected inside the third groove 1103. A long rod 1106 is fixedly connected to the side of the round block 1105 near the support rod 1004. A limiting plate 1107 is fixedly connected inside the third groove 1103. The limiting plate 1107 is located below the long rod 1106.

[0045] The welding torch body 8 has an auxiliary component 12 inside. The auxiliary component 12 includes a manual sliding plate 1201, which is slidably connected in the first groove 1101. A long connecting rod 1202 is slidably connected inside the second groove 1102. A crossbar 1203 is obtained inside the fourth groove 1104. A trigger rod 1204 is fixedly connected to the side wall of the second groove 1102. The crossbar 1203 abuts against the trigger rod 1204. The manual sliding plate 1201 and the long connecting rod 1202 are fixedly connected to each other. The long connecting rod 1202 and the crossbar 1203 are fixedly connected to each other. The shape of the connection between the crossbar 1203 and the long connecting rod 1202 is L-shaped.

[0046] The gas chamber 84 is fixedly connected to the bottom of the welding torch motor 7. A pair of limiting blocks 5 are fixedly connected to the top of the placement plate 23. Each pair of limiting blocks 5 is threaded with a limiting thread rod 51. A washer 52 is fixedly connected to one end of the pair of limiting thread rods 51 that are close to each other. A turntable 53 is fixedly connected to the other end of the limiting thread rod 51. When performing welding operations, the workpiece to be welded is placed between the pair of limiting blocks 5. Then, the track block 22 is rotated so that the pair of washer 52 abut against the workpiece to be welded, thereby achieving the effect of fixing.

[0047] Working principle: During the welding operation, the workpiece to be welded is placed between a pair of limit blocks 5, and then the track block 22 is rotated so that a pair of shims 52 abut against the workpiece to be welded, thereby achieving a fixing effect.

[0048] The first motor 201, the second motor 34, and the third motor 42 are started by an external control computer. The first motor 201, the second motor 34, and the third motor 42 drive the first threaded rod 25, the second threaded rod 33, and the third threaded rod 43 to rotate in sequence. Under the condition of being threadedly connected to the first threaded rod 25, the second threaded rod 33, and the third threaded rod 43, the placement plate 23, the track block 32, and the mounting plate 44 can change their current positions, thereby enabling the device to perform various welding operations.

[0049] After welding, the temperature of the welding torch head 81 takes a long time to decrease. During this process, the gas in the empty chamber 82 expands due to the temperature of the welding torch head 81, which pushes the active push plate 91 to move. Due to the setting of the limiting rod 98, the locking rod 972 can only rotate in one direction, so that the locking rod 972 can push the outer rod 95 to move by abutting the locking teeth 96. The outer rod 95 pushes the driven push plate 93 so that the cooling liquid in the cooling liquid storage chamber 83 can flow into the cooling pipe 910 through the liquid hole 99. At this time, the cooling liquid can be sprayed onto the welding torch head 81 through the cooling pipe 910 to achieve the cooling effect. As the driven push plate 93 moves, the end of the driven push plate 93 will be stuck on the long rod 1106. Since the limiting thin plate 1107 set below the long rod 1106 will abut the long rod 1106, the long rod 1106 can only cause the driven push plate 93 to move upward.

[0050] After the cooling liquid in the cooling liquid storage chamber 83 is used up, the outer rod 95 and the inner rod 94 will be extended to their maximum length. At this time, simply remove the welding torch body 8 from the welding torch motor 7 and rotate it so that the welding torch head 81 is above the welding torch body 8. Under the influence of gravity, the locking rod 972 will move closer to the side wall of the inner rod 94. At this time, the inner rod 94 can also retract into the outer rod 95 under the influence of gravity. Then, reverse the welding torch body 8. At this time, the driven push plate 93 and the active push plate 91 will return to their original positions at the same time, preparing for the next operation. Since the long rod 1106 and the locking rod 972 are limited in opposite directions, they cannot be restored using the same method.

[0051] In addition, the cooling liquid storage chamber 83 needs to be filled with liquid. At this time, the driven push plate 93 is already attached to the inner top of the welding torch body 8. The driven push plate 93 cannot move down due to the resistance of the long rod 1106. The operator drives the long connecting rod 1202 to slide in the second groove 1102 by lifting the manual sliding plate 1201. The long connecting rod 1202 drives the crossbar 1203 to move up. At this time, due to the resistance between the trigger short rod 1204 and the crossbar 1203, the trigger short rod 1204 drives the long rod 1106 to rotate, which causes the round block 1105 to rotate. The long rod 1106 will move into the third groove 1103 under the condition of the rotation of the round block 1105. In this way, the driven push plate 93 can automatically fall down and return to its original position.

[0052] When the cooling component 9 is working, the driven push plate 93 pushes the gas check valve 1001 upward, and the support rod 1004 carries the gas compression plate 1005 upward. The gas compression plate 1005 will squeeze the air in the gas chamber 84. This air will enter the gas pipe 1002 and then be sprayed out through the nozzle 1003. The sprayed gas can stir the cooling liquid in the cooling liquid storage chamber 83, preventing the cooling liquid in the cooling liquid storage chamber 83 from settling due to long-term non-use, which would affect the cooling effect.

[0053] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A collaborative robot for welding steel components, characterized in that, Includes a workbench (1), above which is a welding torch body (8), and at the bottom of the welding torch body (8) is a welding torch head (81). A cooling assembly (9) is installed inside the welding torch body (8). The cooling component (9) includes an active push plate (91). A groove (92) is provided on the inner side wall of the welding torch body (8). The active push plate (91) is slidably connected in the groove (92). The area enclosed by the active push plate (91) and the welding torch head (81) is an empty chamber (82). A driven push plate (93) is slidably connected inside the groove (92). The driven push plate (93) is located above the active push plate (91). An inner rod (94) is fixedly connected to the top of the active push plate (91). An outer rod (95) is sleeved on the outer side of the inner rod (94). Several locking teeth (96) are fixedly connected to the inner side wall of the outer rod (95). The inner rod (94) is located in the... A notched disc (97) is rotatably connected to the inner side wall of the outer rod (95). A semi-circular notch (971) is opened at the end of the notched disc (97). A locking rod (972) is fixedly connected to the side wall of the notched disc (97). A limiting rod (98) is fixedly connected to the inner side wall of the outer rod (95). The end of the limiting rod (98) abuts against the horizontal tangent between the semi-circular notch (971) and the notched disc (97). A liquid hole (99) is opened on the top side wall of the welding torch body (8). A cooling pipe (910) is fixedly connected to the outer side wall of the welding torch body (8). The cooling pipe (910) is connected to the liquid hole (99). A gas chamber (84) is fixedly connected to the top of the welding torch body (8). A reinforcing component (10) is provided inside the welding torch body (8). The reinforcing component (10) includes a gas one-way valve (1001). The gas one-way valve (1001) is fixedly connected to the outer wall of the gas chamber (84). A support rod (1004) is fixedly connected to the top of the driven push plate (93). The top of the support rod (1004) passes through the top of the welding torch body (8) and extends into the gas chamber (84). The support rod (1004) is located inside the gas chamber (84). A gas compression plate (1005) is fixedly connected to one end. The gas compression plate (1005) is slidably connected in the gas chamber (84). A gas pipe (1002) is inserted into the gas compression plate (1005). The bottom of the gas pipe (1002) passes through the top of the welding torch body (8) and extends into it. One end of the gas pipe (1002) inside the welding torch body (8) is fixedly connected to the driven push plate (93). A nozzle (1003) is fixedly connected to the side wall of the gas pipe (1002) near the driven push plate (93).

2. The collaborative robot for welding steel components according to claim 1, characterized in that, The area enclosed by the driven push plate (93) and the top of the welding torch body (8) is a cooling liquid storage chamber (83). Several limiting components (11) are provided inside the slide groove (92). The limiting components (11) are located inside the cooling liquid storage chamber (83). The limiting components (11) include a third groove (1103). The third groove (1103) is opened in the slide groove (92). A round block (1105) is rotatably connected inside the third groove (1103). A long rod (1106) is fixedly connected to the side of the round block (1105) near the support rod (1004). A limiting plate (1107) is fixedly connected inside the third groove (1103). The limiting plate (1107) is located below the long rod (1106).

3. The collaborative robot for welding steel components according to claim 1, characterized in that, The welding torch body (8) has a first groove (1101), a second groove (1102), and a fourth groove (1104) on its side wall. The first groove (1101), the second groove (1102), and the fourth groove (1104) are all interconnected. An auxiliary component (12) is provided inside the welding torch body (8). The auxiliary component (12) includes a manual sliding plate (1201). The manual sliding plate (1201) is slidably connected in the first groove (1101), and a second groove (1102) is slidably connected inside the second groove (1102). The long connecting rod (1202) is movably connected to the interior of the fourth groove (1104) and the trigger short rod (1204) is fixedly connected to the side wall of the second groove (1102). The cross rod (1203) abuts against the trigger short rod (1204). The manual sliding plate (1201) is fixedly connected to the long connecting rod (1202). The long connecting rod (1202) is fixedly connected to the cross rod (1203). The shape of the cross rod (1203) connected to the long connecting rod (1202) is L-shaped.

4. The collaborative robot for welding steel components according to claim 1, characterized in that, The bottom of the workbench (1) is fixedly connected to several bottom supports (101), the side walls of the bottom supports (101) are fixedly connected to several crossbeams (102), and the top of the workbench (1) is fixedly connected to a pad (103).

5. A collaborative robot for welding steel components according to claim 4, characterized in that, A first axial displacement assembly (2) is provided above the workbench (1). The first axial displacement assembly (2) includes a slide rail (21). The slide rail (21) is fixedly connected to the pad (103). A track block (22) is slidably connected to the outside of the slide rail (21). A placement plate (23) is fixedly connected above the track block (22). A limit shaft (24) is fixedly connected to the top of the workbench (1). A first threaded rod (25) is rotatably connected inside the limit shaft (24). A first motor (201) is rotatably connected to the end of the first threaded rod (25). The first motor (201) is fixedly connected to the top of the workbench (1). A support fixing plate (26) is threadedly connected to the side wall of the first threaded rod (25). The support fixing plate (26) is fixedly connected to the bottom of the placement plate (23).

6. The collaborative robot for welding steel components according to claim 5, characterized in that, The top of the workbench (1) is provided with a second axis displacement assembly (3), which includes a U-shaped plate (31). The U-shaped plate (31) is fixedly connected to the top of the workbench (1). A track block (32) is slidably connected to the side wall of the second axis displacement assembly (3). A second threaded rod (33) is threadedly connected to the inside of the track block (32). A second motor (34) is rotatably connected to the end of the second threaded rod (33). The second motor (34) is fixedly connected to the U-shaped plate (31).

7. A collaborative robot for welding steel components according to claim 6, characterized in that, A third axis displacement assembly (4) is provided above the workbench (1). The third axis displacement assembly (4) includes a tooling plate (41), which is fixedly connected to the track block (32). A third motor (42) is fixedly connected to the top of the tooling plate (41). A third threaded rod (43) is rotatably connected to the bottom of the third motor (42). A mounting plate (44) is threadedly connected to the end of the third threaded rod (43) away from the third motor (42). A gun head mounting plate (6) is fixedly connected to the side wall of the mounting plate (44). A welding gun motor (7) is fixedly connected to the side wall of the welding gun mounting plate (6). The gas chamber (84) is fixedly connected to the bottom of the welding gun motor (7).

8. A collaborative robot for welding steel components according to claim 7, characterized in that, A pair of limiting blocks (5) are fixedly connected to the top of the placement plate (23). Each pair of limiting blocks (5) is threaded with a limiting thread rod (51). A gasket (52) is fixedly connected to one end of the pair of limiting thread rods (51) that are close to each other. A turntable (53) is fixedly connected to the other end of the limiting thread rod (51).

9. The welding method of a collaborative robot for welding steel components according to claim 8, characterized in that, Includes the following steps: Step 1: When performing welding, place the workpiece to be welded between a pair of limiting blocks (5), and then rotate the track block (22) so that a pair of pads (52) abut against the workpiece to be welded, thereby achieving a fixing effect; Step 2: The first motor (201), the second motor (34), and the third motor (42) are started by the external control computer. The first motor (201), the second motor (34), and the third motor (42) drive the first threaded rod (25), the second threaded rod (33), and the third threaded rod (43) to rotate in sequence. Under the condition of being threadedly connected to the first threaded rod (25), the second threaded rod (33), and the third threaded rod (43), the placement plate (23), the track block (32), and the mounting plate (44) can change their current position, thereby enabling the device to perform various welding operations.

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