A welding manipulator with multiple welding guns

Abstract

The present invention discloses a welding manipulator with multiple welding guns, which relates to the technical field of welding manipulators. The manipulator comprises: a manipulator body, a first connecting seat being installed at the bottom end of the manipulator body, a rotation drive assembly being provided at the bottom end of the manipulator body for driving the manipulator end to rotate; a welding gun switching motor, the welding gun switching motor being provided on one side of the manipulator body, a mounting bracket being fixed to the output end of the welding gun switching motor, a plurality of mounting brackets distributed circumferentially being provided on the mounting bracket, and different types of welding guns being installed at the bottom of each mounting bracket. The present invention, by providing a mounting bracket and a plurality of mounting brackets of different types, can rotate the mounting bracket based on demand based on the welding gun switching motor, and rotate the corresponding welding gun to the bottom of the manipulator end; adjust the height of the mounting bracket based on the lifting drive assembly, so that the manipulator end can be combined with the mounting bracket; and the coordination of the various structures ultimately achieves the purpose of assembling the welding gun for the manipulator end.

Description

Technical Field

[0001] The present invention relates to the technical field of welding manipulators, and in particular to a welding manipulator with multiple welding guns arranged therein. Background Art

[0002] Welding robots are of great significance in industrial production. The use of automatic welding robots can stabilize and improve welding quality; increase labor productivity; reduce worker intensity, allowing work in hazardous environments; and reduce the technical requirements for workers. They also shorten the lead time for product upgrades and reduce equipment investment. Furthermore, the use of robots facilitates automation in material handling, workpiece loading and unloading, tool replacement, and machine assembly, thereby increasing labor productivity, reducing production costs, and accelerating the mechanization and automation of industrial production.

[0003] The current welding manipulators are mostly configured with a single welding gun, which is difficult to meet the needs of different welding operations. Therefore, there is still room for improvement.

[0004] After searching, the Chinese patent application number CN202110425210.5 discloses a welding manipulator and its working method, which specifically relates to the field of welding. The invention comprises an assembled welding manipulator arm mechanism, a rolling welding track guide mechanism is provided on one side of the assembled welding manipulator arm mechanism, and a plurality of limit-type corresponding support and fixing mechanisms are fixedly installed on the side of the rolling welding track guide mechanism close to the assembled welding manipulator arm mechanism. One side of the rolling welding track guide mechanism is fixed to the corresponding side of the assembled welding manipulator arm mechanism through the limit-type corresponding support and fixing mechanism. The welding manipulator in the above-mentioned document has the following shortcomings: the welding manipulator has a single welding gun structure, which is difficult to meet the needs of different welding operations. Summary of the Invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a welding manipulator with multiple welding guns.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A welding manipulator with multiple welding guns arranged therein, comprising:

[0008] A manipulator body, wherein a first connecting seat is installed at the bottom end of the manipulator body, and a rotation drive assembly for driving the manipulator end to rotate is provided at the bottom end of the manipulator body;

[0009] The welding gun switching motor is arranged on one side of the manipulator body. The output end of the welding gun switching motor is fixed with a mounting bracket, and a plurality of mounting seats distributed in a circle are arranged on the mounting bracket. The types of welding guns installed at the bottom of each mounting bracket are different.

[0010] The lifting drive assembly is installed on one side of the manipulator body. The lifting drive assembly is used to drive the mounting frame to move up and down. The welding gun switching motor is installed on the lifting drive assembly.

[0011] A positioning pin is slidably connected to the inner wall of the mounting frame, and a pull frame is fixed to one end of the positioning pin, and the pull frame is connected to the mounting frame through a first spring;

[0012] A connecting cavity is provided on the top of the mounting seat, and the shape of the bottom of the manipulator end is adapted to the connecting cavity. A first opening is opened on the side of the mounting seat. When the mounting seat is installed in the mounting frame, one end of the positioning pin is inserted into the first opening; a pressing assembly is provided in the manipulator end, and the pressing assembly is used to push the positioning pin out from the first opening.

[0013] As a preferred embodiment of the present invention, the top pressure assembly includes:

[0014] A first top column, a guide cylinder is provided at the bottom end of the manipulator end, the first top column is slidably connected to the inner wall of the guide cylinder, a second top column is provided at one end of the first top column, and the second top column is adapted to the positioning pin;

[0015] Inner bracket, the inner bracket is fixed to the inner wall of the manipulator end;

[0016] A lifting bracket is slidably connected to the inner wall of the inner bracket, and the bottom end of the lifting bracket is hinged to the first top column through a connecting rod;

[0017] The driving part is used to drive the lifting bracket to move up and down.

[0018] As a preferred embodiment of the present invention, the driving unit includes:

[0019] Electric retractor, the output end of the electric retractor is fixed with a push plate, which is located on the top of the lifting bracket;

[0020] The second spring is used to connect the bottom of the lifting bracket to the inner bracket.

[0021] As a preferred embodiment of the present invention, the lifting drive assembly includes:

[0022] Electric telescopic cylinder, which is installed on the welding gun switching motor through a fixed bracket;

[0023] The lifting seat is fixed to the output end of the electric telescopic cylinder. A side slide groove is provided on the side of the manipulator body, and the lifting seat is slidably connected to the inner wall of the side slide groove;

[0024] The top of the U-shaped welding gun is provided with an upper guide groove; the bottom of the U-shaped welding gun is provided with a lower guide groove.

[0025] As a preferred embodiment of the present invention: a control module is provided on the top of the mounting seat, a connecting seat is provided on the top of the mounting seat, and a connecting head adapted to the connecting seat is provided on one side of the manipulator end; when the manipulator end is installed on the mounting seat, the connecting head is installed in the connecting seat; power supply and signal transmission are realized based on the connection between the connecting head and the connecting seat.

[0026] As a preferred embodiment of the present invention: a laser distance measuring component is installed at the bottom of the mounting base, and the laser distance measuring component is electrically connected to the control module.

[0027] As a preferred embodiment of the present invention, the rotation drive assembly includes:

[0028] The first connecting seat is fixed to the top of the manipulator head and is rotatably mounted on the bottom of the manipulator body;

[0029] The first angle deflection motor is fixed to the side surface of the bottom end of the manipulator body, and the output end of the first angle deflection motor is connected to the shaft of the first connecting seat.

[0030] As a preferred embodiment of the present invention: the welding manipulator further includes:

[0031] A second connecting seat is installed on the top of the manipulator body;

[0032] The manipulator support, the second connecting base is rotatably mounted on the end of the manipulator support;

[0033] The second angle deflection motor is installed on the outer wall of one side of the manipulator support, and the output end of the second angle deflection motor is transmission-connected to the second connecting seat.

[0034] As a preferred embodiment of the present invention: the different welding guns at the bottom of the mounting seat include: a pencil-shaped welding gun, an L-shaped welding gun and a U-shaped welding gun, a welding support is installed at the bottom of the mounting seat, and the pencil-shaped welding gun, the L-shaped welding gun and the U-shaped welding gun are respectively installed on the welding support at the bottom of each mounting seat.

[0035] As a preferred embodiment of the present invention, an adjustment groove is provided at the bottom of the mounting base, the welding support is slidably connected to the adjustment groove, one end of the welding support is connected to the inner wall of the adjustment groove via a third spring, and a sliding column is provided on the top of the welding support;

[0036] A sliding plate is slidably connected to the inner side of the mounting seat, and the sliding plate is connected to the inner wall of the mounting seat through a shift plate; a second opening adapted to the first opening is provided in the middle of the sliding plate;

[0037] The size of the second top column is adapted to the second through opening, and the diameter of the first top column is larger than the inner diameter of the second through opening;

[0038] The length of the second top column is greater than or equal to the distance from the sliding plate to the outer end of the first through hole. Before the second top column ejects the positioning pin out of the first through hole, the first top column will not contact the sliding plate;

[0039] One of the sliding plates is connected with a shifting plate. The shifting plate has a structure like a reverse slash, and the position of the sliding column is on the movement track of the shifting plate.

[0040] The beneficial effects of the present invention are as follows:

[0041] 1. By providing structures such as an installation frame and multiple installation seats with different types, the present invention can rotate the installation frame driven by a welding torch switching motor according to requirements, and rotate the corresponding welding torch below the end of the manipulator; adjust the height of the installation seat based on the lifting drive component so that the end of the manipulator can be combined with the installation seat; by providing a pressing component, when the pressing component works, the positioning pin can be ejected from the first through hole, thereby unlocking the corresponding installation seat. When the pressing component ejects the positioning pin from the first through hole, it is inserted into the first through hole, and at the same time, the connection and fixation between the end of the manipulator and the installation seat are realized; the cooperation of each structure finally achieves the purpose of assembling a welding torch for the end of the manipulator.

[0042] 2. By providing a pressing component, the present invention can drive the lifting bracket to move up and down based on the drive part, and then, under the transmission of the connecting rod, drive the first top column to slide in the guide cylinder, thereby extruding the positioning pin from the first through hole, and using the second top column to connect and fix with the installation seat.

[0043] 3. By providing structures such as a second spring, the present invention can drive the lifting bracket to move upward based on the second spring, and by providing an electric telescopic device, when the electric telescopic device works, the lifting bracket can be pushed downward through the push plate to achieve the purpose of adjusting the position of the lifting bracket.

[0044] 4. By providing structures such as a sliding plate and a shifting plate, when it is necessary to adjust the position of the welding torch, based on the working of the electric telescopic device, the second top column is driven to eject the positioning pin from the first through hole. Subsequently, based on the continuous working of the electric telescopic device, the first top column is driven to squeeze the sliding plate outward, and then the shifting plate is driven to squeeze the sliding column to one side, so that the welding support can slide in the adjustment groove to achieve the purpose of adjusting the position of the welding torch; when the electric telescopic device resets, the welding support can be reset based on the third spring, improving the reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic structural diagram of a welding manipulator with multiple welding torches arranged according to the present invention;

[0046] Figure 2 It is a schematic structural diagram of another posture of a welding manipulator with multiple welding torches arranged according to the present invention;

[0047] Figure 3 This is a structural diagram of a manipulator end and a mounting frame of a welding manipulator with multiple welding guns arranged in the present invention;

[0048] Figure 4 This is a structural schematic diagram of a welding manipulator mounting frame with multiple welding guns arranged according to the present invention;

[0049] Figure 5 This is a structural schematic diagram of the bottom of a welding manipulator mounting base with multiple welding guns arranged according to the present invention;

[0050] Figure 6 This is a schematic structural diagram of a cross-section of a manipulator end and a mounting base of a welding manipulator with multiple welding guns arranged in the present invention;

[0051] Figure 7 This is a schematic structural diagram of a further cross-section of a manipulator end and a mounting base of a welding manipulator with multiple welding guns arranged in the present invention;

[0052] Figure 8 This is a structural schematic diagram of a welding robot shift plate with a multi-welding gun arrangement proposed by the present invention.

[0053] In the figure: 1 manipulator body, 2 side slide, 3 first angle deflection motor, 4 welding gun switching motor, 5 lifting seat, 6 fixing frame, 7 electric telescopic cylinder, 8 second angle deflection motor, 9 manipulator support, 10 second connecting seat, 11 push plate, 12 first connecting seat, 13 manipulator end, 14 U-type welding gun, 15 L-type welding gun, 16 pen-type welding gun, 17 mounting seat, 18 connecting head, 19 mounting frame, 20 pulling frame, 21 upper guide groove, 22 connecting seat, 23 control module, 24 first spring, 25 positioning pin, 26 electric telescopic device, 27 welding gun seat, 28 lower guide groove, 29 adjusting slot, 30 laser ranging assembly, 31 lifting bracket, 32 inner bracket, 33 second spring, 34 dial plate, 35 sliding plate, 36 first top column, 37 connecting rod, 38 sliding column, 39 guide cylinder. DETAILED DESCRIPTION

[0054] The technical solution of the present invention will be further described in detail below in conjunction with specific implementation methods.

[0055] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0056] Example 1:

[0057] A welding manipulator with multiple welding guns, such as Figure 1-8Shown, including:

[0058] A manipulator body 1, wherein a first connecting seat 12 is installed at the bottom of the manipulator body 1, and a rotation drive assembly for driving the manipulator end 13 to rotate is provided at the bottom of the manipulator body 1;

[0059] The welding gun switching motor 4 is arranged on one side of the manipulator body 1. The output end of the welding gun switching motor 4 is fixed with a mounting bracket 19. The mounting bracket 19 is provided with a plurality of circumferentially distributed mounting seats 17. The types of welding guns mounted at the bottom of each mounting seat 17 are different.

[0060] The lifting drive assembly is installed on one side of the manipulator body 1. The lifting drive assembly is used to drive the mounting frame 19 to move up and down. The welding gun switching motor 4 is installed on the lifting drive assembly.

[0061] A positioning pin 25 is slidably connected to the inner wall of the mounting frame 19. A pull frame 20 is fixed to one end of the positioning pin 25. The pull frame 20 is connected to the mounting frame 19 via a first spring 24.

[0062] The top of the mounting seat 17 is provided with a connecting cavity, and the shape of the bottom of the manipulator end 13 is adapted to the connecting cavity. A first opening is opened on the side of the mounting seat 17. When the mounting seat 17 is installed in the mounting frame 19, one end of the positioning pin 25 is inserted into the first opening; a pressing assembly is provided in the manipulator end 13, and the pressing assembly is used to push the positioning pin 25 out of the first opening;

[0063] By setting up a mounting frame 19 and a plurality of mounting seats 17 of different types and other structures, the mounting frame 19 can be driven to rotate based on the welding gun switching motor 4 as needed, and the corresponding welding gun can be rotated to the bottom of the manipulator end 13; the height of the mounting seat 17 can be adjusted based on the lifting drive component, so that the manipulator end 13 can be combined with the mounting seat 17; by setting up a pressing component, the positioning pin 25 can be pushed out from the first opening based on the operation of the pressing component, thereby unlocking the corresponding mounting seat 17, and when the pressing component pushes the positioning pin 25 out of the first opening, it is inserted into the first opening, and at the same time the connection and fixation between the manipulator end 13 and the mounting seat 17 is realized; the purpose of assembling the welding gun for the manipulator end 13 is achieved.

[0064] To facilitate assembly; Figure 3 、 Figure 6 、 Figure 7 As shown, the top pressure assembly includes:

[0065] A first top column 36 is provided at the bottom end of the manipulator end 13 with a guide cylinder 39 , the first top column 36 is slidably connected to the inner wall of the guide cylinder 39 , and a second top column is integrally provided at one end of the first top column 36 , and the second top column is adapted to the positioning pin 25 ;

[0066] The inner bracket 32 ​​is fixed to the inner wall of the manipulator end 13;

[0067] The lifting bracket 31 is slidably connected to the inner wall of the inner bracket 32, and the bottom end of the lifting bracket 31 is hinged to the first top column 36 through a connecting rod 37;

[0068] A driving unit, which is used to drive the lifting bracket 31 to move up and down;

[0069] By setting up a top-pressing assembly, the lifting bracket 31 can be driven up and down based on the driving part, and then the first top column 36 is driven to slide in the guide cylinder 39 under the transmission of the connecting rod 37, so that the positioning pin 25 is squeezed out from the first opening and connected and fixed to the mounting seat 17 by the second top column.

[0070] In order to facilitate the driving of the lifting bracket 31; Figure 7 As shown, the driving unit includes:

[0071] The electric retractor 26 has a push plate 11 fixed to its output end, and the push plate 11 is located on top of the lifting bracket 31;

[0072] A second spring 33 is used to connect the bottom of the lifting bracket 31 and the inner bracket 32;

[0073] By providing a second spring 33 and other structures, the lifting bracket 31 can be driven to move upward based on the second spring 33. The electric retractor 26 is provided, and the lifting bracket 31 can be pushed downward by the push plate 11 based on the operation of the electric retractor 26 to achieve the purpose of adjusting the position of the lifting bracket 31.

[0074] In addition, the push plate 11 can be fixedly connected to the lifting bracket 31 , the second spring 33 can be removed, and the lifting and lowering of the lifting bracket 31 can be controlled only by the electric retractor 26 .

[0075] In order to facilitate the driving of the mounting frame 19, as shown in FIG. Figure 1 、 Figure 3 As shown, the lifting drive assembly includes:

[0076] The electric telescopic cylinder 7 is mounted on the welding gun switching motor 4 through the fixing bracket 6;

[0077] The lifting seat 5 is fixed to the output end of the electric telescopic cylinder 7. A side slide groove 2 is opened on the side of the manipulator body 1, and the lifting seat 5 is slidably connected to the inner wall of the side slide groove 2;

[0078] A lifting drive assembly is provided to drive the mounting frame 19 to rise after the manipulator end 13 and the mounting seat 17 are assembled, thereby preventing other structures from interfering with the welding operation of the manipulator.

[0079] In order to facilitate control; Figure 3 、 Figure 4 As shown, a control module 23 is provided on the top of the mounting base 17, a connecting base 22 is provided on the top of the mounting base 17, and a connecting head 18 adapted to the connecting base 22 is provided on one side of the manipulator end 13; when the manipulator end 13 is installed on the mounting base 17, the connecting head 18 is installed in the connecting base 22; power supply and signal transmission are realized based on the connection between the connecting head 18 and the connecting base 22.

[0080] In order to facilitate welding; Figure 5 As shown, a laser distance measuring component 30 is installed at the bottom of the mounting base 17, and the laser distance measuring component 30 is electrically connected to the control module 23;

[0081] By providing the laser distance measuring component 30 , distance measurement can be performed based on the laser distance measuring component 30 , so as to determine the distance to the welding object.

[0082] In order to facilitate the control of the manipulator end 13 rotation; Figure 2 As shown, the rotation drive assembly includes:

[0083] The first connecting seat 12 is fixed to the top of the manipulator end 13 and is rotatably mounted on the bottom of the manipulator body 1;

[0084] The first angle deflection motor 3 is fixed to the side surface of the bottom end of the manipulator body 1 , and the output end of the first angle deflection motor 3 is connected to the shaft of the first connecting seat 12 in a transmission manner.

[0085] In order to facilitate the control of the robot body 1; Figure 1 As shown, the welding manipulator also includes:

[0086] A second connecting base 10 is installed on the top of the manipulator body 1;

[0087] The manipulator support 9 and the second connecting base 10 are rotatably mounted on the end of the manipulator support 9;

[0088] The second angle deflection motor 8 is installed on the outer wall of one side of the manipulator support 9 , and the output end of the second angle deflection motor 8 is transmission-connected to the second connecting seat 10 .

[0089] In order to facilitate welding; Figure 2 、 Figure 3 As shown, the different welding guns at the bottom of the mounting seat 17 include: a pencil-shaped welding gun 16, an L-shaped welding gun 15 and a U-shaped welding gun 14. A welding support 27 is installed at the bottom of the mounting seat 17. The pencil-shaped welding gun 16, the L-shaped welding gun 15 and the U-shaped welding gun 14 are respectively installed on the welding support 27 at the bottom of each mounting seat 17.

[0090] In order to facilitate the insertion of the guiding positioning pin 25 into the first through port, an upper guiding groove 21 is provided at the top of the U-shaped welding torch 14; a lower guiding groove 28 is provided at the bottom of the U-shaped welding torch 14.

[0091] Embodiment 2:

[0092] A welding manipulator with a multi-welding torch arrangement, as Figure 6-8 shown. In order to facilitate the adjustment of the position of the welding torch; the following improvements are made based on Embodiment 1: An adjustment groove 29 is provided at the bottom of the mounting seat 17, the welding support 27 is slidably connected in the adjustment groove 29, and a third spring is connected between one end of the welding support 27 and the inner wall of the adjustment groove 29. A sliding column 38 is provided at the top of the welding support 27;

[0093] A sliding plate 35 is slidably connected inside the mounting seat 17, and the sliding plate 35 is connected to the inner wall of the mounting seat 17 through a dial plate 34; a second through port adapted to the first through port is provided in the middle of the sliding plate 35;

[0094] The size of the second ejector pin is adapted to the second through port, and the diameter of the first ejector pin is larger than the inner diameter of the second through port;

[0095] The length of the second ejector pin is greater than or equal to the distance from the sliding plate 35 to the outer end of the first through port. Before the second ejector pin ejects the positioning pin 25 out of the first through port, the first ejector pin will not contact the sliding plate 35;

[0096] One of the sliding plates 35 is connected with a dial plate 34, the dial plate 34 is in a shape of a reverse L, and the position of the sliding column 38 is on the movement track of the dial plate 34;

[0097] By providing structures such as the sliding plate 35 and the dial plate 34, when it is necessary to adjust the position of the welding torch, based on the operation of the electric telescopic device 26, the second ejector pin is driven to eject the positioning pin 25 out of the first through port. Subsequently, based on the continuous operation of the electric telescopic device 26, the first ejector pin is driven to extrude the sliding plate 35 outward, and then the dial plate 34 is driven to extrude the sliding column 38 to one side, so that the welding support 27 can slide in the adjustment groove, achieving the purpose of adjusting the position of the welding torch; when the electric telescopic device 26 resets, the welding support 27 can reset based on the third spring, improving the reliability.

[0098] As described above, only the preferred specific embodiments of the present invention are provided, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A welding manipulator with multiple welding guns, characterized in that: include: A manipulator body (1), wherein a first connecting seat (12) is installed at the bottom end of the manipulator body (1), and a rotation drive assembly for driving the manipulator end (13) to rotate is provided at the bottom end of the manipulator body (1); A welding gun switching motor (4) is provided on one side of the manipulator body (1), a mounting frame (19) is fixed to the output end of the welding gun switching motor (4), a plurality of circumferentially distributed mounting seats (17) are provided on the mounting frame (19), and the types of welding guns mounted on the bottom of each mounting seat (17) are all different; A lifting drive assembly, the lifting drive assembly is installed on one side of the manipulator body (1), the lifting drive assembly is used to drive the mounting frame (19) to move up and down, and the welding gun switching motor (4) is installed on the lifting drive assembly; A positioning pin (25), the positioning pin (25) is slidably connected to the inner wall of the mounting frame (19), a pull frame (20) is fixed to one end of the positioning pin (25), and the pull frame (20) is connected to the mounting frame (19) through a first spring (24); The top of the mounting seat (17) is provided with a connecting cavity, the shape of the bottom of the manipulator end head (13) is adapted to the connecting cavity, a first opening is provided on the side of the mounting seat (17), and when the mounting seat (17) is installed in the mounting frame (19), one end of the positioning pin (25) is inserted into the first opening; a pressing assembly is provided in the manipulator end head (13), and the pressing assembly is used to push the positioning pin (25) out of the first opening; The top pressure assembly includes: A first top column (36), a guide cylinder (39) is provided at the bottom end of the manipulator end (13), the first top column (36) is slidably connected to the inner wall of the guide cylinder (39), a second top column is provided at one end of the first top column (36), and the second top column is adapted to the positioning pin (25); An inner bracket (32), the inner bracket (32) is fixed to the inner wall of the manipulator end (13); A lifting bracket (31), the lifting bracket (31) is slidably connected to the inner wall of the inner bracket (32), and the bottom end of the lifting bracket (31) is hinged to the first top column (36) through a connecting rod (37); A driving unit, the driving unit is used to drive the lifting bracket (31) to move up and down; An adjusting groove (29) is provided at the bottom of the mounting seat (17), the welding support (27) is slidably connected in the adjusting groove (29), the welding gun is mounted on the welding support (27), one end of the welding support (27) is connected to the inner wall of the adjusting groove (29) via a third spring, and a sliding column (38) is provided at the top of the welding support (27); A sliding plate (35) is slidably connected to the inner side of the mounting seat (17), and the sliding plate (35) is connected to the inner wall of the mounting seat (17) through a dial plate (34); a second opening adapted to the first opening is provided in the middle of the sliding plate (35); The size of the second top column is adapted to the second through opening, and the diameter of the first top column is larger than the inner diameter of the second through opening; The length of the second push column is greater than or equal to the distance from the sliding plate (35) to the outer end of the first opening, and the first push column does not contact the sliding plate (35) before the second push column pushes the positioning pin (25) out of the first opening; One of the sliding plates (35) is connected with a shifting plate (34). The shifting plate (34) is in a shape of a reverse slash. The position of the sliding column (38) is on the movement track of the shifting plate (34).

2. The welding manipulator with multiple welding guns according to claim 1, characterized in that: The driving part includes: An electric telescopic device (26). A push plate (11) is fixed to the output end of the electric telescopic device (26). The push plate (11) is located at the top of the lifting bracket (31). A second spring (33). The bottom of the lifting bracket (31) and the inner bracket (32) are connected by the second spring (33).

3. The welding manipulator with multiple welding guns according to claim 1, characterized in that: The welding torches at the bottoms of different mounting seats (17) include: a pen-shaped welding torch (16), an L-shaped welding torch (15) and a U-shaped welding torch (14). A welding support (27) is installed at the bottom of the mounting seat (17). The pen-shaped welding torch (16), the L-shaped welding torch (15) and the U-shaped welding torch (14) are respectively installed on the welding supports (27) at the bottoms of the respective mounting seats (17).

4. The welding manipulator with multiple welding guns according to claim 3, characterized in that: The lifting drive assembly includes: An electric telescopic cylinder (7). The electric telescopic cylinder (7) is installed on the welding torch switching motor (4) through a fixing bracket (6). A lifting seat (5). The lifting seat (5) is fixed to the output end of the electric telescopic cylinder (7). A side sliding groove (2) is formed on the side surface of the manipulator main body (1). The lifting seat (5) is slidably connected to the inner wall of the side sliding groove (2). An upper guide groove (21) is provided at the top of the U-shaped welding torch (14); a lower guide groove (28) is provided at the bottom of the U-shaped welding torch (14).

5. The welding manipulator with multiple welding guns according to claim 1, characterized in that: A control module (23) is provided at the top of the mounting seat (17). A connecting seat (22) is provided at the top of the mounting seat (17). A connecting head (18) adapted to the connecting seat (22) is provided on one side of the manipulator end (13); when the manipulator end (13) is installed on the mounting seat (17), the connecting head (18) is installed in the connecting seat (22); power supply and signal transmission are realized based on the connection between the connecting head (18) and the connecting seat (22).

6. The welding manipulator with multiple welding guns according to claim 5, characterized in that: A laser ranging component (30) is installed at the bottom of the mounting seat (17). The laser ranging component (30) is electrically connected to the control module (23).

7. The welding manipulator with multiple welding guns according to claim 1, characterized in that: The rotation drive assembly includes: A first connecting seat (12). The first connecting seat (12) is fixed to the top of the manipulator end (13). The first connecting seat (12) is rotatably installed at the bottom end of the manipulator main body (1). A first angle deflection motor (3). The first angle deflection motor (3) is fixed to the side surface at the bottom end of the manipulator main body (1). The output end of the first angle deflection motor (3) is in shaft transmission connection with the first connecting seat (12).

8. The welding manipulator with multiple welding guns according to claim 1, characterized in that: The welding manipulator further includes: A second connecting seat (10). The second connecting seat (10) is installed on the top of the manipulator main body (I). A manipulator support (9). The second connecting seat (10) is rotatably installed at the end of the manipulator support (9). A second angle deflection motor (8). The second angle deflection motor (8) is installed on the outer wall of one side of the manipulator support (9). The output end of the second angle deflection motor (8) is in transmission connection with the second connecting seat (10).

Images