Loader frame welding robot

Abstract

The invention relates to the technical field of welding devices, and discloses a loader frame welding robot which comprises a mechanical arm mounted at the top of a welding table, a welding device is fixedly mounted on an end effector of the mechanical arm, the welding device comprises a mounting shell, and a laser welding head is mounted in the center of the interior of the mounting shell. An anti-collision cover capable of vertically sliding is installed in the installation shell, and the laser welding head is wrapped in the anti-collision cover. Through cooperation of the anti-collision cover and the retraction assembly, accidental collision between the laser welding head and a workpiece is prevented, the safety of the operation process is ensured, an automatic protection mechanism is provided, the laser welding head can be adjusted in real time in the welding process, the laser welding head retracts towards the interior of the mounting shell to be protected, and the safety of the laser welding head is improved. And the subsequent welding process is prevented from being affected by damage of the laser welding head, the risk of accidents in the equipment operation process is reduced, and the safety of operators and equipment is protected.

Description

Technical Field

[0001] The invention relates to the technical field of welding devices, in particular to a loader frame welding robot. Background Art

[0002] Welding equipment is crucial in modern manufacturing. It significantly improves production efficiency and quality through automated high-precision welding. Its consistency and reliability far exceed those of manual welding, reducing the exposure time of human workers in dangerous environments and enabling continuous long-term work, thereby reducing production costs while meeting stringent industrial standards and requirements. Welding equipment not only optimizes the production process, but also provides flexible and precise solutions for the manufacture of various complex structures.

[0003] For example, Chinese patent publication number CN118976989A discloses a welding device for three-point welding of pipes, including a hood, a laser body and a fan assembly are installed on the inner wall of the bottom end of the hood, and a clamping mechanism and a welding mechanism are arranged at the center of the hood; the welding mechanism includes a limit support frame, and three third linear guides are fixedly connected to the limit support frame at the same time, and one side outer wall of each of the third linear guides is respectively and sequentially connected to an angled support frame, a second linear guide and a first linear guide, and each of the first linear guides is movably connected to a welding gun, and the welding gun includes a welding head, and one side of the limit support frame is simultaneously connected to an air jet assembly; one side outer wall of the limit support frame is fixedly connected to a first side support plate. The welding device for three-point welding of pipes disclosed in the invention can better meet the higher processing precision requirements of small pipe workpieces through fast multi-point locking and surrounding multi-point synchronous welding.

[0004] This welding equipment can better meet the high processing accuracy requirements of small pipe workpieces through fast multi-point locking and surrounding multi-point synchronous welding. However, when the pipe to be welded is offset or the path calculation is wrong due to system problems, the welding head may collide with the workpiece when aligning the weld and moving along the weld. If it is not discovered in time, the continuous movement of the welding head will cause wear and deformation of the welding head, which will affect subsequent processing and increase maintenance costs. Summary of the invention

[0005] The object of the present invention is to provide a loader frame welding robot to solve at least one technical problem existing in the above-mentioned prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions: a loader frame welding robot, comprising a mechanical arm mounted on the top of a welding table, the end effector of the mechanical arm is fixedly mounted with a welding device, the welding device comprises a mounting shell, a laser welding head is mounted at the center of the mounting shell, a vertically slidable anti-collision cover is mounted in the mounting shell, and the anti-collision cover wraps the laser welding head;

[0007] It also includes a retracting component, which controls the laser welding head to retract into the mounting shell when the upward movement distance of the anti-collision cover exceeds a preset value.

[0008] Preferably, a fixing ring is fixedly installed on the inner wall of the mounting shell, a mounting rod is slidably installed on the inner wall of the fixing ring, the laser welding head is fixedly installed on the bottom of the mounting rod, two first elastic telescopic rods are ball-hinged on the top of the fixing ring, two blocks are fixedly connected to the outer wall of the mounting rod, and the telescopic parts of the two first elastic telescopic rods are both ball-hinged connected to the bottom of the corresponding blocks, and two second elastic telescopic rods are fixedly installed on the inner wall of the mounting shell, and the tops of the telescopic parts of the two second elastic telescopic rods are both set as inclined surfaces, and in the initial state, the bottoms of the telescopic parts of the two second elastic telescopic rods are in contact with the tops of the corresponding blocks.

[0009] Preferably, the retracting assembly comprises a second sleeve mounted on the outer wall of the mounting rod and capable of vertical sliding adjustment, the bottom of the second sleeve is fixedly connected with two unlocking blocks capable of respectively contacting the tops of the two second elastic telescopic rods, and the unlocking blocks are longer than the clamping blocks;

[0010] The invention also comprises a connecting part, wherein the connecting part connects the impact shield and the second sleeve, and when the impact shield moves, the connecting part enables the second sleeve to move synchronously in the opposite direction.

[0011] Preferably, the connecting part includes a first sleeve rotatably mounted on the inner wall of the mounting shell, the inner wall of the first sleeve is fixedly connected to two limit blocks, the outer walls of the two limit blocks are set to inclined surfaces in the same direction, and the first sleeve is fixedly connected to the anti-collision cover by ribs, a first spring is connected between the first sleeve and the inner top of the mounting shell, the top of the mounting shell is fixedly connected to a holder, the outer wall of the second sleeve fits the inner wall of the holder and the two are slidably connected, the outer wall of the holder is provided with a limit groove, a driving plate is slidably mounted in the limit groove, the inner wall of the driving plate is hollow and is set to two sections of inclined ribs, the outer walls on both sides of the driving plate are respectively set to inclined surfaces adapted to the outer walls of the two limit blocks, and the inclined surfaces on both sides of the driving plate are always in contact with the corresponding inclined surfaces of the limit blocks, and the outer wall of the second sleeve is provided with a moving groove, and the ribs of the driving plate are slidably mounted in the moving groove.

[0012] Preferably, a rotation groove is formed on the outer wall of the mounting rod, the rotation groove comprises a section of an oblique groove and a section of a vertical groove, and a protrusion which can slide in the rotation groove is fixedly connected to the inner wall of the fixing ring.

[0013] Preferably, the two first elastic telescopic rods are both arranged obliquely, and the inclination directions of the two first elastic telescopic rods are opposite.

[0014] Preferably, a movable ring is rotatably mounted on the outer wall of the mounting rod extending outside the second sleeve, a rotating ring is slidably mounted on the outer wall of the holder, the movable ring and the rotating ring are fixedly connected by a connecting rod, a through hole is provided on the inner wall of the holder, and a latch is slidably mounted in the through hole of the holder, a connecting rod is rotatably mounted on the outer wall of the rotating ring, the other end of the connecting rod is rotatably connected to the outer wall of the latch, and a socket for inserting the latch is provided on the inner wall of the second sleeve.

[0015] Preferably, the second elastic telescopic rod comprises a sleeve fixedly mounted on the outer wall of the mounting shell, a sliding rod is slidably mounted on the inner wall of the sleeve, a second spring is installed between the sliding rod and the inner wall of the mounting shell, and the top of the outer wall of the sliding rod is set as an inclined surface.

[0016] Preferably, a visual sensor is fixedly mounted on the bottom of the mounting shell, and the visual sensor can monitor the position and posture of the frame to be welded.

[0017] Preferably, the latches are all elastic telescopic rods.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention prevents accidental collision between the laser welding head and the workpiece through the cooperation of the anti-collision cover and the retraction assembly, ensures the safety of the operation process, and provides an automated protection mechanism, which can adjust the laser welding head in real time during the welding process, so that it can be retracted into the installation shell to protect it, prevent damage to the laser welding head from affecting the subsequent welding process, reduce the risk of accidents during the operation of the equipment, and protect the safety of operators and equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A perspective view of the present invention;

[0021] Figure 2 It is a right side view of the present invention;

[0022] Figure 3 is a three-dimensional diagram of the welding device of the present invention;

[0023] Figure 4 It is a front view and cross-section of the welding device of the present invention;

[0024] Figure 5 For the present invention Figure 4 A in the enlarged view;

[0025] Figure 6 For the present invention Figure 4 The enlarged view of point B in the figure;

[0026] Figure 7 It is a three-dimensional exploded view of the second sleeve and the driving plate in the present invention;

[0027] Figure 8 is a three-dimensional schematic diagram of the first sleeve in the present invention;

[0028] Fig. 9 It is a three-dimensional schematic diagram of the mounting rod of the present invention.

[0029] In the figure: 1. welding table; 2. robotic arm; 3. welding device; 4. mounting shell; 5. anti-collision cover; 6. mounting rod; 7. laser welding head; 8. clamping block; 9. fixing ring; 10. first elastic telescopic rod; 11. second elastic telescopic rod; 12. first sleeve; 13. limit block; 14. second sleeve; 15. holder; 16. driving plate; 17. first spring; 18. moving groove; 19. unlocking block; 20. protrusion; 21. rotating groove; 22. socket; 23. moving ring; 24. rotating ring; 25. connecting rod; 26. latch; 27. connecting rod; 28. third sleeve; 29. ​​second spring; 30. sliding rod; 31. visual sensor; 32. limit groove. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figures 1 to 9 The present invention provides a technical solution: a loader frame welding robot, comprising a mechanical arm 2 mounted on the top of a welding table 1, a welding device 3 is fixedly mounted on the end effector of the mechanical arm 2, the welding device 3 comprises a mounting shell 4, a laser welding head 7 is mounted at the center of the mounting shell 4, a vertically slidable anti-collision cover 5 is mounted in the mounting shell 4, and the anti-collision cover 5 wraps the laser welding head 7;

[0032] It also includes a retracting component. When the upward movement distance of the anti-collision cover 5 exceeds a preset value, the retracting component controls the laser welding head 7 to retract into the mounting shell 4.

[0033] When the device is in use, the loader frame to be welded is fixed on the top of the welding table 1 through an external clamping mechanism, the weld tracking path of the welding device 3 is planned through the data acquisition and analysis system, and the welding device 3 is driven by the robotic arm 2 to weld the frame. The robotic arm 2 adopts existing technology and mature technology, which is easy to implement and will not be described in detail here.

[0034] When a calculation error causes a deviation in the established route (or the clamped frame is offset due to external reasons), and the welding device 3 moves downward and contacts the top of the frame surface to be welded, the anti-collision cover 5 will first contact the top of the frame to prevent the laser welding head 7 from directly contacting the top of the frame and causing wear or deformation; when the mounting shell 4 continues to move downward, the anti-collision cover 5 will move upward under the action of the frame. When the anti-collision cover 5 moves upward a distance exceeding the preset value and is about to cause damage to the laser welding head 7, the retraction component will control the laser welding head 7 to retract into the mounting shell 4, effectively preventing the laser welding head 7 from being damaged by collision or excessive pressure, thereby extending its service life, reducing maintenance and replacement costs, and reducing human intervention, thereby improving the intelligence level and work efficiency of the system, and ensuring the continuity and stability of the welding process.

[0035] Therefore, through the cooperation of the anti-collision cover 5 and the retraction assembly, accidental collision between the laser welding head 7 and the workpiece is prevented, the safety of the operation process is ensured, and an automated protection mechanism is provided, which can adjust the laser welding head 7 in real time during the welding process, so that it can be retracted into the installation shell 4 to protect it, prevent damage to the laser welding head 7 and affect the subsequent welding process, and reduce the risk of accidents during the operation of the equipment, thereby protecting the safety of operators and equipment.

[0036] It is worth mentioning that an alarm switch can be provided at the bottom of the anti-collision cover 5. When the anti-collision cover 5 contacts the surface of the frame, an alarm can be issued in time to remind the staff and prevent more serious accidents.

[0037] Furthermore, a fixing ring 9 is fixedly installed on the inner wall of the mounting shell 4, a mounting rod 6 is slidably installed on the inner wall of the fixing ring 9, a laser welding head 7 is fixedly installed on the bottom of the mounting rod 6, two first elastic telescopic rods 10 are ball-hinged on the top of the fixing ring 9, two clamping blocks 8 are fixedly connected to the outer wall of the mounting rod 6, and the telescopic parts of the two first elastic telescopic rods 10 are both ball-hinged connected to the bottom of the corresponding clamping blocks 8, and two second elastic telescopic rods 11 are fixedly installed on the inner wall of the mounting shell 4, and the tops of the telescopic parts of the two second elastic telescopic rods 11 are both set as inclined surfaces, and in the initial state, the bottoms of the telescopic parts of the two second elastic telescopic rods 11 are in contact with the tops of the corresponding clamping blocks 8.

[0038] The device further comprises a connecting portion, which connects the anti-collision cover 5 with the second sleeve 14. When the anti-collision cover 5 moves, the connecting portion causes the second sleeve 14 to move synchronously in the opposite direction.

[0039] See also Figure 4 The laser welding head 7 is fixedly mounted at the bottom of the mounting rod 6. In the initial state, the first elastic telescopic rod 10 is in a compressed state, thereby applying an upward elastic force to the block 8, and the block 8 is in contact with the second elastic telescopic rod 11. The mounting rod 6 is locked by their cooperation, so that the mounting rod 6 is locked with the mounting shell 4 in the initial state and can move synchronously with the mounting shell 4, so that the laser welding head 7 moves synchronously with the mounting shell 4 to complete the purpose of welding the frame.

[0040] It is worth mentioning that a photoelectric sensor can be set on the top of the mounting shell 4 and electrically connected to the emergency stop switch. When the photoelectric sensor detects that the mounting rod 6 moves upward, the emergency stop switch can be triggered to shut down the entire device to prevent serious accidents and protect the laser welding head 7 more effectively.

[0041] When the second elastic telescopic rod 11 unlocks the block 8 to rotate and rise, due to the large inclination angle of the inclined groove of the rotating groove 21, the friction between the socket 22 and the rotating groove 21 in the horizontal direction may be too large to rotate. At this time, by setting the inclined first elastic telescopic rod 10, the two first elastic telescopic rods 10 will generate a component force in the horizontal direction on the block 8, so that the mounting rod 6 is sufficient to overcome the horizontal friction between the socket 22 and the rotating groove 21 and rotate, so that it can move upward stably.

[0042] It is worth noting that the initial horizontal component of the two first elastic telescopic rods 10 on the block 8 is smaller than the friction between the block 8 and the second elastic telescopic rod 11, preventing the block 8 from rotating prematurely, thereby causing the laser welding head 7 to retract into the mounting housing 4 when there is no threat.

[0043] Furthermore, the retracting assembly includes a second sleeve 14 mounted on the outer wall of the mounting rod 6 and capable of vertical sliding adjustment, and two unlocking blocks 19 capable of respectively contacting the tops of the two second elastic telescopic rods 11 are fixedly connected to the bottom of the second sleeve 14, and the unlocking blocks 19 are longer than the clamping blocks 8;

[0044] Furthermore, the two first elastic telescopic rods 10 are both arranged obliquely, and the inclination directions of the two first elastic telescopic rods 10 are opposite.

[0045] From the above, it can be seen that the locking between the mounting rod 6 and the mounting shell 4 is achieved through the cooperation of the card block 8, the second elastic telescopic rod 11 and the first elastic telescopic rod 10, that is, when the telescopic part of the second elastic telescopic rod 11 is retracted, the card block 8 will be unlocked, and under the elastic force of the first elastic telescopic rod 10, the card block 8 will drive the mounting rod 6 to move upward, thereby driving the laser welding head 7 to move upward, completing the protection process of the laser welding head 7.

[0046] See also Figure 4 as well as Figure 7 When the robot arm 2 controls the mounting shell 4 to move downward, the anti-collision cover 5 contacts the surface of the frame due to external factors, and the anti-collision cover 5 moves upward in the vertical direction. In this process, the second sleeve 14 moves downward synchronously through the connecting portion, thereby driving the unlocking block 19 to move downward. When the bottom of the unlocking block 19 contacts the top inclined surface of the telescopic portion of the second elastic telescopic rod 11, the telescopic portion of the second elastic telescopic rod 11 gradually moves toward the inner wall of the mounting shell 4, thereby completing the unlocking of the card block 8. Under the action of the elastic force of 10, the card block 8 will drive the installation rod 6 to move upward. Since the unlocking block 19 is longer than the card block 8, that is, when the second elastic telescopic rod 11 unlocks the card block 8, there is still a distance between the card block 8 and the unlocking block 19. The elastic force of the first elastic telescopic rod 10 on the card block 8 will make the card block 8 gradually fit with the unlocking block 19, thereby completing the purpose of retracting the laser welding head 7 into the installation shell 4, preventing the installation shell 4 from continuing to move and causing damage to the laser welding head 7, so as to reduce maintenance costs and improve the overall reliability and life of the equipment.

[0047] Furthermore, the connecting portion includes a first sleeve 12 rotatably mounted on the inner wall of the mounting shell 4, the inner wall of the first sleeve 12 is fixedly connected to two limit blocks 13, the outer walls of the two limit blocks 13 are set to inclined surfaces in the same direction, and the first sleeve 12 is fixedly connected to the anti-collision cover 5 by ribs, a first spring 17 is connected between the first sleeve 12 and the inner top of the mounting shell 4, a holder 15 is fixedly connected to the top of the mounting shell 4, the outer wall of the second sleeve 14 fits the inner wall of the holder 15 and the two are slidably connected, a limit groove 32 is provided on the outer wall of the holder 15, a driving plate 16 is slidably mounted in the limit groove 32, the inner wall of the driving plate 16 is hollow and is set to two sections of inclined ribs, the outer walls on both sides of the driving plate 16 are respectively set to inclined surfaces adapted to the outer walls of the two limit blocks 13, and the inclined surfaces on both sides of the driving plate 16 are always in contact with the corresponding inclined surfaces of the limit blocks 13, and a moving groove 18 is provided on the outer wall of the second sleeve 14, and the ribs of the driving plate 16 are slidably mounted in the moving groove 18.

[0048] See also Figure 4 as well as Figure 6When the anti-collision cover 5 contacts the workshop surface and moves upward, it will drive the first sleeve 12 and the limit block 13 to move upward. Under the cooperation of the inclined surfaces of the two limit blocks 13 and the inclined surfaces on both sides of the drive plate 16, the drive plate 16 will slide horizontally to the left in the limit groove 32. Figure 7 When the driving plate 16 moves horizontally, it will slide in the moving groove 18, so that the second sleeve 14 moves vertically downward, and then drives the unlocking block 19 to move downward and contact the inclined surface at the top of the telescopic part of the second elastic telescopic rod 11, so that the telescopic part of the second elastic telescopic rod 11 moves toward the inner wall of the mounting shell 4 to complete the unlocking of the card block 8, so that the card block 8 drives the mounting rod 6 and the laser welding head 7 to move upward, thereby completing the protection of the laser welding head 7.

[0049] It is worth mentioning that when the anti-collision cover 5 contacts the frame to be welded due to a minor calculation error but does not cause damage to the laser welding head 7, the second elastic telescopic rod 11 will not unlock the block 8, that is, when the anti-collision cover 5 contacts the top of the frame and the unlocking block 19 moves downward close to the second elastic telescopic rod 11, if the anti-collision cover 5 does not meet the set rising height, the unlocking block 19 will not retract the second elastic telescopic rod 11 to the state where the block 8 is completely unlocked. At this time, the laser welding head 7 can continue to work and continue to weld the frame being welded, reducing unnecessary downtime, improving the continuity and overall work efficiency of the production line, and ensuring its efficient operation while protecting the laser welding head 7. In addition, an alarm will be sounded under the action of the alarm switch at the bottom of the anti-collision cover 5, allowing the staff to make subtle adjustments to the established route to avoid affecting the welding process, so as to improve the flexibility and adaptability of the production line and better cope with various situations in the production process.

[0050] Furthermore, a rotation groove 21 is formed on the outer wall of the mounting rod 6 , and the rotation groove 21 includes an inclined groove and a vertical groove. A protrusion 20 that can slide in the rotation groove 21 is fixedly connected to the inner wall of the fixing ring 9 .

[0051] From the above, it can be seen that when the robot arm 2 controls the welding device 3 during the welding process, due to external factors, the anti-collision cover 5 contacts the frame and rises a certain distance to cause damage to the laser welding head 7, the unlocking block 19 will move downward to allow the second elastic telescopic rod 11 to unlock the blocking block 8, thereby allowing the mounting rod 6 to drive the laser welding head 7 to retract into the mounting shell 4 to achieve the purpose of protecting it.

[0052] After the unlocking block 19 moves downward to unlock the second elastic telescopic rod 11, the locking block 8 moves upward to fit with the unlocking block 19. The unlocking block 19 and the second elastic telescopic rod 11 need to be long enough to allow the laser welding head 7 to rise to the protection range. Reducing components with larger volumes can reduce the energy consumption of the system and improve operational efficiency. Therefore, when the unlocking block 19 is pressed down to allow the second elastic telescopic rod 11 to unlock the locking block 8 and move the mounting rod 6 upward, the mounting rod 6 will rotate a certain angle in the initial stage of rising under the action of the rotating groove 21 and the protrusion 20, so that the locking block 8 and the unlocking block 19 are misaligned with each other and continue to move upward thereafter. In this way, the unlocking block 19 and the second elastic telescopic rod 11 can be set relatively small to optimize space utilization. Smaller and more concentrated components can not only reduce the overall occupied space, but also improve the compactness and integration of the system. Smaller and more concentrated components mean less material usage and manufacturing complexity, thereby reducing overall costs.

[0053] Furthermore, a movable ring 23 is rotatably installed on the outer wall of the mounting rod 6 extending outside the second sleeve 14, a rotating ring 24 is slidably installed on the outer wall of the holder 15, the movable ring 23 and the rotating ring 24 are fixedly connected by a connecting rod 27, a through hole is provided on the inner wall of the holder 15, and a latch 26 is slidably installed in the through hole of the holder 15, a connecting rod 25 is rotatably installed on the outer wall of the rotating ring 24, the other end of the connecting rod 25 is rotatably connected to the outer wall of the latch 26, and a socket 22 for inserting the latch 26 is provided on the inner wall of the second sleeve 14.

[0054] Furthermore, the latches 26 are all elastic telescopic rods.

[0055] See also Figure 5 When the second sleeve 14 drives the unlocking block 19 to move downward, the second elastic telescopic rod 11 will unlock the block 8 and move the mounting rod 6 upward, which will drive the moving ring 23 to move upward, thereby driving the rotating ring 24 to slide upward through the connecting rod 27. Under the action of the connecting rod 25, the latch 26 moves into the card seat 15, and the telescopic part of the latch 26 is abutted against the outer wall of the second sleeve 14. When the socket 22 coincides with the through hole of the card seat 15, it is instantly inserted into the socket 22, thereby locking the second sleeve 14 to prevent the second sleeve 14 from excessively moving upward, causing the limit block 13 to completely disengage from the drive plate 16, ensuring that all parts of the system remain in the correct position and avoiding failures or damage caused by the detachment of parts.

[0056] Furthermore, the second elastic telescopic rod 11 includes a third sleeve 28 fixedly mounted on the outer wall of the mounting shell 4, a sliding rod 30 is slidably mounted on the inner wall of the third sleeve 28, a second spring 29 is installed between the sliding rod 30 and the inner wall of the mounting shell 4, and the top of the outer wall of the sliding rod 30 is set as an inclined surface.

[0057] See also Figure 4The second elastic telescopic rod 11 is composed of a third sleeve 28, a second spring 29 and a sliding rod 30. The top of the sliding rod 30 is set as an inclined surface. When the unlocking block 19 moves downward, it will contact the top of the sliding rod 30, so that the sliding rod 30 compresses the second spring 29 and retracts into the third sleeve 28. When the unlocking block 19 moves upward and disengages from the second elastic telescopic rod 11, the second elastic telescopic rod 11 will be reset under the action of the second spring 29.

[0058] When the laser welding head 7 is retracted into the mounting housing 4 to protect it and shut down, the operator can control the mounting rod 6 to move downward, and the block 8 will rotate to fit with the top of the sliding rod 30, and the sliding rod 30 will be pressed into the third sleeve 28 under the action of the inclined surface at the top of the sliding rod 30. When the block 8 moves to the initial position and separates from the sliding rod 30, the sliding rod 30 is reset under the action of the second spring 29, and the bottom of the sliding rod 30 contacts the top of the block 8, thereby locking the block 8 again.

[0059] Furthermore, a visual sensor 31 is fixedly mounted on the bottom of the mounting shell 4, and the visual sensor 31 can monitor the position and posture of the frame to be welded.

[0060] The welded frame is monitored by the visual sensor 31. When it is found that the distance between the frame and the mounting shell 4 is lower than the preset distance, an alarm is promptly issued to remind the staff in advance so that the staff can confirm in advance whether the laser welding head 7 will be damaged during the subsequent welding process.

[0061] The standard parts used in this embodiment can be purchased directly from the market, and the non-standard structural components recorded in the specification and the drawings can also be directly processed according to the existing technical common sense. At the same time, the connection method of each component adopts the mature conventional means in the prior art, and the machinery, parts and equipment all adopt the conventional models in the prior art, so no specific description will be given here.

[0062] 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. A loader frame welding robot, comprising a mechanical arm (2) mounted on top of a welding table (1), characterized in that: The end effector of the robot arm (2) is fixedly mounted with a welding device (3), the welding device (3) comprising a mounting shell (4), a laser welding head (7) being mounted at the center of the mounting shell (4), a vertically slidable anti-collision cover (5) being mounted inside the mounting shell (4), and the anti-collision cover (5) enveloping the laser welding head (7); It also comprises a retracting component, which controls the laser welding head (7) to retract into the mounting housing (4) when the upward movement distance of the anti-collision cover (5) exceeds a preset value.

2. The loader frame welding robot according to claim 1, characterized in that: A fixing ring (9) is fixedly mounted on the inner wall of the mounting shell (4), a mounting rod (6) is slidably mounted on the inner wall of the fixing ring (9), the laser welding head (7) is fixedly mounted on the bottom of the mounting rod (6), two first elastic telescopic rods (10) are ball-hinged at the top of the fixing ring (9), two clamping blocks (8) are fixedly connected to the outer wall of the mounting rod (6), and the telescopic parts of the two first elastic telescopic rods (10) are both ball-hinged connected to the bottom of the corresponding clamping blocks (8), and two second elastic telescopic rods (11) are fixedly mounted on the inner wall of the mounting shell (4), the tops of the telescopic parts of the two second elastic telescopic rods (11) are both set as inclined surfaces, and in an initial state, the bottoms of the telescopic parts of the two second elastic telescopic rods (11) are in contact with the tops of the corresponding clamping blocks (8).

3. The loader frame welding robot according to claim 2, characterized in that: The retracting assembly comprises a second sleeve (14) mounted on the outer wall of the mounting rod (6) and capable of vertical sliding adjustment, two unlocking blocks (19) being fixedly connected to the bottom of the second sleeve (14), and the unlocking blocks (19) are longer than the locking blocks (8); It also comprises a connecting part, which connects the anti-collision cover (5) and the second sleeve (14), and when the anti-collision cover (5) moves, the connecting part causes the second sleeve (14) to move synchronously in the opposite direction.

4. The loader frame welding robot according to claim 3, characterized in that: The connecting portion comprises a first sleeve (12) rotatably mounted on the inner wall of the mounting shell (4); the inner wall of the first sleeve (12) is fixedly connected to two limit blocks (13); the outer walls of the two limit blocks (13) are both arranged as inclined surfaces in the same direction; the first sleeve (12) is fixedly connected to the anti-collision cover (5) via ribs; a first spring (17) is connected between the first sleeve (12) and the top of the mounting shell (4); a clamping seat (15) is fixedly connected to the top of the mounting shell (4); the outer wall of the second sleeve (14) is in contact with the inner wall of the clamping seat (15) and the two are slidably connected. The outer wall of the card seat (15) is provided with a limit groove (32), a driving plate (16) is slidably installed in the limit groove (32), the inner wall of the driving plate (16) is hollow and is provided with two sections of inclined ribs, the outer walls on both sides of the driving plate (16) are respectively provided with inclined surfaces adapted to the outer walls of the two limit blocks (13), and the inclined surfaces on both sides of the driving plate (16) are always in contact with the corresponding inclined surfaces of the limit blocks (13), and the outer wall of the second sleeve (14) is provided with a moving groove (18), and the ribs of the driving plate (16) are slidably installed in the moving groove (18).

5. The loader frame welding robot according to claim 4, characterized in that: The outer wall of the mounting rod (6) is provided with a rotation groove (21), the rotation groove (21) comprising a section of an inclined groove and a section of a vertical groove, and the inner wall of the fixing ring (9) is fixedly connected with a protrusion (20) which can slide in the rotation groove (21).

6. The loader frame welding robot according to claim 5, characterized in that: The two first elastic telescopic rods (10) are both arranged obliquely, and the two first elastic telescopic rods (10) are inclined in opposite directions.

7. The loader frame welding robot according to claim 6, characterized in that: The outer wall of the mounting rod (6) extending out of the second sleeve (14) is rotatably mounted with a moving ring (23); the outer wall of the clamping seat (15) is slidably mounted with a rotating ring (24); the moving ring (23) and the rotating ring (24) are fixedly connected via a connecting rod (27); a through hole is provided on the inner wall of the clamping seat (15), and a latch (26) is slidably mounted in the through hole of the clamping seat (15); a connecting rod (25) is rotatably mounted on the outer wall of the rotating ring (24); the other end of the connecting rod (25) is rotatably connected to the outer wall of the latch (26); and a socket (22) is provided on the inner wall of the second sleeve (14) for inserting the latch (26) therein.

8. The loader frame welding robot according to claim 3, characterized in that: The second elastic telescopic rod (11) comprises a third sleeve (28) fixedly mounted on the outer wall of the mounting shell (4); a sliding rod (30) is slidably mounted on the inner wall of the third sleeve (28); a second spring (29) is mounted between the sliding rod (30) and the inner wall of the mounting shell (4); and the top of the outer wall of the sliding rod (30) is arranged as an inclined surface.

9. The loader frame welding robot according to any one of claims 1 to 8, characterized in that: A visual sensor (31) is fixedly mounted on the bottom of the mounting shell (4), and the visual sensor (31) can monitor the position and posture of the frame to be welded.

10. The loader frame welding robot according to claim 7, characterized in that: The latch (26) is configured as an elastic telescopic rod.

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