A square tube welding robot

Abstract

The invention discloses a square tube welding robot: comprising welding equipment and a clamping device; the welding equipment comprises a machine tool frame and a welding unit, the welding unit comprises a base, a support frame, a horizontal adjustment rod, a vertical rod, a vertical adjustment rod, a manual cross adjustment slide, a welding gun mounting frame, a welding machine and an exhaust fan, an exhaust duct, and an air collecting hood, a self-adjusting mechanism is provided between the vertical adjustment rod and the vertical rod, and a positioning wheel is installed at the lower end of the vertical rod; the clamping device comprises a clamping frame and a square tube clamping unit, the clamping unit comprises an adjustment device, a reduction motor, a mounting plate, and a positioning clamping block, and the front part of the main body of the positioning clamping block is in the shape of a regular tetrahedron. The invention can make the welding gun head always keep a certain distance from the welding point, so as to continuously weld during the movement and rotation of the square tube, the weld quality is good, the welding efficiency is greatly improved, and at the same time, the equipment cost is relatively low, it is convenient for later maintenance, the investment is small, and it is suitable for popularization and application.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, and in particular to a square tube welding robot. Background Art

[0002] Square tubes include tubes with square or rectangular cross sections, i.e. square tubes and rectangular tubes, collectively referred to as square tubes, and are generally made of metal tubes such as stainless steel tubes, aluminum alloy tubes, etc. As they are used more and more widely, in many cases, it is necessary to weld end plates or connecting flanges at one or both ends of the square tube. The shapes of the end plates and connecting flanges are generally the same as the shapes of the tubes to be welded, and the sizes are sometimes the same as the sizes of the tubes, but the area is generally larger than the cross-sectional area of ​​the tubes, i.e., the four sides have excess edges as mentioned above. Welding is generally electric welding.

[0003] Since the cross section of the square tube is square, the existing round tube welding machine cannot be used. In the early days, people used a clamp to place the square tube and the connector in advance and clamped them, and then welded them manually. The quality is often difficult to control and the welding efficiency is low. Chinese invention application number "201710286957.0" discloses a steel pipe welding device for construction with a fixed docking function, including a support base, a balancing support leg is fixedly connected to one side of the support base, a cavity is opened in the middle of the support base, the bottom of the cavity is fixedly connected to one end of the electric push rod, and the other end of the electric push rod is fixedly connected to the bottom of the lifting support plate. The steel pipe welding device for construction with a fixed docking function, through the arrangement of the first concave block, the connecting plate, the fixed bearing, the threaded rod, the lifting threaded sleeve, the fixed plate and the second concave block, can better fix the steel pipe during welding. The invention reduces the deviation caused by manual welding, but cannot automatically weld multiple surfaces of the steel pipe. Chinese invention application number "202011509465.1" discloses an automatic welding equipment for square steel pipes, which uses the first industrial robot 7a as a five-axis manipulator. When working, the first industrial robot 7a drives the welding head 7b to align with the connection part of the two steel pipes for welding. After the welding is completed, the space is released to facilitate the steel pipe rotation device 6 to work and rotate the steel pipe. After the rotation is completed, it works again until all four sides of the steel pipe are welded. Although it realizes automatic welding of multiple sides of the steel pipe, it is necessary to stop welding after each welding of one side, flip to the new side and then weld again. Therefore, the welding of the four sides needs to be flipped three times, resulting in discontinuous welding, affecting the quality of the weld, and taking a long time and low efficiency. In addition, the equipment adopts a complex structure and uses a five-axis manipulator, so the cost is high, and the later maintenance cost is large. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the above-mentioned technology and provide a square tube welding robot.

[0005] In order to solve the above technical problems, the technical solution provided by the present invention is a square tube welding robot: comprising welding equipment and a clamping device;

[0006] The welding equipment comprises a machine tool frame, a welding unit symmetrically arranged on the machine tool frame, the welding unit comprises a base one, a support frame, a horizontal adjustment rod, a vertical adjustment rod of a vertical rod, a manual cross adjustment slide, a welding gun mounting frame, a welding gun, a welding machine, an exhaust fan, an exhaust duct, and an air collecting hood, the base one is slidably connected to the machine tool frame, the support frame is fixed on the base one, the horizontal adjustment rod is slidably connected to the support frame laterally, the vertical rod is fixedly connected to the horizontal adjustment rod, the vertical adjustment rod is vertically slidably connected to the vertical rod, the manual cross adjustment slide is fixedly connected to the lower part of the vertical adjustment rod, the welding gun mounting frame is fixedly connected to the manual cross adjustment slide, the welding gun is mounted on the welding gun mounting frame, the welding machine and the exhaust fan are arranged on the base one, the exhaust duct is connected to the exhaust fan suction port, and the air collecting hood is installed at the end of the exhaust duct;

[0007] A driving mechanism 1 is provided between the horizontal adjustment rod and the support frame, a self-adjusting mechanism is provided between the vertical adjustment rod and the vertical rod, a positioning wheel is installed at the lower end of the vertical rod, a plurality of rod bodies are provided at the upper end of the support frame, and a wire threading hole is provided on the rod body for the welding wire to pass through, and each welding unit is adjusted in position by an independent driving mechanism 2;

[0008] The clamping device includes a clamping frame and a square tube clamping unit symmetrically arranged on the clamping frame. The clamping unit includes an adjusting device, a reduction motor installed on the adjusting device, a mounting plate installed on the rotating shaft of the reduction motor, and a positioning clamping block fixedly connected to the mounting plate by bolts. The front part of the main body of the positioning clamping block is in the shape of a regular quadrangular pyramid. There are multiple positioning clamping blocks, and the main bodies of the multiple positioning clamping blocks have different sizes.

[0009] Furthermore, the self-adjusting mechanism includes a limit rod, a limit block, and a spring, the limit rod is fixedly connected to the vertical rod, the limit block is fixedly connected to the vertical adjustment rod, the spring is arranged between the vertical rod and the limit block and is sleeved on the limit rod, the upper end of the spring is fixedly connected to the limit block, and the lower end of the spring is fixedly connected to the vertical rod.

[0010] Furthermore, the adjusting device also includes a base 2 and a mounting seat slidably connected to the base 2, the reduction motor is fixedly mounted on the mounting seat, a hydraulic cylinder 2 is provided between the mounting seat and the base 2, one end of the hydraulic cylinder 2 is fixedly connected to the base 2, and the other end of the hydraulic cylinder 2 is fixedly connected to the mounting seat, driving the mounting seat to move.

[0011] Furthermore, the exhaust duct is provided with a U-shaped portion, the lower end of the U-shaped portion adopts a U-shaped tube, and both ends of the U-shaped tube are connected to the main body of the exhaust duct through connecting nuts.

[0012] The advantages of the present invention over the prior art are as follows: the present invention clamps the square tube by two oppositely arranged square tube clamping units, and can realize rapid clamping and alignment by positioning the clamping block; the welding gun head can always keep a certain distance from the welding point by cooperating with the self-adjusting mechanism and the positioning wheel, so that continuous welding can be performed during the movement and rotation of the square tube, the weld quality is good, the welding efficiency is greatly improved, and at the same time, the equipment cost is relatively low, which is convenient for later maintenance and requires little investment, and is suitable for popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural schematic diagram of a square tube welding robot of the present invention.

[0014] Figure 2 The diagram is a top view of the structure of a square tube welding robot according to the present invention.

[0015] Figure 3 yes Figure 1 A is an enlarged structural diagram of FIG.

[0016] Figure 4 The three-dimensional structure diagram of the welding unit of a square tube welding robot of the present invention is shown in FIG. Figure 1 .

[0017] Figure 5 The three-dimensional structure diagram of the welding unit of a square tube welding robot of the present invention is shown in FIG. Figure 2 .

[0018] As shown in the figure:

[0019] 1. Machine tool frame, 2. Base 1, 3. Support frame, 4. Horizontal adjustment rod, 5. Vertical rod, 6. Vertical adjustment rod, 7. Manual cross adjustment slide, 8. Welding gun mounting frame, 9. Welding gun, 10. Welding machine, 11. Exhaust fan, 12. Exhaust duct, 13. Air hood, 14. Positioning wheel, 15. Rod body, 16. Clamping frame, 17. Reducer motor, 18. Mounting plate, 19. Positioning clamping block, 20. Fixed plate 1, 21. Hydraulic cylinder 1, 22. Limit rod, 23. Limit block, 24. Spring, 25. Base 2, 26. Mounting seat, 27. Exhaust duct fixings, 28. U-shaped tube. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0021] Embodiment 1, in combination with Figure 1-5 , a square tube welding robot, comprising a welding device and a clamping device;

[0022] The welding equipment includes a machine tool frame 1, a welding unit symmetrically arranged on the machine tool frame 1, and the welding unit includes a base 2, a support frame 3, a horizontal adjustment rod 4, a vertical rod 5, a vertical adjustment rod 6, a manual cross adjustment slide 7, a welding gun mounting frame 8, a welding gun 9, a welding machine 10, an exhaust fan 11, an exhaust duct 12, and an air collecting hood 13. The base 2 is slidably connected to the machine tool frame 1, the support frame 3 is fixed on the base 2, the horizontal adjustment rod 4 is slidably connected to the support frame 3, the vertical rod 5 is fixedly connected to the horizontal adjustment rod 4, and the vertical adjustment rod 6 It is vertically slidably connected to the vertical rod 5, the manual cross-adjusting slide 7 is fixedly connected to the lower part of the vertical adjusting rod 6, the welding gun mounting bracket 8 is fixedly connected to the manual cross-adjusting slide 7, the welding gun 9 is mounted on the welding gun mounting bracket 8, the welding machine 10 and the exhaust fan 11 are arranged on the base 2, the exhaust duct 12 is connected to the suction port of the exhaust fan 11, and the air collecting hood 13 is installed at the end of the exhaust duct 12; wherein, the structure and shape of the support frame 3 are designed according to needs and are not limited here, and the specific structure and shape of the welding gun mounting bracket 8 are also designed according to needs and are not limited here.

[0023] A driving mechanism 1 is provided between the horizontal adjustment rod 4 and the support frame 3, a self-adjusting mechanism is provided between the vertical adjustment rod 6 and the vertical rod 5, a positioning wheel 14 is installed at the lower end of the vertical rod 5, a plurality of rod bodies 15 are provided at the upper end of the support frame 3, and a wire threading hole is provided on the rod body 15 for the welding wire to pass through, and each welding unit is adjusted in position by an independent driving mechanism 2;

[0024] The clamping device includes a clamping frame 16 and a square tube clamping unit symmetrically arranged on the clamping frame 16. The clamping unit includes an adjusting device, a reduction motor 17 installed on the adjusting device, a mounting plate 18 installed on the rotating shaft of the reduction motor 17, and a positioning clamping block 19 fixedly connected to the mounting plate 18 by bolts. The front part of the main body of the positioning clamping block 19 is in the shape of a regular quadrangular pyramid. There are multiple positioning clamping blocks 19, and the main body sizes of the multiple positioning clamping blocks 19 are different.

[0025] In the specific implementation of the present invention, for the sake of ease of understanding, the two welding units are described below as welding unit A and welding unit B, and the two square tube clamping units are described as square tube clamping unit C and square tube clamping unit D, respectively. According to the length of the required square tube to be welded, the distance between the two welding units is preliminarily adjusted so that the two welding guns 9 are located at the positions to be welded at both ends of the square tube during operation. The two square tube clamping units are adjusted so that the square tube clamping unit C corresponds to the position of the welding unit A, and the square tube clamping unit D corresponds to the position of the welding unit B. The square tube clamping unit C is adjusted to move relatively outward, and the square tube is lifted and placed between the two square tube clamping units by using the workshop crane. The pre-spot-welded square tube (the end plate or the connecting flange is connected to the end of the square tube, and a welding gun is used to spot weld several welding points at the weld position to achieve preliminary positioning and connection between the square tube and the end plate or the connecting flange. This is a common operation in the welding process and is not explained in detail here) is sleeved on one end of the positioning clamping block 19 on the square tube clamping unit D, and then The other end of the square tube is aligned with the positioning clamping block 19 on the square tube clamping unit C, the square tube clamping unit C is moved and the positioning clamping block 19 is inserted into the square tube and tightened, so as to realize the clamping and positioning of the square tube and the end of the square tube and the parts to be welded, and then the positions of the welding units A and B are adjusted, and the position of the welding gun 9 is further adjusted; wherein the position of the welding gun 9 relative to the positioning wheel 14 is adjusted by the manual cross adjustment slide 7, so as to realize the position of the positioning wheel 14 in contact with the square tube during welding, and the distance between the welding gun 9 head and the joint to be welded. The positioning wheel 14 is pressed on the square tube, and then the square tube is driven to move by the adjustment device, and the welding machine 10 works to weld. When the positioning wheel 14 reaches the connection between the two sides of the square tube, the square tube is driven to rotate by the reduction motor 17. Under the action of the self-adjusting mechanism, the positioning wheel 14 is always in contact with the square tube, so that the welding machine 10 does not need to stop working during this process. After turning to a new side, the welding work is the same as above, so automatic welding, automatic turning and continuous welding can be realized. In this solution, each device is controlled by numerical control. Therefore, according to the size and process requirements of the square tube to be welded, it is sufficient to input the corresponding program. It is easy to implement with the existing technology and will not be described in detail here. Among them, after the first adjustment, when the same square tube is subsequently welded, it is only necessary to move the square tube clamping unit C to the relative outside, use the workshop crane to lift the square tube and place it between the two square tube clamping units, put one end of the pre-spot-welded square tube on the positioning clamping block 19 on the square tube clamping unit D, and then align the other end of the square tube with the positioning clamping block 19 on the square tube clamping unit C, move the square tube clamping unit C and insert the positioning clamping block 19 on the square tube and tighten it, so as to achieve the clamping and positioning of the square tube and its end to be welded, and then welding can be carried out.

[0026] In this embodiment, the driving mechanism 1 includes a fixed plate 20 and a hydraulic cylinder 21. The fixed plate 20 is fixedly connected to the support frame 3, the cylinder body of the hydraulic cylinder 21 is fixedly connected to the fixed plate 20, and the rod body of the hydraulic cylinder 21 is fixedly connected to the horizontal adjustment rod 4. The horizontal adjustment rod 4 is driven by the hydraulic cylinder 21 to move horizontally to achieve the horizontal position adjustment of the welding gun 9. Since the welding equipment is designed to be suitable for square tubes with a size within a certain range and is provided with a self-adjusting mechanism, there is no need to additionally design a vertical position adjustment. The horizontal adjustment rod 4 and the support frame 3 are slidably connected via a guide rail slider mechanism.

[0027] In this embodiment, the self-adjusting mechanism includes a limit rod 22, a limit block 23, and a spring 24. The limit rod 22 is fixedly connected to the vertical rod 5, the limit block 23 is fixedly connected to the vertical adjustment rod 6, the spring 24 is arranged between the vertical rod 5 and the limit block 23, and is sleeved on the limit rod 22. The upper end of the spring 24 is fixedly connected to the limit block 23, and the lower end of the spring 24 is fixedly connected to the vertical rod 5. By utilizing the elastic force characteristics of the spring 24, the positioning wheel 14 can be always pressed against the outer wall of the square tube, so that the welding gun 9 is used at a certain distance from the weld.

[0028] In this embodiment, the second driving mechanism adopts a linear guide screw slide structure and is driven by a motor to adjust the distance between the two welding units.

[0029] In this embodiment, the adjusting device also includes a base 25 and a mounting seat 26 slidably connected to the base 25. The reduction motor 17 is fixedly mounted on the mounting seat 26. A hydraulic cylinder 2 is provided between the mounting seat 26 and the base 25. One end of the hydraulic cylinder 2 is fixedly connected to the base 25, and the other end of the hydraulic cylinder 2 is fixedly connected to the mounting seat 26. The mounting seat 26 is driven to move, and the square tube is driven to move by the hydraulic cylinder 2.

[0030] In this embodiment, the second base 25 is connected to the clamping frame 16 via a linear guide screw slider mechanism and driven by a motor to achieve adjustment of the two square tube clamping units.

[0031] In this embodiment, the air collecting hood 13 is close to the welding gun 9, and an exhaust duct fixing part 27 is provided on the support frame 3. One end of the exhaust duct 12 is fixed by the exhaust duct fixing part 27. The smoke generated by welding is extracted through the exhaust fan 11. The air outlet of the exhaust fan 11 is connected to the exhaust duct of the workshop, and the smoke is discharged through the exhaust duct.

[0032] In this embodiment, the exhaust duct 12 is provided with a U-shaped portion, and the lower end of the U-shaped portion adopts a U-shaped tube 28. The two ends of the U-shaped tube 28 are connected to the main body of the exhaust duct 12 through connecting nuts. After the solid dust mixed in the flue gas enters the pipeline, it is deposited in the U-shaped tube 28 under the action of its own gravity. The U-shaped tube 28 can be removed and cleaned regularly.

[0033] In the description of the embodiments of the present invention, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0034] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0035] In the description of the embodiments of the present invention, "plurality" means at least 2.

[0036] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A square tube welding robot, characterized in that: Including welding equipment and clamping devices; The welding equipment comprises a machine tool frame (1), a welding unit symmetrically arranged on the machine tool frame (1), the welding unit comprising a base (2), a support frame (3), a horizontal adjustment rod (4), a vertical rod (5), a vertical adjustment rod (6), a manual cross adjustment slide (7), a welding gun mounting frame (8), a welding gun (9), a welding machine (10), an exhaust fan (11), an exhaust duct (12), and an air collecting hood (13), the base (2) is slidably connected to the machine tool frame (1), the support frame (3) is fixedly arranged on the base (2), the horizontal adjustment rod (4) and the support frame (3) are connected to each other. The vertical rod (5) is connected to the horizontal adjustment rod (4) in a transverse sliding manner, the vertical adjustment rod (6) is connected to the vertical rod (5) in a vertical sliding manner, the manual cross adjustment slide (7) is connected to the lower part of the vertical adjustment rod (6), the welding gun mounting frame (8) is connected to the manual cross adjustment slide (7), the welding gun (9) is mounted on the welding gun mounting frame (8), the welding machine (10) and the exhaust fan (11) are arranged on the base (2), the exhaust duct (12) is connected to the suction port of the exhaust fan (11), and the air collecting hood (13) is installed at the end of the exhaust duct (12); A driving mechanism 1 is provided between the horizontal adjustment rod (4) and the support frame (3), a self-adjusting mechanism is provided between the vertical adjustment rod (6) and the vertical rod (5), a positioning wheel (14) is installed at the lower end of the vertical rod (5), a plurality of rod bodies (15) are provided at the upper end of the support frame (3), and wire holes for passing welding wires are provided on the rod bodies (15), and the position of each welding unit is adjusted by an independent driving mechanism 2; The clamping device comprises a clamping frame (16), a square tube clamping unit symmetrically arranged on the clamping frame (16), the clamping unit comprises an adjusting device, a reduction motor (17) installed on the adjusting device, a mounting plate (18) installed on the rotating shaft of the reduction motor (17), and a positioning clamping block (19) fixedly connected to the mounting plate (18) by bolts, the front part of the main body of the positioning clamping block (19) is in the shape of a regular quadrangular pyramid, a plurality of the positioning clamping blocks (19) are provided, and the main bodies of the plurality of the positioning clamping blocks (19) have different sizes.

2. A square tube welding robot according to claim 1, characterized in that: The driving mechanism comprises a fixed plate (20) and a hydraulic cylinder (21); the fixed plate (20) is fixedly connected to the support frame (3); the cylinder body of the hydraulic cylinder (21) is fixedly connected to the fixed plate (20); the rod body of the hydraulic cylinder (21) is fixedly connected to the horizontal adjustment rod (4); and the horizontal adjustment rod (4) and the support frame (3) are slidably connected via a guide rail slider mechanism.

3. A square tube welding robot according to claim 1, characterized in that: The self-adjusting mechanism comprises a limit rod (22), a limit block (23), and a spring (24); the limit rod (22) is fixedly connected to the vertical rod (5); the limit block (23) is fixedly connected to the vertical adjustment rod (6); the spring (24) is arranged between the vertical rod (5) and the limit block (23) and is sleeved on the limit rod (22); the upper end of the spring (24) is fixedly connected to the limit block (23), and the lower end of the spring (24) is fixedly connected to the vertical rod (5).

4. A square tube welding robot according to claim 1, characterized in that: The second driving mechanism adopts the structure of a linear guide screw slide and is driven by a motor.

5. The square tube welding robot according to claim 1, characterized in that: The adjusting device also includes a base 2 (25) and a mounting seat (26) slidably connected to the base 2 (25); the reduction motor (17) is fixedly mounted on the mounting seat (26); a hydraulic cylinder 2 is provided between the mounting seat (26) and the base 2 (25); one end of the hydraulic cylinder 2 is fixedly connected to the base 2 (25); and the other end of the hydraulic cylinder 2 is fixedly connected to the mounting seat (26), so as to drive the mounting seat (26) to move.

6. A square tube welding robot according to claim 5, characterized in that: The second base (25) is connected to the clamping frame (16) via a linear guide rail, screw rod and slider mechanism and is driven by a motor.

7. The square tube welding robot according to claim 1, characterized in that: The air collecting hood (13) is close to the welding gun (9), and an exhaust duct fixing member (27) is provided on the support frame (3), and one end of the exhaust duct (12) is fixed by the exhaust duct fixing member (27).

8. The square tube welding robot according to claim 1, characterized in that: The exhaust duct (12) is provided with a U-shaped portion, the lower end of the U-shaped portion adopts a U-shaped tube (28), and both ends of the U-shaped tube (28) are connected to the main body of the exhaust duct (12) through connecting nuts.

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