Automatic steel welding manipulator with safety protection structure

Abstract

The invention relates to the technical field of welding manipulators, in particular to an automatic steel welding manipulator with a safety protection structure, which comprises a manipulator consisting of a base, a first mechanical arm, a second mechanical arm and a third mechanical arm, a first pipe clamp and a second pipe clamp are arranged on the third mechanical arm and the welding gun correspondingly, an air guide pipe is clamped in the first pipe clamp and the second pipe clamp jointly, a horn-shaped air suction hood is arranged at one end of the air guide pipe, a mounting base is mounted at the top end of the second mechanical arm, and a multi-stage filtering mechanism is mounted at the top of the mounting base. The gas guide pipe is connected with the gas suction hood and the multi-stage filtering mechanism, welding fume generated during steel welding is completely sucked into the multi-stage filtering mechanism along the gas suction hood and the gas guide pipe to a great extent, the effect of absorbing and treating the welding fume from the source is achieved, and it is guaranteed that workers are in a safe working environment when welding steel.

Description

Technical Field

[0001] The invention relates to the technical field of welding manipulators, and in particular to an automatic steel welding manipulator with a safety protection structure. Background Art

[0002] During the steel welding process, the steel can be automatically welded by a robot with a welding gun, replacing manual welding. This not only reduces the operation risk, but also improves the welding efficiency, while effectively ensuring the welding quality.

[0003] Although the existing automated welding manipulators have largely replaced manual operations, they will produce a large amount of welding smoke during welding, which seriously pollutes the workshop air. The existing technology generally uses air purification devices installed in the workshop to deal with the pollution of welding smoke. However, this treatment is difficult to absorb and treat the welding smoke at the source, and the welding smoke will still spread throughout the workshop, which not only pollutes the workshop working environment, but also the harmful substances in the welding smoke may cause corrosion, short circuit and other damages to the precision electronic components inside the manipulator. The welding slag is also easy to pollute the steel plate surface. Summary of the invention

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic steel welding manipulator with a safety protection structure, comprising a manipulator consisting of a base, a first manipulator arm, a second manipulator arm and a third manipulator arm, a welding gun for welding steel being installed at one end of the third manipulator arm, a first pipe clamp and a second pipe clamp being respectively arranged on the third manipulator arm and the welding gun, an air guide tube being clamped together in the first pipe clamp and the second pipe clamp, a trumpet-shaped air suction hood being arranged at one end of the air guide tube for absorbing welding smoke generated by the welding gun;

[0005] A mounting base is installed at the top of the second robotic arm, and a multi-stage filtering mechanism is installed on the top of the mounting base. The multi-stage filtering mechanism includes a filter box and an air suction pump that are clamped together. An air inlet connected to the air guide pipe is provided at one end of the filter box, and a primary filter layer, a secondary filter layer and a tertiary filter layer are sequentially arranged inside the filter box along the air inlet direction of the air inlet, which are used for multi-stage filtering and purification of the inhaled welding smoke.

[0006] Preferably, the base, the first robotic arm, the second robotic arm and the third robotic arm are all provided with motors for driving the corresponding connecting structures to rotate and move respectively.

[0007] Preferably, the air intake hood comprises an outer hood and an inner hood which are snapped together, an end of the outer hood is fixedly connected to one end of the air duct, a gap is provided between the inner hood and the outer hood and the gap is communicated with the inside of the air duct.

[0008] Preferably, the inner cover has the same shape as the outer cover, and a plurality of air inlet holes are provided on the side wall of the inner cover, and the air inlet holes are connected to the gap to serve as flow channels for welding smoke.

[0009] Preferably, the air duct and the outer cover are both made of ultra-high molecular polyethylene, the inner cover is made of stainless steel, the outer surfaces of the air duct and the outer cover are wrapped with a layer of polyimide film, the opening of the air suction hood is close to the welding end of the welding gun, and the opening diameter of the air suction hood is much larger than the diameter of the welding end of the welding gun.

[0010] Preferably, the mounting seat is arranged in parallel with the second mechanical arm, and the filter box and the suction pump are both provided with a tightening hoop connected to the mounting seat for reinforcing the connection strength between the multi-stage filtering mechanism and the mounting seat.

[0011] Preferably, the primary filter layer is close to the air inlet and is composed of two layers of sintered mesh bonded to each other, and is used to screen out larger particle impurities and tiny welding slag in welding smoke.

[0012] Preferably, the secondary filter layer is close to the primary filter layer and is an activated carbon adsorption bed for adsorbing carbon monoxide, nitrogen oxides and volatile harmful components generated in welding fumes.

[0013] Preferably, the third-stage filter layer is close to the second-stage filter layer and the third-stage filter layer is a layer of HEPA filter, which is used to filter out residual fine particles in the welding smoke.

[0014] Preferably, the other end surface of the filter box is provided with an exhaust port, which corresponds to and communicates with the input end of the suction pump.

[0015] Beneficial Effects

[0016] The present invention provides a steel material automatic welding manipulator with a safety protection structure, which has the following beneficial effects:

[0017] By installing an air hood facing the welding point on the welding gun of the manipulator, installing a multi-stage filtering mechanism on the mechanical arm of the manipulator, and using air ducts to connect the air hood and the multi-stage filtering mechanism respectively, the welding smoke generated during steel welding is sucked into the multi-stage filtering mechanism along the air hood and the air duct to a great extent, so as to achieve the effect of absorbing and treating the welding smoke from the source, ensuring that workers are in a safer working environment when welding steel;

[0018] The exhaust hood is set to a large-caliber trumpet-shaped double-layer structure, so that the wind resistance when the welding smoke is inhaled is low, and the welding smoke enters the interlayer gap of the exhaust hood through the air inlet hole on the inner hood and then passes into the air duct, which can effectively reduce the reflux of welding smoke and welding slag, thereby reducing gas pressure pulsation and vibration, and improving the overall efficiency and reliability of the exhaust hood;

[0019] The main body of the air duct and the air hood are both made of ultra-high molecular polyethylene, which has good corrosion resistance and heat insulation effects. They are also wrapped with a layer of polyimide film on the outside, which makes the entire welding smoke channel have the advantages of high temperature resistance, high strength and high elasticity, thus avoiding the risk of easy damage and leakage of the welding smoke channel;

[0020] The inhaled welding smoke is filtered through the primary sintered mesh through a multi-stage filtering mechanism, so that larger particle impurities and tiny welding slag in the welding smoke are screened out; the secondary activated carbon adsorption bed adsorption filtration removes carbon monoxide, nitrogen oxides and volatile harmful components produced in the welding smoke; the tertiary HEPA filter filtration fully removes the remaining fine particles in the welding smoke, which not only protects the air quality of the welding operation, but also prevents harmful gases from causing corrosion, short circuit and other damages to the precise electronic components inside the robot, and keeps the steel plate surface free from pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 It is a schematic diagram of the overall structure of the robot of the present invention;

[0023] Figure 2 For the present invention Figure 1 A front view of

[0024] Figure 3 This is a schematic diagram of the structure of the air suction hood at the top of the robot welding gun of the present invention;

[0025] Figure 4 It is a cross-sectional view of the structure of the air intake hood of the present invention and a schematic diagram of the smoke flow direction;

[0026] Figure 5 For the present invention Figure 1 Bottom view of

[0027] Figure 6 A schematic diagram of the manipulator of the present invention and a multi-stage filtering mechanism installed on its top;

[0028] Figure 7 For the present invention Figure 6 Enlarged view of part a;

[0029] Figure 8 It is a front view of the manipulator of the present invention and the multi-stage filtering mechanism at the top thereof;

[0030] Fig. 9 It is a schematic diagram of the external structure of the second mechanical arm and the third mechanical arm of the manipulator of the present invention.

[0031] Description of reference numerals:

[0032] 1. Base; 11. First mechanical arm; 12. Second mechanical arm; 121. Mounting seat; 122. Tightening hoop; 13. Third mechanical arm; 131. First pipe clamp; 2. Welding gun; 21. Second pipe clamp; 3. Multi-stage filtering mechanism; 31. Filter box; 311. Primary filtering layer; 312. Secondary filtering layer; 313. Tertiary filtering layer; 32. Air inlet; 33. Air pump; 331. Exhaust port; 4. Air duct; 5. Air hood; 51. Outer cover; 52. Inner cover; 521. Air inlet. DETAILED DESCRIPTION

[0033] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0034] like Figure 1-5 As shown in the figure, it is the first embodiment of the present invention. To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a steel automated welding manipulator with a safety protection structure, comprising a manipulator composed of a base 1, a first manipulator arm 11, a second manipulator arm 12 and a third manipulator arm 13. The base 1, the first manipulator arm 11, the second manipulator arm 12 and the third manipulator arm 13 are all provided with motors that respectively drive the corresponding connection structures to rotate and move. The structure and working principle of the manipulator are the same as those of most manipulators in the prior art, so they are not elaborated here. A welding gun 2 for welding steel is installed at one end of the third manipulator arm 13, and a first manipulator arm 13 and a welding gun 2 are respectively provided with a first A pipe clamp 131 and a second pipe clamp 21, an air duct 4 is clamped together in the first pipe clamp 131 and the second pipe clamp 21, the air duct 4 connected between the first pipe clamp 131 and the second pipe clamp 21 is almost parallel to the welding gun 2, so the section of the air duct 4 and the air suction hood 5 move synchronously with the welding gun 2, and a trumpet-shaped air suction hood 5 is provided at one end of the air duct 4 for absorbing welding fumes generated by the welding gun 2. When the welding gun 2 is working at any position to weld steel, the opening of the air suction hood 5 is kept corresponding to the welding point area, so as to completely absorb the welding fumes generated during welding to the greatest extent, so as to achieve the effect of absorbing and treating the welding fumes from the source, thereby ensuring a safer welding environment.

[0035] Further, such as Figure 3 and Figure 4As shown, the air suction hood 5 includes an outer cover 51 and an inner cover 52 that are snapped together, the end of the outer cover 51 is fixedly connected to one end of the air duct 4, a gap is provided between the inner cover 52 and the outer cover 51 and the gap is communicated with the inside of the air duct 4, the inner cover 52 is consistent in shape with the outer cover 51, and a plurality of air inlet holes 521 are provided on the side wall of the inner cover 52, the air inlet holes 521 are communicated with the gap and serve as a flow channel for welding smoke, the welding smoke generated when steel welding is performed is immediately absorbed by the air suction hood 5, the welding smoke first contacts the surface of the inner cover 52, due to the good thermal conductivity of the metal, part of the heat of the welding smoke can be quickly conducted and diffused, thereby reducing the entry of part of the heat medium, the welding smoke then enters the interlayer gap between the outer cover 51 and the inner cover 52 along the plurality of air inlet holes 521, and finally the welding smoke in the gap flows into the air duct 4, the structure of the air suction hood 5 can effectively reduce the phenomenon of welding smoke and welding slag reflux, thereby reducing gas pressure pulsation and vibration, and improving the overall stability of the air suction hood 5.

[0036] Furthermore, the air duct 4 and the outer cover 51 are both made of ultra-high molecular polyethylene, a thermoplastic engineering plastic with a linear structure and excellent comprehensive performance, and have good wear resistance, impact resistance, corrosion resistance, light resistance and other excellent properties, and are quick and convenient to manufacture. The inner cover 52 is made of stainless steel and has a certain thermal conductivity. Therefore, when the heat medium first contacts the inner cover 52, a part of the heat will be quickly transferred to the entire inner cover 52 and diffused, thereby achieving the effect of initially cooling the inhaled welding smoke, and then the expansion coefficient of the welding smoke entering the air duct 4 can be reduced, so that the use process of the air duct 4 and the suction cover 5 is more stable, and the outer surface of the air duct 4 and the outer cover 51 is They are all wrapped with a layer of polyimide film. Polyimide has excellent mechanical properties, good chemical stability and moisture and heat resistance, good dielectric properties and high temperature resistance, etc., which makes the entire welding smoke channel have the advantages of high temperature resistance, high strength and high elasticity, thereby avoiding the risk of easy damage and leakage of the welding smoke channel. The opening of the air suction hood 5 is close to the welding end of the welding gun 2, and the opening diameter of the air suction hood 5 is much larger than the diameter of the welding end of the welding gun 2. The welding smoke generated during steel welding is completely sucked into the multi-stage filtering mechanism 3 along the air suction hood 5 and the air duct 4 to a great extent, so as to achieve the effect of absorbing and treating the welding smoke from the source, ensuring that the workers are in a safer working environment when welding steel.

[0037] like Figure 6-9As shown, it is the second embodiment of the present invention, the top of the second mechanical arm 12 is installed with a mounting seat 121, and the top of the mounting seat 121 is installed with a multi-stage filtering mechanism 3, the multi-stage filtering mechanism 3 includes a filter box 31 and an air suction pump 33 that are mutually clamped, one end of the filter box 31 is provided with an air inlet 32 ​​connected to the air guide pipe 4, and the inside of the filter box 31 is sequentially provided with a primary filter layer 311, a secondary filter layer 312 and a tertiary filter layer 313 along the air inlet direction of the air inlet 32, which are used for multi-stage filtering and purification of the inhaled welding smoke. An exhaust port 331 is provided on the other end face of the filter box 31. The exhaust port 331 corresponds to and is communicated with the input end of the air suction pump 33. By turning on the air suction pump 33, the welding smoke generated during welding is first sucked into the filter box 31 along the air suction hood 5, the air duct 4 and the air inlet 32. The welding smoke is filtered through the primary filter layer 311, the secondary filter layer 312 and the tertiary filter layer 313. Finally, the purified welding smoke is discharged into the air along the exhaust port 331 and the output end of the air suction pump 33, thereby providing a safe welding working environment.

[0038] Further, such as Figure 8 and Fig. 9 As shown, the mounting seat 121 is arranged parallel to the second mechanical arm 12 , and the filter box 31 and the suction pump 33 are both provided with a tightening hoop 122 connected to the mounting seat 121 for reinforcing the connection strength between the multi-stage filtering mechanism 3 and the mounting seat 121 .

[0039] Further, such as Figure 6 and Figure 7 As shown, the primary filter layer 311 is close to the air inlet 32 ​​and is composed of two layers of sintered meshes bonded to each other, which are used to screen out larger particle impurities and tiny welding slag in the welding smoke. The mesh sizes of the two layers of sintered meshes are different. The mesh size of the layer of sintered mesh close to the air inlet 32 ​​is larger than that of the other layer of sintered mesh, so that the large particle impurities and tiny welding slag in the welding smoke can be filtered separately.

[0040] Further, such as Figure 6 and Figure 7 As shown, the secondary filter layer 312 is close to the primary filter layer 311 and the secondary filter layer 312 is an activated carbon adsorption bed, which is used to adsorb carbon monoxide, nitrogen oxides and volatile harmful components generated in welding smoke. The activated carbon adsorption bed occupies the largest space area inside the filter box 31. The activated carbon has been specially modified and has super adsorption capacity, which can deeply capture the harmful components in the welding smoke and achieve a full purification effect.

[0041] Further, such as Figure 6 and Figure 7As shown, the tertiary filter layer 313 is close to the secondary filter layer 312 and the tertiary filter layer 313 is a layer of HEPA filter, which is used to filter out residual fine particles in the welding smoke. The HEPA filter has a filtration efficiency of 99.97% for particles with a diameter of 0.3 microns. As the last filter layer of welding smoke, it can fully intercept harmful components in the welding smoke to the air, further improving the purification effect of the welding smoke.

[0042] When the above embodiment is working, the switch of the suction pump 33 in the multi-stage filtering mechanism 3 and the switch of the welding gun 2 are turned on and off at the same time or set to a series circuit controlled by the same switch. When the welding gun 2 welds the steel, the welding smoke generated by the welding point will be quickly absorbed by the suction hood 5. The welding smoke first passes through the interlayer gap between the outer cover 51 and the inner cover 52 along the air inlet hole 521, then flows into the inside of the air guide pipe 4 along the gap, and finally passes into the filter box 31 along the air guide pipe 4 and the air inlet 32. The welding smoke is initially filtered by the primary filter layer 311. The two layers of sintered mesh of the primary filter layer 311 are bonded to each other, which is used to screen out the welding smoke. Larger impurities and tiny welding slag in the smoke flow into the secondary filter layer 312 for secondary filtration. The secondary filter layer 312 is an activated carbon adsorption bed, which is used to adsorb carbon monoxide, nitrogen oxides and volatile harmful components produced in the welding smoke. Finally, it flows to the tertiary filter layer 313 for tertiary filtration. The tertiary filter layer 313 is a layer of HEPA filter, which is used to filter out residual fine particles in the welding smoke, which not only protects the air quality of the welding operation, but also prevents harmful gases from causing corrosion, short circuit and other damages to the precision electronic components inside the robot, thereby maintaining the steel plate surface from pollution.

[0043] 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 steel material automated welding manipulator with a safety protection structure, comprising a manipulator consisting of a base (1), a first manipulator arm (11), a second manipulator arm (12) and a third manipulator arm (13), wherein a welding gun (2) for welding steel materials is installed at one end of the third manipulator arm (13), characterized in that: The third mechanical arm (13) and the welding gun (2) are respectively provided with a first pipe clamp (131) and a second pipe clamp (21); an air guide tube (4) is commonly clamped in the first pipe clamp (131) and the second pipe clamp (21); a trumpet-shaped air suction hood (5) is provided at one end of the air guide tube (4) for absorbing welding smoke generated by the welding gun (2); A mounting seat (121) is installed at the top of the second mechanical arm (12), and a multi-stage filtering mechanism (3) is installed on the top of the mounting seat (121). The multi-stage filtering mechanism (3) comprises a filter box (31) and an air suction pump (33) that are mutually engaged. An air inlet (32) connected to the air guide pipe (4) is arranged at one end of the filter box (31), and a primary filtering layer (311), a secondary filtering layer (312) and a tertiary filtering layer (313) are arranged in sequence inside the filter box (31) along the air inlet direction of the air inlet (32), so as to perform multi-stage filtering and purification on the inhaled welding smoke.

2. The steel material automatic welding manipulator with a safety protection structure according to claim 1 is characterized in that: The base (1), the first mechanical arm (11), the second mechanical arm (12) and the third mechanical arm (13) are all provided with motors for driving the corresponding connection structures to rotate and move respectively.

3. The steel material automatic welding manipulator with a safety protection structure according to claim 1 is characterized in that: The air suction cover (5) comprises an outer cover (51) and an inner cover (52) which are clamped together, an end of the outer cover (51) is fixedly connected to one end of the air duct (4), a gap is provided between the inner cover (52) and the outer cover (51), and the gap is communicated with the inside of the air duct (4).

4. The steel material automatic welding manipulator with a safety protection structure according to claim 3 is characterized in that: The inner cover (52) and the outer cover (51) have the same shape, and a plurality of air inlet holes (521) are provided on the side wall of the inner cover (52), and the air inlet holes (521) are communicated with the gap and serve as flow channels for welding smoke.

5. The steel material automatic welding manipulator with a safety protection structure according to claim 3 is characterized in that: The air guide tube (4) and the outer cover (51) are both made of ultra-high molecular weight polyethylene, the inner cover (52) is made of stainless steel, the outer surfaces of the air guide tube (4) and the outer cover (51) are both wrapped with a layer of polyimide film, the opening of the air suction cover (5) is close to the welding end of the welding gun (2), and the opening diameter of the air suction cover (5) is much larger than the diameter of the welding end of the welding gun (2).

6. The steel material automated welding manipulator with a safety protection structure according to claim 1, characterized in that: The mounting seat (121) is arranged in parallel with the second mechanical arm (12), and the filter box (31) and the air suction pump (33) are both provided with a tightening hoop (122) connected to the mounting seat (121) for reinforcing the connection strength between the multi-stage filtering mechanism (3) and the mounting seat (121).

7. The steel material automatic welding manipulator with a safety protection structure according to claim 1 is characterized in that: The primary filter layer (311) is close to the air inlet (32) and is composed of two layers of sintered meshes bonded to each other, and is used to filter out larger particle impurities and tiny welding slag in welding smoke.

8. The steel material automatic welding manipulator with a safety protection structure according to claim 1 is characterized in that: The secondary filter layer (312) is close to the primary filter layer (311) and is an activated carbon adsorption bed used for adsorbing carbon monoxide, nitrogen oxides and volatile harmful components generated in welding fumes.

9. The steel material automatic welding manipulator with a safety protection structure according to claim 1, characterized in that: The third-level filter layer (313) is close to the second-level filter layer (312) and is a layer of HEPA filter, which is used to filter out residual fine particles in welding smoke.

10. The steel material automatic welding manipulator with a safety protection structure according to claim 1, characterized in that: The other end surface of the filter box (31) is provided with an exhaust port (331), and the exhaust port (331) corresponds to and communicates with the input end of the air suction pump (33).

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