Built-in push-pull wire feeding system for welding robot

Abstract

The invention discloses a built-in push-pull wire feeding system for a welding robot. The built-in push-pull wire feeding system comprises a wire feeding mechanism located behind a mechanical front arm of the robot and a wire drawing mechanism located in front of the mechanical front arm, and a welding wire redundancy mechanism is arranged between the wire feeding mechanism and the wire drawing mechanism; the welding wire redundant mechanism is arranged in the mechanical front arm and is covered by the hidden cover; the welding wire redundancy mechanism comprises a wire feeding hose, and a welding wire is installed in the wire feeding hose in a penetrating mode. The wire feeding hose is sequentially divided into a rear section, a middle section and a front section from back to front, the front end of the rear section is inserted into an expanding part at the rear end of the middle section, so that the rear section and the middle section can move relatively, the front end of the middle section is inserted into the rear end of the front section, and the middle section and the front section can move relatively. Dynamic synchronous control of the wire feeding mechanism and the wire pushing and drawing mechanism is realized; a hidden redundant mechanism is provided, so that space occupation and collision risks are reduced; and through redundancy closed-loop control, the push-pull speed synchronization error is reduced to the minimum.

Description

Technical Field

[0001] The invention relates to a push-pull wire feeding system for a welding robot. Background Art

[0002] The traditional welding robot wire feeding system not only has a long wire feeding distance and large resistance due to the layout of the large gap between the wire reel, wire feeding mechanism and welding gun, but also has synchronization mismatch caused by the operation difference between the wire feeding mechanism and the wire drawing mechanism during the push-pull wire feeding process, resulting in sudden changes in wire tension, wire breakage or accumulation. Existing improvement schemes mostly use servo motor synchronization or complex sensor mechanisms, but still have defects such as high cost and complex equipment. Existing wire feeding mechanisms are generally hung outside the robot's mechanical arm, which not only affects the appearance, but is also easy to be entangled. Summary of the invention

[0003] The object of the present invention is to provide a built-in push-pull wire feeding system for a welding robot which can effectively realize stable wire feeding.

[0004] The technical solution of the present invention is: A built-in push-pull wire feeding system for a welding robot comprises a wire feeding mechanism located behind the robot's mechanical forearm and a push-pull wire mechanism located in front of the mechanical forearm, and is characterized in that: a welding wire redundancy mechanism is provided between the wire feeding mechanism and the push-pull wire mechanism; the welding wire redundancy mechanism is arranged in the mechanical forearm and covered with a concealed cover; the welding wire redundancy mechanism comprises a wire feeding hose, and the welding wire is installed in the wire feeding hose; the wire feeding hose is sequentially divided into a rear section, a middle section, and a front section from back to front, the front end of the rear section is inserted into the expanded portion of the rear end of the middle section, so that the rear section and the middle section are in a form capable of relative movement, and the front end of the middle section is inserted into the rear end of the front section, so that the middle section and the front section are in a form capable of relative movement.

[0005] A lifting mechanism for lifting the middle section of the wire feeding hose is arranged below the middle section of the wire feeding hose.

[0006] The jacking mechanism includes a jacking shaft fixing sleeve fixedly connected to the robot body, a jacking shaft that can move up and down along the jacking shaft sleeve is arranged inside the jacking shaft fixing sleeve, the upper end of the jacking shaft is fixedly connected to the jacking fixing head seat, and a jacking spring sleeved on the jacking shaft fixing sleeve is arranged between the jacking fixing head seat and the bottom of the jacking shaft fixing sleeve; the upper end of the jacking shaft is connected to a jacking fixed plate.

[0007] The present invention realizes dynamic synchronous control of the wire feeding mechanism and the push-pull wire mechanism; provides a concealed redundant mechanism to reduce space occupation and collision risk; because the power-assisted wire feeding is stable wire feeding, while the push-pull is a sudden wire feeding, it effectively improves the two different wire feeding methods, thereby effectively achieving the purpose of stable wire feeding. Through the closed-loop control of the redundant amount, the push-pull speed synchronization error is minimized; complex path adaptation: supports continuous wire feeding in multiple postures of the six-axis robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0009] Figure 1 2 is a schematic diagram of the robot structure using the present invention.

[0010] Figure 2 It is a structural schematic diagram of the built-in push-pull wire feeding system of the present invention. DETAILED DESCRIPTION

[0011] A built-in push-pull wire feeding system for a welding robot comprises a wire feeding mechanism 6 located behind the robot's mechanical forearm, a push-pull wire mechanism 13 located in front of the mechanical forearm, and a welding wire redundant mechanism 9 between the wire feeding mechanism and the push-pull wire mechanism; the welding wire redundant mechanism is arranged in the mechanical forearm and covered by a concealed cover 8; the welding wire redundant mechanism comprises a wire feeding hose, and the welding wire 15 is installed in the wire feeding hose; the wire feeding hose is sequentially divided into a rear section 16, a middle section 17, and a front section 24 from back to front, the front end of the rear section is inserted into the expanded part of the rear end of the middle section, so that the rear section and the middle section are in a form that can move relative to each other, and the front end of the middle section is inserted into the rear end of the front section, so that the middle section and the front section are in a form that can move relative to each other.

[0012] A lifting mechanism for lifting the middle section of the wire feeding hose is arranged below the middle section of the wire feeding hose. The lifting mechanism comprises a lifting shaft fixing sleeve 22 fixedly connected to the robot body 25, a lifting shaft 20 capable of moving up and down along the lifting shaft sleeve is arranged in the lifting shaft fixing sleeve, a lifting fixing head seat 19 is fixedly connected to the upper end of the lifting shaft, and a lifting spring 21 sleeved on the lifting shaft fixing sleeve is arranged between the lifting fixing head seat and the bottom of the lifting shaft fixing sleeve; a lifting fixed plate 18 is connected to the upper end of the lifting shaft for contacting a larger area with the middle section of the wire feeding hose.

[0013] A displacement sensor 23 for real-time monitoring of the position of the jacking rod is provided at the lower end of the jacking shaft.

[0014] The front section and the rear section of the wire feeding hose are in the form of fixed diameter hoses.

[0015] Also shown in the figure are joint one 1, joint two 2, wire reel 3, wire guide tube 4, joint three 5, joint four 7, joint five 10, joint six 11, collision mechanism 12 and welding gun 14; these are all conventional structures of a welding robot.

[0016] The wire feeder is connected through the rear wire feeding hose, the middle wire feeding hose is retractable to achieve dynamic redundant adjustment, and the front wire feeding hose is connected to the wire drawing mechanism; the large and small head transition design effectively reduces the resistance to wire feeding. The spring-adjustable lifting shaft is vertically installed under the middle wire feeding hose. The spring provides the initial preload force to keep the wire feeding hose in a low and relaxed state, and the spring allows the lifting shaft to move along the vertical stroke. The displacement sensor monitors the position of the ejector rod in real time and transmits the data to the controller in the robot control cabinet. The system realizes the dynamic matching of wire feeding and pulling speed, effectively solving the technical problems of traditional wire feeding systems that are easy to block and relax during high-speed welding. It is particularly suitable for industrial scenarios such as automobile manufacturing and ship welding that have extremely high requirements for welding efficiency and stability.

Claims

1. A built-in push-pull wire feeding system for a welding robot, comprising a wire feeding mechanism located behind the robot's mechanical forearm and a push-pull wire mechanism located in front of the mechanical forearm, characterized in that: A redundant welding wire mechanism is provided between the wire feeding mechanism and the wire pushing and pulling mechanism; the redundant welding wire mechanism is arranged in the mechanical forearm and covered by a concealed cover; the redundant welding wire mechanism comprises a wire feeding hose, in which the welding wire is passed; the wire feeding hose is sequentially divided into a rear section, a middle section and a front section from the back to the front, the front end of the rear section is inserted into the enlarged portion at the rear end of the middle section, so that the rear section and the middle section are in a form capable of relative movement, and the front end of the middle section is inserted into the rear end of the front section, so that the middle section and the front section are in a form capable of relative movement; a displacement sensor for real-time monitoring of the position of the ejector rod is provided at the lower end of the lifting shaft; the front section and the rear section of the wire feeding hose are in the form of fixed diameter hoses.

2. The built-in push-pull wire feeding system for a welding robot according to claim 1 is characterized in that: A lifting mechanism for lifting the middle section of the wire feeding hose is arranged below the middle section of the wire feeding hose.

3. The built-in push-pull wire feeding system for a welding robot according to claim 2 is characterized in that: The jacking mechanism includes a jacking shaft fixing sleeve fixedly connected to the robot body, a jacking shaft that can move up and down along the jacking shaft sleeve is arranged inside the jacking shaft fixing sleeve, the upper end of the jacking shaft is fixedly connected to the jacking fixing head seat, and a jacking spring sleeved on the jacking shaft fixing sleeve is arranged between the jacking fixing head seat and the bottom of the jacking shaft fixing sleeve; the upper end of the jacking shaft is connected to a jacking fixed plate.

Images