Multi-robot coordinated tracking welding device

Abstract

The invention discloses a multi-robot coordinated tracking welding device, and belongs to the technical field of welding. Comprising a bottom box, a working plate is connected to the top of the bottom box, a welding body is connected to the top of the bottom box, the welding body is located on one side of the working plate, a welding gun is connected to one side of the welding body, a protection device is arranged outside the welding gun, the protection device comprises a protection box, and the protection box is arranged outside the welding gun in a sleeving mode. The top of the protection box is connected with one side of the welding body. According to the welding device, the protection device is arranged, the welding body drives the protection box to move, the protection box drives the protection rod to move downwards, then the bottom of the protection rod is attached to the top of the welding part, and then the protection box continuously moves downwards, so that the protection rod slides in the protection groove and extrudes the first spring; and therefore, the protection rod is tightly attached to the top of the welding part, the welding area is shielded, the situation that welding slag flies around in the welding process and hurts surrounding personnel is avoided, and the safety of the device is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of welding, and in particular relates to a multi-robot coordinated tracking welding device. Background Art

[0002] Welding equipment can significantly improve the accuracy and interchangeability of welded components. Through reasonable welding tool design, the relative positions of various parts during assembly and positioning welding of welded components can be accurately guaranteed, and welding deformation of workpieces can be prevented or reduced, thereby reducing the size deviation of weldments and ensuring product quality. Welding equipment equipped with tracking devices can further improve welding quality.

[0003] The invention of Chinese application number: 201810620781.2 discloses a robot automatic welding device for submerged arc welding of space circular arc path, including: a robot system, a submerged arc welding machine system, a gas shielded arc welding system, a welding gun switching mechanism system, a laser vision tracking system, and a positioner system. The submerged arc welding gun and the laser vision tracking system are installed at the front end of the robot. The laser vision tracking system is set at an angle with the welding gun to achieve real-time tracking and positioning of the welding workpiece and the weld during the welding process. The control device automatically identifies the corner feature of the welding path through the built-in corner path database, and calls different multi-wire corner technologies corresponding to the corner feature to perform multi-wire welding of the workpiece circular arc path. The positioner system automatically completes the 180° turning of the welding workpiece, but in actual use, since a lot of welding slag will be generated during the welding process, and the welding slag will fly around and cause harm to the surrounding personnel, the practicality is low. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that flying welding slag affects the safety of surrounding personnel during welding, and to propose a multi-robot coordinated tracking welding device.

[0005] In order to achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a multi-robot coordinated tracking welding device, comprising a bottom box, a working plate connected to the top of the bottom box, and a welding body connected to the top of the bottom box, and the welding body is located on one side of the working plate, a welding gun is connected to one side of the welding body, and a protective device is provided outside the welding gun, the protective device comprises a protective box, the protective box is sleeved outside the welding gun, and the top of the protective box is connected to one side of the welding body, a protective groove is provided in the protective box, a plurality of protective rods are slidably connected in the protective groove, a built-in groove is provided on the top of the protective rod, a first sliding groove is provided at the bottom of the built-in groove, a sliding rod is slidably connected in the first sliding groove, the other end of the sliding rod is connected to the top of the inner wall of the protective groove, a first spring is provided outside the sliding rod, and the two ends of the first spring are respectively connected to the bottom of the built-in groove and the top of the protective groove.

[0006] As a further description of the above technical solution: Two first sliding grooves are arranged on the inner wall of the first sliding groove, and a first sliding block is slidably connected in the first sliding groove, and one side of the first sliding block is connected to the outer wall of the sliding rod.

[0007] As a further description of the above technical solution: A rotating groove is provided at the bottom of the protection rod, and a rotating block is rotatably connected in the rotating groove. A rolling groove is provided at the bottom of the rotating block, and the same rolling wheel is rotatably connected to both sides of the inner wall of the rolling groove.

[0008] As a further description of the above technical solution: An embedding groove is provided on the top of the working plate, and through grooves are provided on both sides of the inner wall of the embedding groove, and a clamping device is installed between the two through grooves, the clamping device includes a first motor and two moving blocks, threaded seats and sliding sleeve seats are respectively connected on both sides of the moving block, and the same first sliding rod is slidably connected between the two sliding sleeve seats, the first motor output shaft is connected to a double-grooved rod, the top of the moving block is connected to a fixed frame, an electric push rod is fixedly installed on the top of the fixed frame, the electric push rod top rod passes through the top of the fixed frame, and the electric push rod top rod is connected to a clamping plate.

[0009] As a further description of the above technical solution: One side of the first motor is fixedly installed on one side of the working plate, and the output shaft of the first motor extends into one of the through slots, and the output shaft of the first motor is connected to one end of the double-grooved rod, the other end of the double-grooved rod is rotatably connected to a side of the through slot away from the first motor, and the inner wall of the threaded seat is threadedly connected to the outer wall of the double-grooved rod, the two ends of the first sliding rod are respectively connected to both sides of the inner wall of another through slot, and the sliding sleeve seat and the outer wall of the threaded seat are both slidably connected to the corresponding inner wall of the through slot.

[0010] As a further description of the above technical solution: Both sides of the fixing frame are provided with plugging slots, a plugging plate is slidably connected in the plugging slot, one side of the plugging plate is connected to a baffle, and two fixing slots are provided on the side of the plugging plate away from the baffle, and a fixing rod is slidably connected in the fixing slot, the other end of the fixing rod is connected to one side of the inner wall of the plugging slot, and a second spring is sleeved on the outer wall of the fixing rod, and the two ends of the second spring are respectively connected to one side of the plugging plate and one side of the inner wall of the plugging slot, and limiting slots are provided on both sides of the inner wall of the plugging slot, and limiting blocks are slidably connected in the limiting slots, and one side of the limiting block is connected to one side of the plugging plate.

[0011] As a further description of the above technical solution: A scraping device is installed at the bottom of the moving block, and the scraping device includes a movable groove, which is opened at the bottom of the moving block. A scraper is slidably connected to the inner wall of the movable groove, and multiple sliding blocks are connected to both sides of the scraper. A sliding sleeve is embedded in the sliding block, and a limiting rod is slidably connected in the sliding sleeve. A third spring is sleeved on the outer wall of the limiting rod, and multiple second sliding grooves are opened on both sides of the inner wall of the movable groove.

[0012] As a further description of the above technical solution: The outer wall of the sliding block is slidably connected to the corresponding inner wall of the second sliding groove, and the two ends of the limit rod are respectively connected to the two sides of the inner wall of the second sliding groove, and the two ends of the third spring are respectively connected to the top of the sliding block and the top of the inner wall of the second sliding groove, and a filter plate is embedded in the bottom of the embedded groove, and the top of the filter plate is in contact with the bottom of the scraper and slidably connected.

[0013] As a further description of the above technical solution: A cleaning device is installed in the bottom box, and the cleaning device includes a second motor and a movable plate, a nut is embedded in the movable plate, and a threaded rod is connected to the inner thread of the nut, one end of the threaded rod is connected to the output shaft of the second motor, and one side of the second motor is fixedly installed to the outer wall of the bottom box, the output shaft of the second motor extends into the bottom box, and the end of the threaded rod away from the second motor is rotatably connected to one side of the inner wall of the bottom box, and a brush plate is connected to the top of the movable plate, a cleaning steel brush is provided on the top of the brush plate, and the top of the brush plate is fitted with the bottom of the filter plate, two other sliding sleeves are embedded in the movable plate, and the two other sliding sleeves are located on both sides of the nut, and the second sliding rods are slidably connected in the two other sliding sleeves, and the two ends of the second sliding rod are respectively connected to both sides of the inner wall of the bottom box.

[0014] As a further description of the above technical solution: The bottom of the movable plate is connected to a support rod, the outer wall of the support rod is slidably connected to a supporting tube, the bottom of the support tube is connected to a cleaning plate, the bottom of the cleaning plate is slidably connected to the bottom of the inner wall of the bottom box, and slag discharge grooves are opened on both sides of the bottom box, the bottom of the support rod is opened with a support groove, and a support rod is slidably connected in the support groove, the bottom of the support rod is connected to the bottom of the inner wall of the support tube, and the outer wall of the support rod is sleeved with a strong spring, the two ends of the strong spring are respectively connected to the bottom of the support rod and the bottom of the inner wall of the support tube, the inner wall of the support tube is opened with two second sliding grooves, and the second sliding groove is slidably connected with a second sliding block, one side of the second sliding block is connected to the outer wall of the support rod, the outer wall of the support tube is connected with a fixed sleeve, the outer wall of the fixed sleeve is connected to two brackets, and the bottoms of the two brackets are connected to the top of the cleaning plate.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In the present invention, a protective device is provided, and the protective box is driven to move by the welding body, so that the protective box drives the protective rod to move downward, and then the bottom of the protective rod is fitted with the top of the welding part, and then the protective box continues to move downward, so that the protective rod slides in the protective groove and squeezes the first spring, so that the protective rod is tightly fitted with the top of the welding part, and then the welding area is shielded to prevent welding slag from flying around during welding and causing harm to surrounding personnel, thereby improving the safety of the device.

[0016] 2. In the present invention, a clamping device is provided, and the double-threaded rod is driven to rotate by the first motor, so that the double-threaded rod drives the two threaded seats to move toward each other through the two opposite threaded sections of the outer wall, and then the threaded seats drive the top fixing frame to move through the moving block, so that one side of the fixing frame contacts the two sides of the welded part, and then the clamping plate is driven downward by the electric push rod to fix the welded part, so that the device can fix welded parts of different sizes, thereby improving the application range of the device.

[0017] 3. In the present invention, a cleaning device is provided, and the second motor drives the threaded rod to rotate, so that the threaded rod drives the movable plate to move, and the movable plate drives the brush plate on the top to move, so that the brush plate cleans the welding slag in the sieve holes of the filter plate, and the support tube is driven to move by the support rod, so that the support tube drives the bottom cleaning plate to move, so that the cleaning plate collects the fallen welding slag and discharges it from the slag discharge grooves on both sides, thereby improving the cleaning efficiency of the device and avoiding long-term accumulation of welding slag affecting subsequent welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the three-dimensional structure of a multi-robot coordinated tracking welding device proposed by the present invention; Figure 2 A schematic diagram of the structure of an embedded slot of a multi-robot coordinated tracking welding device proposed by the present invention; Figure 3 A schematic cross-sectional structure diagram of a protective device for a multi-robot coordinated tracking welding device proposed by the present invention; Figure 4 A multi-robot coordinated tracking welding device proposed by the present invention Figure 3 The enlarged structural diagram of part A in the middle; Figure 5 A multi-robot coordinated tracking welding device proposed by the present invention Figure 3 The enlarged structural diagram of part B in the middle; Figure 6 A schematic diagram of the structure of a clamping device for a multi-robot coordinated tracking welding device proposed by the present invention; Figure 7 A schematic diagram of the internal structure of a plug-in slot of a multi-robot coordinated tracking welding device proposed by the present invention; Figure 8 A schematic diagram of the cross-sectional structure of a moving block of a multi-robot coordinated tracking welding device proposed by the present invention; Fig. 9 A multi-robot coordinated tracking welding device proposed by the present invention Figure 8 The enlarged structural diagram of the middle C part; Fig.10 A schematic diagram of the structure of a cleaning device for a multi-robot coordinated tracking welding device proposed by the present invention; Fig.11 A multi-robot coordinated tracking welding device proposed by the present invention Fig.10 The enlarged structural diagram of part D in the middle.

[0019] Legend: 1. Welding body; 2. Slag trough; 3. Bottom box; 4. Filter plate; 5. Working plate; 6. Protective device; 601. Protective box; 602. Protective groove; 603. Built-in groove; 604. First sliding groove; 605. First spring; 606. Sliding rod; 607. First slider; 608. Protective rod; 609. First sliding groove; 610. Rotating block; 611. Rotating groove; 612. Rolling groove; 613. Rolling wheel; 7. Clamping device; 701. First motor; 702. Double-grained rod; 703. Threaded seat; 704. Clamping plate; 705. Electric push rod; 706. Fixed frame; 707. Sliding sleeve seat; 708. First sliding rod; 709. Moving block; 710. Plug-in groove; 71 1. Fixed rod; 712. Limit block; 713. Plug-in board; 714. Baffle; 715. Second spring; 716. Limit slot; 8. Sweeping device; 801. Movable slot; 802. Third spring; 803. Limit rod; 804. Scraper; 805. Sliding block; 806. Second sliding slot; 9. Cleaning device; 901. Second motor; 902. Second sliding rod; 903. Threaded rod; 904. Fixed sleeve; 905. Support cylinder; 906. Cleaning plate; 907. Brush plate; 908. Moving plate; 909. Bracket; 910. Support rod; 911. Support rod; 912. Power spring; 913. Second sliding slot; 914. Second sliding block; 10. Embedded slot; 11. Through slot. DETAILED DESCRIPTION

[0020] 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.

[0021] See also Figure 1 - Fig.11 The present invention provides a technical solution: a multi-robot coordinated tracking welding device, comprising a bottom box 3, a working plate 5 is connected to the top of the bottom box 3, a welding body 1 is connected to the top of the bottom box 3, and the welding body 1 is located on one side of the working plate 5, a welding gun is connected to one side of the welding body 1, and a protective device 6 is arranged outside the welding gun, the protective device 6 comprises a protective box 601, the protective box 601 is sleeved outside the welding gun, and the top of the protective box 601 is connected to one side of the welding body 1, a protective groove 602 is opened in the protective box 601, a plurality of protective rods 608 are slidably connected in the protective groove 602, a built-in groove 603 is opened on the top of the protective rod 608, a first sliding groove 604 is opened at the bottom of the built-in groove 603, and the first sliding groove 604 A sliding rod 606 is slidably connected inside, and the other end of the sliding rod 606 is connected to the top of the inner wall of the protective groove 602. A first spring 605 is arranged on the outer sleeve of the sliding rod 606. The two ends of the first spring 605 are respectively connected to the bottom of the built-in groove 603 and the top of the protective groove 602. Two first sliding grooves 609 are arranged on the inner wall of the first sliding groove 604, and a first slider 607 is slidably connected in the first sliding groove 609. One side of the first slider 607 is connected to the outer wall of the sliding rod 606. A rotating groove 611 is arranged at the bottom of the protective rod 608, and a rotating block 610 is rotatably connected in the rotating groove 611. A rolling groove 612 is arranged at the bottom of the rotating block 610, and the same rolling wheel 613 is rotatably connected to both sides of the inner wall of the rolling groove 612.

[0022] The specific implementation method is as follows: by setting the protection device 6, the protection box 601 is driven to move through the welding body 1, so that the protection box 601 drives the protection rod 608 to move downward, and then the bottom of the protection rod 608 is fitted with the top of the welding part, and then the protection box 601 continues to move downward, so that the protection rod 608 slides in the protection groove 602, and squeezes the first spring 605, so that the first spring 605 generates a rebound force, and then the first spring 605 drives the bottom of the protection rod 608 to fit closely with the top of the welding part, and the first spring 605 is supported by setting a sliding rod 606 to prevent the first spring 605 from bending when compressed, thereby preventing the first spring 605 from bending and affecting the rebound effect of the first spring 605, and then the protection rod 608 fits with the top of the welding part, so as to shield the welding area. , to avoid the flying of welding slag during welding and causing harm to the surrounding personnel, thereby improving the safety of the device, by setting the first slider 607 to slide in the first slide groove 609, and the first slide groove 609 has a good limit on the first slider 607, so that the first slider 607 has a certain pulling limit on the protective rod 608, to avoid the protective rod 608 from excessively stretching the first spring 605 due to gravity, thereby avoiding the first spring 605 from affecting its rebound effect due to excessive stretching, by setting the rolling wheel 613 to roll with the surface of the weldment, the bottom of the protective rod 608 is prevented from rigidly sliding with the top of the weldment to cause damage to the surface of the weldment, by setting the rotating block 610 to rotate in the rotating groove 611, the rolling wheel 613 in the rolling groove 612 can be rotated at multiple angles, thereby adapting to multi-angle sliding, thereby improving the practicality of the device.

[0023] The top of the working plate 5 is provided with an embedding groove 10, and both sides of the inner wall of the embedding groove 10 are provided with through grooves 11, and a clamping device 7 is installed between the two through grooves 11, and the clamping device 7 includes a first motor 701 and two moving blocks 709, and the two sides of the moving block 709 are respectively connected with a threaded seat 703 and a sliding sleeve seat 707, and the same first sliding rod 708 is slidably connected between the two sliding sleeve seats 707, the output shaft of the first motor 701 is connected with a double-threaded rod 702, and the top of the moving block 709 is connected There is a fixing frame 706, and an electric push rod 705 is fixedly installed on the top of the fixing frame 706. The push rod of the electric push rod 705 passes through the top of the fixing frame 706, and the push rod of the electric push rod 705 is connected to the clamping plate 704. One side of the first motor 701 is fixedly installed with one side of the working plate 5, and the output shaft of the first motor 701 extends into one of the through grooves 11, and the output shaft of the first motor 701 is connected to one end of the double-grained rod 702, and the other end of the double-grained rod 702 is connected to the side of the through groove 11 away from the first motor 701. The first slide bar 708 is connected to the inner wall of the through groove 11, and the sliding sleeve seat 707 and the outer wall of the threaded seat 703 are connected to the inner wall of the corresponding through groove 11 in a sliding manner. The fixing frame 706 is provided with a plug-in slot 710 on both sides, and a plug-in plate 713 is slidably connected in the plug-in slot 710. A baffle plate 714 is connected to one side of the plug-in plate 713, and a side of the plug-in plate 713 away from the baffle plate 714 is provided. There are two fixing grooves, and a fixing rod 711 is slidably connected in the fixing groove, the other end of the fixing rod 711 is connected to one side of the inner wall of the plug-in groove 710, and a second spring 715 is sleeved on the outer wall of the fixing rod 711. The two ends of the second spring 715 are respectively connected to one side of the plug-in board 713 and one side of the inner wall of the plug-in groove 710. Limiting grooves 716 are provided on both sides of the inner wall of the plug-in groove 710, and a limiting block 712 is slidably connected in the limiting groove 716, and one side of the limiting block 712 is connected to one side of the plug-in board 713.

[0024] The specific implementation method is as follows: by setting the clamping device 7, the double-threaded rod 702 is driven to rotate by the output shaft of the first motor 701, and the outer wall of the double-threaded rod 702 is provided with two threaded sections in opposite directions, so that the double-threaded rod 702 drives the two threaded seats 703 to move toward each other through the outer wall, and then the threaded seats 703 drive the moving block 709 to move, and the sliding sleeve seat 707 is driven to move by the moving block 709, so that the moving block 709 is more stable when moving, and the displacement of the moving block 709 is avoided. The jamming that affects the normal operation of the device is avoided, and then the top fixing frame 706 is driven to move by the moving block 709, so that the two fixing frames 7 06 one side is in contact with the two sides of the welded part respectively, and then the electric push rod 705 push rod drives the clamping plate 704 to move down, so that the clamping plate 704 fixes the welded part up and down, so that the device can fix welded parts of different sizes and avoid the welded parts from shaking during welding and affecting the welding effect. Then, by pulling the baffle plate 714, the baffle plate 714 drives the plug-in block to move and stretch the second spring 715, so that the second spring 715 generates a rebound force, and the rebound force of the second spring 715 drives the two sides of the baffle plate 714 to clamp and limit the two sides of the welded part, thereby further improving the stability of the welded part during welding.

[0025] A scraping device 8 is installed at the bottom of the moving block 709, and the scraping device 8 includes a movable groove 801, which is opened at the bottom of the moving block 709. The inner wall of the movable groove 801 is slidably connected with a scraper 804, and a plurality of sliding blocks 805 are connected on both sides of the scraper 804. A sliding sleeve is embedded in the sliding block 805, and a limiting rod 803 is slidably connected in the sliding sleeve. The outer wall of the limiting rod 803 is sleeved with a third spring 802. A plurality of second sliding grooves 806 are opened on both sides of the inner wall of the movable groove 801. The outer wall of the sliding block 805 is slidably connected to the corresponding inner wall of the second sliding groove 806, and the two ends of the limiting rod 803 are respectively connected to the two sides of the inner wall of the second sliding groove 806, and the third spring 802 is sleeved on the outer wall of the limiting rod 803. 02 two ends are respectively connected to the top of the sliding block 805 and the top of the inner wall of the second sliding groove 806, and the filter plate 4 is embedded at the bottom of the embedded groove 10, and the top of the filter plate 4 is attached to the bottom of the scraper 804 and slidably connected. A cleaning device 9 is installed in the bottom box 3, and the cleaning device 9 includes a second motor 901 and a movable plate 908. A nut is embedded in the movable plate 908, and a threaded rod 903 is connected to the inner thread of the nut. One end of the threaded rod 903 is connected to the output shaft of the second motor 901, and one side of the second motor 901 is fixedly installed to the outer wall of the bottom box 3, the output shaft of the second motor 901 extends into the bottom box 3, and the end of the threaded rod 903 away from the second motor 901 is rotatably connected to one side of the inner wall of the bottom box 3. The movable plate 908 is connected to the top thereof, and a brush plate 907 is connected to the top of the brush plate 907, a cleaning steel brush is arranged on the top of the brush plate 907, and the top of the brush plate 907 fits with the bottom of the filter plate 4, two other sliding sleeves are embedded in the movable plate 908, and the two other sliding sleeves are located on both sides of the nut, and the second sliding rod 902 is slidably connected in the two other sliding sleeves, and the two ends of the second sliding rod 902 are respectively connected to the two sides of the inner wall of the bottom box 3, a support rod 910 is connected to the bottom of the movable plate 908, and the outer wall of the support rod 910 is slidably connected to the support cylinder 905, and the bottom of the support cylinder 905 is connected to the cleaning plate 906, and the bottom of the cleaning plate 906 is slidably connected to the bottom of the inner wall of the bottom box 3, and slag discharge grooves 2 are opened on both sides of the bottom box 3, and the bottom of the support rod 910 A support groove is provided in the part, and a support rod 911 is slidably connected in the support groove, the bottom of the support rod 911 is connected to the bottom of the inner wall of the support tube 905, and a strong spring 912 is provided on the outer wall of the support rod 911, and the two ends of the strong spring 912 are respectively connected to the bottom of the support rod 910 and the bottom of the inner wall of the support tube 905, and two second sliding grooves 913 are provided on the inner wall of the support tube 905, and a second slider 914 is slidably connected in the second sliding groove 913, one side of the second slider 914 is connected to the outer wall of the support rod 910, the outer wall of the support tube 905 is connected to a fixing sleeve 904, and the outer wall of the fixing sleeve 904 is connected to two brackets 909, and the bottoms of the two brackets 909 are connected to the top of the cleaning plate 906.

[0026] The specific implementation method is as follows: by setting a scraping device 8, the scraper 804 is driven to move by the moving block 709, so that the scraper 804 scrapes the welding slag on the top of the filter plate 4 to prevent the accumulation of welding slag from affecting subsequent welding; by setting a third spring 802, the third spring 802 drives the bottom of the scraper 804 to fit closely with the top of the filter plate 4 through the sliding block 805, thereby ensuring the cleanliness of the scraper 804; by setting a limiting rod 803 to support the third spring 802, the third spring 802 is prevented from bending during installation to affect the rebound effect of the third spring 802; then, by setting a cleaning device 9, the threaded rod 903 is driven to rotate by the output shaft of the second motor 901, so that the threaded rod 903 drives the moving plate 908 to move; and by setting a second sliding rod 902, the moving plate 908 is The support limit prevents the movable plate 908 from deflecting when it moves, thereby ensuring the normal operation of the device. Then, the movable plate 908 drives the brush plate 907 on the top to move, so that the brush plate 907 clears and cleans the welding slag in the sieve holes of the filter plate 4, so that the welding slag falls to the bottom of the inner wall of the bottom box 3. The movable plate 908 drives the support rod 910 to move, and the support rod 910 drives the support tube 905 to move, so that the support tube 905 drives the bottom cleaning plate 906 to move, so that the cleaning plate 906 collects the fallen welding slag and discharges it from the slag discharge troughs 2 on both sides, thereby improving the cleaning efficiency of the device and avoiding long-term accumulation of welding slag affecting subsequent welding. By setting a strong spring 912 to apply downward force to the support tube 905, the cleaning plate 906 can effectively clean the welding slag that falls on the bottom of the bottom box 3.

[0027] Working principle: when in use, the welding piece is placed on the workbench, and the double-threaded rod 702 is driven to rotate by the first motor 701, so that the two opposite threaded sections provided on the outer wall of the double-threaded rod 702 drive the two threaded seats 703 to move toward each other, and then the threaded seat 703 drives the top fixing frame 706 to move through the moving block 709, so that one side of the fixing frame 706 contacts the two sides of the welding piece, and then the electric push rod 705 push rod drives the clamping plate 704 to move down, so that the clamping plate 704 fixes the welding piece, and by pulling the baffle plate 714, the baffle plate 714 drives the plug-in plate 713 to move and stretch the second spring 715, so that the second spring 715 rebounds and drives the plug-in plate 713 to reset and move, so that the plug-in plate 713 drives the baffle plate 714 to clamp and limit the two sides of the welding piece, and then the welding main body 1 drives the welding gun and the protective box 601 to move, so that the protective box 601 drives the protective rod 608 to move, so that the protective The bottom of the guard rod 608 contacts the top of the welding part, and through continuous movement, the guard rod 608 slides in the guard groove 602 and squeezes the first spring 605 until the welding gun contacts the welding part, so that the guard box 601 and the guard rod 608 shield the welding area to prevent welding slag from splashing. The welding slag generated during welding falls to the bottom of the bottom box 3 through the filter plate 4, and then the second motor 901 drives the threaded rod 903 to rotate, so that the threaded rod 903 drives the moving plate 908 to move, and the moving plate 908 drives the brush plate 907 to move, so that the brush plate 907 cleans the welding slag in the sieve hole of the filter plate 4, and then the moving plate 908 drives the support rod 910 to move, and the support rod 910 drives the support tube 905 to move, so that the support tube 905 drives the cleaning plate 906 to move, so that the cleaning plate 906 cleans the welding slag in the bottom box 3 and discharges it from the slag discharge grooves 2 on both sides, so that the device is more convenient when cleaning and improves work efficiency.

[0028] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-robot coordinated tracking welding device, comprising a bottom box (3), characterized in that: The top of the bottom box (3) is connected to a working plate (5), and the top of the bottom box (3) is connected to a welding body (1), and the welding body (1) is located on one side of the working plate (5). A welding gun is connected to one side of the welding body (1), and a protective device (6) is provided outside the welding gun. The protective device (6) comprises a protective box (601), the protective box (601) is sleeved outside the welding gun, and the top of the protective box (601) is connected to one side of the welding body (1), and a protective groove (602) is provided inside the protective box (601), and a sliding member is provided inside the protective groove (602). A plurality of protective rods (608) are movably connected, a built-in groove (603) is provided at the top of the protective rod (608), a first sliding groove (604) is provided at the bottom of the built-in groove (603), a sliding rod (606) is slidably connected in the first sliding groove (604), the other end of the sliding rod (606) is connected to the top of the inner wall of the protective groove (602), a first spring (605) is provided on the outer sleeve of the sliding rod (606), and two ends of the first spring (605) are respectively connected to the bottom of the built-in groove (603) and the top of the protective groove (602).

2. A multi-robot coordinated tracking welding device according to claim 1, characterized in that: Two first sliding grooves (609) are formed on the inner wall of the first sliding groove (604), and a first sliding block (607) is slidably connected inside the first sliding groove (609), and one side of the first sliding block (607) is connected to the outer wall of the sliding rod (606).

3. The multi-robot coordinated tracking welding device according to claim 1, characterized in that: A rotating groove (611) is provided at the bottom of the protection rod (608), and a rotating block (610) is rotatably connected in the rotating groove (611). A rolling groove (612) is provided at the bottom of the rotating block (610), and the same rolling wheel (613) is rotatably connected on both sides of the inner wall of the rolling groove (612).

4. The multi-robot coordinated tracking welding device according to claim 1, characterized in that: The working plate (5) is provided with an embedding groove (10) at the top, and through grooves (11) are provided on both sides of the inner wall of the embedding groove (10), and a clamping device (7) is installed between the two through grooves (11), the clamping device (7) comprises a first motor (701) and two moving blocks (709), the moving blocks (709) are respectively connected with a threaded seat (703) and a sliding sleeve seat (707) on both sides, and a first sliding rod (708) is slidably connected between the two sliding sleeve seats (707), the output shaft of the first motor (701) is connected with a double-threaded rod (702), the top of the moving block (709) is connected with a fixing frame (706), the top of the fixing frame (706) is fixedly installed with an electric push rod (705), the top rod of the electric push rod (705) passes through the top of the fixing frame (706), and the top rod of the electric push rod (705) is connected with a clamping plate (704).

5. The multi-robot coordinated tracking welding device according to claim 4, characterized in that: One side of the first motor (701) is fixedly mounted on one side of the working plate (5), and the output shaft of the first motor (701) extends into one of the through slots (11), and the output shaft of the first motor (701) is connected to one end of the double-grooved rod (702), the other end of the double-grooved rod (702) is rotatably connected to a side of the through slot (11) away from the first motor (701), and the inner wall of the threaded seat (703) is threadedly connected to the outer wall of the double-grooved rod (702), the two ends of the first sliding rod (708) are respectively connected to the two sides of the inner wall of another through slot (11), and the outer wall of the sliding sleeve seat (707) and the threaded seat (703) are both slidably connected to the inner wall of the corresponding through slot (11).

6. The multi-robot coordinated tracking welding device according to claim 4, characterized in that: Both sides of the fixing frame (706) are provided with plug-in slots (710), a plug-in board (713) is slidably connected in the plug-in slot (710), one side of the plug-in board (713) is connected to a baffle (714), and two fixing slots are provided on a side of the plug-in board (713) away from the baffle (714), and a fixing rod (711) is slidably connected in the fixing slot, the other end of the fixing rod (711) is connected to one side of the inner wall of the plug-in slot (710), the outer wall of the fixing rod (711) is sleeved with a second spring (715), the two ends of the second spring (715) are respectively connected to one side of the plug-in board (713) and one side of the inner wall of the plug-in slot (710), both sides of the inner wall of the plug-in slot (710) are provided with limiting slots (716), and a limiting block (712) is slidably connected in the limiting slot (716), and one side of the limiting block (712) is connected to one side of the plug-in board (713).

7. The multi-robot coordinated tracking welding device according to claim 4, characterized in that: A scraping device (8) is installed at the bottom of the movable block (709), and the scraping device (8) comprises a movable groove (801). The movable groove (801) is opened at the bottom of the movable block (709), and a scraper (804) is slidably connected to the inner wall of the movable groove (801). Both sides of the scraper (804) are connected to a plurality of sliding blocks (805), and a sliding sleeve is embedded in the sliding block (805), and a limit rod (803) is slidably connected in the sliding sleeve. The outer wall of the limit rod (803) is sleeved with a third spring (802), and both sides of the inner wall of the movable groove (801) are opened with a plurality of second sliding grooves (806).

8. The multi-robot coordinated tracking welding device according to claim 7, characterized in that: The outer wall of the sliding block (805) is slidably connected to the inner wall of the corresponding second sliding groove (806), and the two ends of the limit rod (803) are respectively connected to the two sides of the inner wall of the second sliding groove (806), and the two ends of the third spring (802) are respectively connected to the top of the sliding block (805) and the top of the inner wall of the second sliding groove (806), and the bottom of the embedded groove (10) is embedded with a filter plate (4), and the top of the filter plate (4) is in contact with and slidably connected to the bottom of the scraper (804).

9. The multi-robot coordinated tracking welding device according to claim 1, characterized in that: A cleaning device (9) is installed in the bottom box (3), and the cleaning device (9) comprises a second motor (901) and a movable plate (908). A nut is embedded in the movable plate (908), and a threaded rod (903) is connected to the inner thread of the nut. One end of the threaded rod (903) is connected to the output shaft of the second motor (901), and one side of the second motor (901) is fixedly installed to the outer wall of the bottom box (3). The output shaft of the second motor (901) extends into the bottom box (3), and the threaded rod (903) is away from the second motor (901). One end of the motor (901) is rotatably connected to one side of the inner wall of the bottom box (3), and a brush plate (907) is connected to the top of the movable plate (908), a cleaning steel brush is provided on the top of the brush plate (907), and the top of the brush plate (907) is in contact with the bottom of the filter plate (4), and two other sliding sleeves are embedded in the movable plate (908), and the two other sliding sleeves are located on both sides of the nut, and the two other sliding sleeves are slidably connected to the second sliding rod (902), and the two ends of the second sliding rod (902) are respectively connected to the two sides of the inner wall of the bottom box (3).

10. The multi-robot coordinated tracking welding device according to claim 9, characterized in that: The bottom of the movable plate (908) is connected to a support rod (910), the outer wall of the support rod (910) is slidably connected to a support tube (905), the bottom of the support tube (905) is connected to a cleaning plate (906), the bottom of the cleaning plate (906) is slidably connected to the bottom of the inner wall of the bottom box (3), and both sides of the bottom box (3) are provided with slag discharge grooves (2), the bottom of the support rod (910) is provided with a support groove, and a support rod (911) is slidably connected in the support groove, the bottom of the support rod (911) is connected to the bottom of the inner wall of the support tube (905), and the outer wall of the support rod (911) is sleeved with a strong spring (912), the two ends of the strong spring (912) are respectively connected to the bottom of the support rod (910) and the bottom of the inner wall of the support tube (905), the inner wall of the support tube (905) is provided with two second slide grooves (913), and the second slide groove (913) is slidably connected with a second slider (914), one side of the second slider (914) is connected to the outer wall of the support rod (910), the outer wall of the support tube (905) is connected to a fixing sleeve (904), the outer wall of the fixing sleeve (904) is connected to two brackets (909), and the bottoms of the two brackets (909) are connected to the top of the cleaning plate (906).

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