Industrial welding robot

Abstract

The invention discloses an industrial welding robot, and relates to the technical field of industrial welding. Comprising a central seat, and a rotary table is rotatably mounted on the outer side of the central seat; the mechanical arm body is installed on the center base, and a welding gun assembly is arranged at one end of the mechanical arm body; the mounting seats are arranged on the rotary table, and the plurality of mounting seats are circumferentially distributed; sliding grooves are formed in the carrying base and the mounting base. By arranging the carrying seat, the mounting seat and other structures, a to-be-welded curved pipe can be placed on the carrying seat, one side of the to-be-welded curved pipe is positioned through the positioning column, the arc center of the to-be-welded curved pipe coincides with the rotating center of the rotary table by screwing the adjusting screw rod, and the rotary table is driven to rotate based on work of the rotary driving part; the to-be-welded position of the to-be-welded curved pipe passes through the welding gun assembly of the mechanical arm body, the arc center of the to-be-welded curved pipe coincides with the rotating center of the rotary table, the welding gun assembly is kept in the working state, and complete welding machining is achieved through rotation of the rotary table.

Description

Technical Field

[0001] The invention relates to the technical field of industrial welding, and in particular to an industrial welding robot. Background Art

[0002] With the continuous development of modern industrial production, the requirements for welding technology are getting higher and higher. Traditional manual welding methods can no longer meet the needs of efficient and precise production. Especially when welding some parts with complex shapes, such as curved pipes to be welded, curved channels and other curved parts, manual welding is more difficult and inefficient.

[0003] Although existing industrial welding robots have improved the efficiency and accuracy of welding to a certain extent, they still have some shortcomings. For example, most existing welding robots are only suitable for welding parts with flat or straight shapes, and are not competent for welding parts with arc or other complex shapes. In addition, when welding arc-shaped parts such as curved pipes, existing welding robots often need to adjust the position of the clamping components multiple times to adapt to parts of different sizes, which not only increases the complexity of the operation, but also reduces production efficiency.

[0004] After searching, the application scheme of Chinese patent application number CN201721085097.6 discloses a welding manipulator, including a frame, on which an X-axis linear module, a Y-axis linear module and a Z-axis linear module are arranged, the X-axis linear module includes an X-axis guide rail arranged on the frame, the X-axis guide rail connects the transmission component and the driving component, a sliding block is arranged at the end of the X-axis guide rail, a welding machine is fixed on the sliding block, a fixed block is arranged on the other side of the X-axis guide rail, a welding hose is connected to the welding machine, a welding head is arranged at the end of the welding hose, the middle part of the welding hose is connected to the top of the fixed block through an upper fixed foot, a first movable hinge is arranged near the end of the welding hose, a second movable hinge is arranged at the bottom of the fixed block, and the first movable hinge is movably connected to the second movable hinge. The welding manipulator in the above-mentioned document has the following shortcomings: it cannot handle arc trajectory welding of arc parts with different radii well. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art and to propose an industrial welding robot.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: An industrial welding robot, comprising: A center seat, a turntable being rotatably mounted on the outer side of the center seat; A mechanical arm body, the mechanical arm body is installed on the center seat, and a welding gun assembly is arranged at one end of the mechanical arm body; A mounting seat, the mounting seat is arranged on the turntable, and a plurality of mounting seats are arranged in a circumferential distribution; The mounting seat is provided with a slide groove, the mounting seat is slidably connected in the slide groove, the mounting seat is provided with a positioning column for positioning the curved pipe to be welded, and the mounting seat is provided with a scale line for determining the position of the mounting seat; An adjusting screw, the adjusting screw is rotatably mounted on the mounting seat, and the adjusting screw is connected to the inner wall of the carrier seat through a thread; A clamping assembly, the clamping assembly is mounted on the mounting seat; The rotation driving part is installed on the center seat and is used to control the rotation of the turntable.

[0007] As a preferred embodiment of the present invention: the rotation driving unit includes: A rotation drive motor is installed on an outer wall of one side of the center seat; Convex teeth, which are arranged on the outer circumferential wall of the turntable; The rotating driving gear, the shaft of which is drivingly connected to the output end of the rotating driving motor, is meshed with the convex teeth.

[0008] As a preferred embodiment of the present invention: the clamping assembly comprises: A fixing frame, which is arranged on the top outer wall of the mounting seat; A transverse positioning frame, a sliding sleeve is fixed at the bottom of the transverse positioning frame, the sliding sleeve is slidably connected to the outer wall of the fixed frame, and both ends of the two transverse positioning frames are fixed with limiting wheels, and an anti-slip rubber sleeve is arranged on the outer side of the limiting wheel; The locking part is installed on the fixing frame and is used to fix the transverse positioning frame.

[0009] As a preferred embodiment of the present invention: the locking portion includes: A column, which is slidably connected to the inner wall of one end of the horizontal positioning frame; A pressing plate is connected to the top outer wall of the fixing frame by sliding up and down; the pressing plate and the fixing frame are connected by a spring; Anti-skid pads, two anti-skid pads are respectively arranged on the top outer wall of the mounting seat and the bottom outer wall of the pressure plate, and the column is located between the two anti-skid pads.

[0010] As a preferred embodiment of the present invention: a plurality of vertical poles are fixed on the top of the pressure plate, a ball seat is provided on the top of the vertical pole, and a rolling ball is movably installed in the ball seat; a limit frame is fixed on the center seat through a bracket, the limit frame is located on the outside of the robot arm body, the limit frame is in a C-shaped structure, and the center of the limit frame is adapted to the rotation center of the turntable, and both ends of the limit frame are bent upward.

[0011] As a preferred embodiment of the present invention: the clamping assembly further includes: A mounting frame, the mounting frame is mounted on the mounting seat, and the top of the mounting frame is slidably connected to an upper limit rod and a lower limit rod; The transverse roller is installed at the ends of the upper limit rod and the lower limit rod. The upper limit rod and the mounting frame are connected by a spring. The inner wall of one side of the mounting frame is threadedly connected with a fixing knob for fixing the lower limit rod.

[0012] As a preferred embodiment of the present invention: a plurality of positioning holes are arranged on the top of the mounting seat, the positioning holes are matched with the bottom end of the mounting frame, and the mounting frame is detachably snap-connected in the positioning holes.

[0013] As a preferred embodiment of the present invention: a roller frame is detachably installed on the outer side of the end of the robot arm body, and a roller is rotatably installed on the roller frame. When the welding gun assembly of the robot arm body is in the welding position, the positions of the two rollers are respectively adapted to the positions of the two welding surfaces of the curved pipe to be welded.

[0014] As a preferred embodiment of the present invention: a ball head rod is fixed on the transverse positioning frame close to the central seat, and a positioning component cooperating with the ball head rod is arranged on the side of the central seat away from the mechanical arm body.

[0015] As a preferred embodiment of the present invention, the positioning assembly includes an electric telescopic cylinder, which is installed on the center seat through a bracket, and a limit plate is fixed to the output end of the electric telescopic cylinder, and the position of the limit plate is adapted to the end of the ball head rod.

[0016] The beneficial effects of the present invention are: 1. The present invention can place the curved pipe to be welded on the carrier by arranging structures such as a carrier and a mounting seat, and position one side of the curved pipe to be welded by a positioning column. By screwing the adjusting screw, the arc center of the curved pipe to be welded coincides with the rotation center of the turntable. Based on the operation of the rotation drive unit, the turntable is driven to rotate, and the welding position of the curved pipe to be welded passes through the welding gun assembly of the robot arm body. Since the arc center of the curved pipe to be welded coincides with the rotation center of the turntable, the welding gun assembly remains in a working state, and the rotation of the turntable is utilized to achieve a complete welding process.

[0017] 2. The present invention sets structures such as a limit frame, a vertical pole, and a rolling ball. During the movement of the turntable, when the locking part moves to the limit frame, the rolling ball rolls on the bottom surface of the limit frame, so that the pressure plate is pressed and limited by the limit frame, and then the vertical pole is clamped, thereby realizing the fixation of the two horizontal positioning frames, completing the fixation of the curved pipe to be welded, and ensuring the stability during welding.

[0018] 3. The present invention provides structures such as an upper limit rod and a lower limit rod, so that after fixing one side of the curved pipe to be welded by the limit wheel, the other side of the curved pipe to be welded can be fixed by the transverse rollers of the upper limit rod and the lower limit rod, thereby ensuring the stability of the two welding surfaces and improving the reliability during welding.

[0019] 4. The present invention sets a positioning component, which can adjust the limit plate to a suitable position based on the operation of the electric telescopic cylinder when processing the corresponding curved pipe to be welded, thereby limiting the horizontal positioning frame. Based on the limitation of the horizontal positioning frame, combined with the positioning column and the scale line, the curved pipe to be welded can be accurately installed to achieve the positioning of the position of the curved pipe to be welded. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of an industrial welding robot proposed by the present invention; Figure 2 This is a schematic structural diagram of an industrial welding robot proposed by the present invention from another angle; Figure 3 This is a schematic diagram of the structure of the industrial welding robot ball head rod and the limit plate provided by the present invention; Figure 4 A schematic structural diagram of an industrial welding robot manipulator proposed by the present invention for welding a curved pipe to be welded; Figure 5 For the present invention Figure 4 A schematic diagram of the structure from another angle; Figure 6 This is a schematic diagram of the structure of a mounting frame of an industrial welding robot proposed by the present invention being removed from a positioning hole; Figure 7 The present invention is a schematic structural diagram of a mounting frame and a transverse positioning frame of an industrial welding robot.

[0021] In the figure: 1 center seat, 2 curved pipe to be welded, 3 limit frame, 4 turntable, 5 positioning hole, 6 mounting seat, 7 adjusting screw, 8 scale line, 9 rotation drive gear, 10 rotation drive motor, 11 convex tooth, 12 spring, 13 limit plate, 14 electric telescopic cylinder, 15 ball head rod, 16 horizontal positioning frame, 17 mounting frame, 18 horizontal roller, 19 upper limit rod, 20 pressure plate, 21 mechanical arm body, 22 positioning column, 23 column, 24 anti-slip pad, 25 roller, 26 carrier, 27 fixed knob, 28 lower limit rod, 29 limit wheel, 30 fixed frame, 31 column, 32 rolling ball, 33 sliding sleeve, 34 roller frame. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is further described in detail below in conjunction with specific implementation methods.

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0024] Embodiment 1: An industrial welding robot, such as Figure 1-7 As shown, including: A center seat 1, wherein a turntable 4 is rotatably mounted on the outer side of the center seat 1; A mechanical arm body 21, the mechanical arm body 21 is installed on the center seat 1, and a welding gun assembly is provided at one end of the mechanical arm body 21; A mounting seat 6, wherein the mounting seat 6 is arranged on the turntable 4, and a plurality of mounting seats 6 are arranged in a circumferential distribution; The carrier 26, the mounting seat 6 is provided with a slide groove, the carrier 26 is slidably connected in the slide groove, the carrier 26 is provided with a positioning column 22 for positioning the curved pipe 2 to be welded, and the mounting seat 6 is provided with a scale line 8 for determining the position of the carrier 26; An adjusting screw 7, the adjusting screw 7 is rotatably mounted on the mounting seat 6, and the adjusting screw 7 is connected to the inner wall of the carrier 26 through a thread; A clamping assembly, the clamping assembly is mounted on a mounting seat 6; A rotation driving unit, which is mounted on the center seat 1 and is used to control the rotation of the turntable 4; By providing structures such as a carrier 26 and a mounting seat 6, the curved pipe 2 to be welded can be placed on the carrier 26, and one side of the curved pipe 2 to be welded can be positioned by the positioning column 22. By screwing the adjusting screw 7, the arc center of the curved pipe 2 to be welded coincides with the rotation center of the turntable 4. Based on the operation of the rotation drive unit, the turntable 4 is driven to rotate, and the position to be welded of the curved pipe 2 to be welded passes through the welding gun assembly of the robot arm body 21. Since the arc center of the curved pipe 2 to be welded coincides with the rotation center of the turntable 4, the welding gun assembly is kept in a working state, and the complete welding process is realized by the rotation of the turntable 4. In addition, a lifting module for adjusting the height of the robot arm body 21 can be provided between the robot arm body 21 and the center seat 1 to better control the welding point position; This method is suitable for arc-shaped parts such as the curved pipe 2 to be welded, and because the position of the carrier 26 can be adjusted based on the adjusting screw 7, it can be adapted to the welding of arc-shaped parts of different sizes.

[0025] In order to facilitate the drive of the turntable 4 to rotate; Figure 2 As shown, the rotation driving unit includes: A rotation drive motor 10 is installed on an outer wall of one side of the center seat 1; The convex teeth 11 are arranged on the outer circumferential wall of the turntable 4; The rotating driving gear 9 , the shaft of which is drivingly connected to the output end of the rotating driving motor 10 , is meshed with the convex teeth 11 .

[0026] In order to facilitate the fixing of the bent pipe 2 to be welded; Figure 3-7 As shown, the clamping assembly includes: A fixing frame 30, the fixing frame 30 is arranged on the top outer wall of the mounting seat 6; A transverse positioning frame 16, a sliding sleeve 33 is fixed at the bottom of the transverse positioning frame 16, and the sliding sleeve 33 is slidably connected to the outer wall of the fixing frame 30, and the ends of the two transverse positioning frames 16 are fixed with limiting wheels 29, and the outer side of the limiting wheels 29 is provided with an anti-slip rubber sleeve; A locking portion, which is mounted on the fixing frame 30 and is used to fix the transverse positioning frame 16; The limiting wheels 29 are located on both sides of the arc surface of the curved pipe 2 to be welded away from the positioning column 22 .

[0027] In order to facilitate the fixing of the lateral positioning frame 16; Figure 7 As shown, the locking portion includes: A column 23, the column 23 is slidably connected to the inner wall of one end of the horizontal positioning frame 16; The pressing plate 20 is connected to the top outer wall of the fixing frame 30 by sliding up and down; the pressing plate 20 and the fixing frame 30 are connected by a spring 12; The two anti-skid pads 24 are respectively arranged on the top outer wall of the mounting seat 6 and the bottom outer wall of the pressing plate 20 , and the column 23 is located between the two anti-skid pads 24 .

[0028] In order to facilitate the compression of the pressing plate 20; Figure 5 , Figure 7 As shown, a plurality of vertical rods 31 are fixed on the top of the pressing plate 20, a ball seat is provided on the top of the vertical rod 31, and a rolling ball 32 is movably installed in the ball seat; a limit frame 3 is fixed on the central seat 1 through a bracket, the limit frame 3 is located outside the mechanical arm body 21, the limit frame 3 is a C-shaped structure, and the center of the limit frame 3 is adapted to the rotation center of the turntable 4, and the two ends of the limit frame 3 are bent upward; By setting structures such as the limit frame 3, the vertical rod 31, and the ball 32, when the locking part moves to the limit frame 3 during the movement of the turntable 4, the ball 32 rolls on the bottom surface of the limit frame 3, so that the pressure plate 20 is pressed and limited by the limit frame 3, and then the column 23 is clamped, thereby realizing the fixation of the two horizontal positioning frames 16, completing the fixation of the curved pipe 2 to be welded, and ensuring the stability during welding.

[0029] In order to facilitate further limiting and fixing of the welded curved pipe 2; Figure 5 , Figure 6 , Figure 7 As shown, the clamping assembly also includes: Mounting frame 17, the mounting frame 17 is mounted on the mounting seat 6, and the top of the mounting frame 17 is slidably connected to an upper limit rod 19 and a lower limit rod 28; The transverse roller 18 is installed at the ends of the upper limit rod 19 and the lower limit rod 28. The upper limit rod 19 and the mounting frame 17 are connected by a spring 12. The inner wall of one side of the mounting frame 17 is threadedly connected with a fixing knob 27 for fixing the lower limit rod 28. By providing structures such as an upper limit rod 19 and a lower limit rod 28, after fixing one side of the bent pipe 2 to be welded by the limit wheel 29, the transverse roller 18 of the upper limit rod 19 and the lower limit rod 28 can be used to fix the other side of the bent pipe 2 to be welded, thereby ensuring the stability of the two welding surfaces and improving the reliability during welding.

[0030] In order to facilitate disassembly and assembly; Figure 6 As shown, a plurality of positioning holes 5 are provided on the top of the mounting seat 6 , and the positioning holes 5 are matched with the bottom end of the mounting frame 17 , and the mounting frame 17 is detachably snap-fitted into the positioning holes 5 .

[0031] In order to improve welding stability; Figure 5 As shown, a roller frame 34 is detachably mounted on the outer side of the end of the robot arm body 21, and a roller 25 is rotatably mounted on the roller frame 34. When the welding gun assembly of the robot arm body 21 is in the welding position, the positions of the two rollers 25 are respectively adapted to the positions of the two welding surfaces of the curved pipe 2 to be welded.

[0032] To facilitate positioning; Figure 6 As shown, a ball head rod 15 is fixed on the transverse positioning frame 16 close to the central seat 1 , and a positioning component cooperating with the ball head rod 15 is provided on the side of the central seat 1 away from the robot arm body 21 .

[0033] To facilitate positioning; Figure 2 As shown, the positioning assembly includes an electric telescopic cylinder 14, which is mounted on the center seat 1 through a bracket, and a limit plate 13 is fixed to the output end of the electric telescopic cylinder 14, and the position of the limit plate 13 is adapted to the end of the ball head rod 15; By setting the positioning assembly, when processing the corresponding curved pipe 2 to be welded, the electric telescopic cylinder 14 works to adjust the limit plate 13 to a suitable position, thereby limiting the horizontal positioning frame 16. Based on the limitation of the horizontal positioning frame 16, combined with the positioning column 22 and the scale line 8, the curved pipe 2 to be welded is accurately installed to achieve the positioning of the curved pipe 2 to be welded; The specific positioning method can be: produce a curved pipe 2 to be welded with a radius of X, control the electric telescopic cylinder 14 to work through the system program, drive the limit plate 13 to move to the corresponding position, adjust the position of the transverse positioning frame 16, make the end of the ball head rod 15 close to the limit plate 13, install the curved pipe 2 to be welded, use two transverse positioning frames 16 to limit the curved pipe 2 to be welded, and screw the adjusting screw 7 to make the positioning column 22 against the other side of the curved pipe 2 to be welded to achieve reinforcement, and then use the mounting frame 17 to assist in fixing the curved pipe 2 to be welded; It can also be implemented by other methods or by replacing steps, which will not be described in detail here.

[0034] For the parts of the present invention that are not disclosed in detail, those skilled in the art can ensure that the solutions of the present invention are smoothly implemented based on common sense, normal thinking logic and existing technologies.

[0035] 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. An industrial welding robot, characterized in that: include: A central seat (1), wherein a turntable (4) is rotatably mounted on the outer side of the central seat (1); A mechanical arm body (21), the mechanical arm body (21) being mounted on the center seat (1), and a welding gun assembly being arranged at one end of the mechanical arm body (21); A mounting seat (6), the mounting seat (6) being arranged on the turntable (4), and a plurality of mounting seats (6) being arranged in a circumferential distribution; A carrier (26), a mounting seat (6) having a slide groove, the carrier (26) being slidably connected in the slide groove, a positioning column (22) for positioning the curved pipe (2) to be welded is provided on the carrier (26), and a scale line (8) for determining the position of the carrier (26) is provided on the mounting seat (6); An adjusting screw (7), the adjusting screw (7) being rotatably mounted on the mounting seat (6), and the adjusting screw (7) being connected to the inner wall of the carrier seat (26) via a thread; A clamping assembly, the clamping assembly being mounted on a mounting seat (6); A rotation drive unit is mounted on the center seat (1) and is used to control the rotation of the turntable (4).

2. An industrial welding robot according to claim 1, characterized in that: The rotation driving unit comprises: A rotation drive motor (10), wherein the rotation drive motor (10) is mounted on an outer wall of one side of the center seat (1); A convex tooth (11), the convex tooth (11) being arranged on the circumferential outer wall of the turntable (4); The rotating drive gear (9) has a shaft which is drivingly connected to the output end of the rotating drive motor (10), and the rotating drive gear (9) is meshed with the convex teeth (11).

3. An industrial welding robot according to claim 1, characterized in that: The clamping assembly comprises: A fixing frame (30), the fixing frame (30) being arranged on the top outer wall of the mounting seat (6); A transverse positioning frame (16), a sliding sleeve (33) is fixed at the bottom of the transverse positioning frame (16), the sliding sleeve (33) is slidably connected to the outer wall of the fixed frame (30), and the ends of the two transverse positioning frames (16) are fixed with limiting wheels (29), and the outer side of the limiting wheels (29) is provided with an anti-slip rubber sleeve; A locking portion, which is mounted on the fixing frame (30) and is used to fix the transverse positioning frame (16).

4. An industrial welding robot according to claim 3, characterized in that: The locking portion comprises: A column (23), the column (23) is slidably connected to the inner wall of one end of the transverse positioning frame (16) in an up-and-down manner; A pressing plate (20), the pressing plate (20) being slidably connected to the top outer wall of the fixing frame (30) in an upward and downward manner; the pressing plate (20) and the fixing frame (30) are connected via a spring (12); Anti-skid pads (24), wherein the two anti-skid pads (24) are respectively arranged on the top outer wall of the mounting seat (6) and the bottom outer wall of the pressing plate (20), and the upright post (23) is located between the two anti-skid pads (24).

5. An industrial welding robot according to claim 4, characterized in that: A plurality of vertical rods (31) are fixed on the top of the pressure plate (20), a ball seat is arranged on the top of the vertical rod (31), and a rolling ball (32) is movably installed in the ball seat; a limit frame (3) is fixed on the central seat (1) through a bracket, the limit frame (3) is located outside the mechanical arm body (21), the limit frame (3) is in a C-shaped structure, and the center of the limit frame (3) is adapted to the rotation center of the turntable (4), and both ends of the limit frame (3) are bent upward.

6. An industrial welding robot according to claim 3, characterized in that: The clamping assembly also includes: A mounting frame (17), the mounting frame (17) being mounted on the mounting seat (6), and the top of the mounting frame (17) being slidably connected to an upper limit rod (19) and a lower limit rod (28); A transverse roller (18) is mounted on the ends of an upper limit rod (19) and a lower limit rod (28); the upper limit rod (19) and the mounting frame (17) are connected via a spring (12); and a fixing knob (27) for fixing the lower limit rod (28) is threadedly connected to an inner wall of one side of the mounting frame (17).

7. An industrial welding robot according to claim 6, characterized in that: The top of the mounting seat (6) is provided with a plurality of positioning holes (5), the positioning holes (5) are adapted to the bottom end of the mounting frame (17), and the mounting frame (17) is detachably snap-fitted into the positioning holes (5).

8. The industrial welding robot according to claim 1, characterized in that: A roller frame (34) is detachably mounted on the outer side of the end of the mechanical arm body (21), and a roller (25) is rotatably mounted on the roller frame (34). When the welding gun assembly of the mechanical arm body (21) is located at the welding position, the positions of the two rollers (25) are respectively adapted to the positions of the two welding surfaces of the curved pipe (2) to be welded.

9. An industrial welding robot according to claim 3, characterized in that: A ball head rod (15) is fixed on a transverse positioning frame (16) close to the central seat (1), and a positioning component cooperating with the ball head rod (15) is provided on a side of the central seat (1) away from the mechanical arm body (21).

10. An industrial welding robot according to claim 9, characterized in that: The positioning assembly comprises an electric telescopic cylinder (14), which is mounted on the central seat (1) via a bracket, and a limit plate (13) is fixed to the output end of the electric telescopic cylinder (14), wherein the position of the limit plate (13) is adapted to the end of the ball head rod (15).

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