Intelligent welding industrial robot

Abstract

The intelligent welding industrial robot comprises a peripheral component and a welding robot, the peripheral component is used for providing welding protection and workpiece positioning functions and comprises a protective fence, a workbench, a combined clamp and an indicator lamp, the protective fence surrounds the outer side of the workbench, and the indicator lamp is arranged on one side of the workbench; a combined clamp is arranged on the workbench; the welding robot comprises a console and a mechanical arm component, the console is used for controlling the mechanical arm component to achieve workpiece welding based on multiple degrees of freedom, the mechanical arm component comprises a chassis, a rotating platform, a servo steering engine A, a servo steering engine B, a servo steering engine C, a first machine arm, a second machine arm, a support, a welding gun and a dynamic feedback assembly, and the rotating platform is arranged on the chassis. By optimizing the design structure of the peripheral component and the welding robot and combining a dynamic feedback mechanism, the precision, safety and flexibility of the welding process are improved.

Description

Technical Field

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

[0002] With the continuous development of China's economy and the continuous optimization of its industrial structure, especially the transformation and upgrading of the manufacturing industry, labor costs have become an important pressure on the development of small and medium-sized enterprises. It is difficult to recruit, employ and retain workers, especially in labor-intensive industries, and has become a problem for many manufacturing companies. Especially in the welding industry, manual welding faces great challenges due to the harsh welding working environment, high labor intensity, low production efficiency and high technical requirements. Therefore, how to improve production efficiency, reduce labor intensity, improve the working environment and reduce personnel turnover has become a key factor in promoting the further development of China's manufacturing industry.

[0003] As the above-mentioned problems gradually emerge, automated welding technology has gradually become an effective way to solve the difficulties of the traditional welding industry. In particular, the development of welding robots in recent years has become a highly anticipated innovative solution in China's manufacturing industry.

[0004] The welding robot in the prior art is as follows:

[0005] 1) Publication No. CN115488563A discloses an intelligent welding industrial robot. In this technical application, the robot includes a mechanical arm, a control unit and a welding unit. The mechanical arm is divided into a fixed part and a rotating part. The fixed part is fixedly installed on the surface of the workbench, and the rotating part is fixedly installed above the fixed part. The control unit is fixedly installed on the surface of the fixed part near the bottom. The control unit is used to control the mechanical arm, and the welding unit is used to perform welding processing. The control system can control the welding unit through the mechanical arm; the welding unit includes a No. 1 welding gun head and a No. 2 welding gun head. The No. 1 welding gun head is fixedly installed at one end of the rotating part, and the No. 2 welding gun head is installed above the No. 1 welding gun head through a telescopic mechanism; when performing single-sided welding or double-sided welding processing, the No. 1 welding gun head and the No. 2 welding gun head can perform welding processing at the same time through the telescopic mechanism, so as to perform multi-point or multi-position welding at the same time, which is beneficial to reduce the welding operation time and improve the welding efficiency.

[0006] 2) Publication No. CN119216894A discloses an intelligent welding industrial robot. In this technical application, the robot includes a base plate and an intelligent robotic arm. A protective component is arranged on the upper outer surface of the base plate. The protective component includes a workbench. A protective frame is slidably connected to the upper inner wall of the workbench. A cross is fixedly installed on the lower inner wall of the protective frame. A U-shaped clamp is slidably installed on the lower surface of the cross. A connecting plate is rotatably connected to the inner surface of the U-shaped clamp. A connecting plate is rotatably connected to the inner surface of the U-shaped clamp. A connecting column is welded to the middle of the outer surfaces of both sides of the connecting plate. A sliding plate is rotatably connected to the outer wall of one end of the connecting plate. An electric telescopic rod is fixedly installed on the lower outer surface of the sliding plate. By means of the protective component, the electric telescopic rod is started to drive the sliding plate to slide downward, thereby driving the connecting plate to rotate, and then driving the U-shaped clamp to slide, so that the protective frame is lifted. The above structure is used to avoid splashing of welding debris, ensure the neatness of the welding work, and reduce the probability of safety accidents.

[0007] 3) Publication No. CN110497081A discloses a six-axis laser welding industrial robot. In this technical application, it includes a robot body and a workbench for mounting the robot body, the workbench includes a mounting seat, a first screw drive mechanism, a mounting frame, a power motor, a mounting plate, a second screw drive mechanism and a movable plate. A working head is installed on the sixth axis of the robot body, and the working head includes a mounting shell, a movable block, a laser welding head and a driving unit for driving the movable block to move. The present application is provided with a workbench to realize the movement of the robot body in three-dimensional space, increase the working range of the robot body, and improve work efficiency; a working head is provided to achieve the purpose of reducing energy consumption, and can quickly perform circumferential welding on tubular workpieces, thereby increasing welding speed and working efficiency; a suction fan and a filter cartridge are provided, and a protective cover is also provided to prevent smoke from being inhaled by workers and affecting their health, and can block strong light to protect the eyesight of workers.

[0008] Although existing technologies have made breakthroughs in the design and function of welding robots, they generally have the following technical defects:

[0009] 1. The ability to accurately position and clamp the workpiece is limited, especially when facing workpieces with irregular or complex shapes;

[0010] 2. There is a lack of dynamic feedback and real-time control mechanism for the welding process, and the welding quality and efficiency cannot be optimized in real time. Summary of the invention

[0011] The purpose of the present invention is to provide an intelligent welding industrial robot, which improves the accuracy, safety and flexibility of the welding process by optimizing the design structure of peripheral components and the welding robot and combining a dynamic feedback mechanism.

[0012] To achieve the above object, the present invention provides the following technical solution: an intelligent welding industrial robot, comprising a peripheral component and a welding robot, wherein:

[0013] Peripheral components, used to provide welding protection and workpiece positioning functions, including guardrails, workbenches, combined fixtures and indicator lights, wherein the guardrails surround the outside of the workbench, an indicator light is set on one side of the workbench, and a combined fixture is configured on the workbench;

[0014] The welding robot comprises a control console and a mechanical arm component, wherein the control console is used to control the mechanical arm component to realize workpiece welding based on multiple degrees of freedom, and the mechanical arm component comprises a chassis, a rotating platform, a servo servo A, a servo servo B, a servo C, a first arm, a second arm, a bracket, a welding gun and a dynamic feedback component, the rotating platform is arranged on the chassis, the servo servo A is installed on the top of the rotating platform, and the shaft end of the servo servo A is connected to the first arm.

[0015] Preferably, the combined clamp includes a main clamp and a sub-clamp, the main clamp includes a bottom frame, a first cylinder, a side clamp arm A, a side clamp arm B, a second cylinder, a front clamp arm A, a front clamp arm B and an intermediate platform, wherein the bottom frame is formed by four guide steel pipes welded in a rectangular distribution, the side clamp arm A and the side clamp arm B are respectively slid into the guide steel pipes on the left and right sides of the bottom frame, the first cylinder is horizontally arranged and its rear end is connected to the side clamp arm A through an adjusting frame, the piston rod at the front end of the first cylinder is connected to the side clamp arm B, and the first cylinder and the adjusting frame can push the side clamp arm A and the side clamp arm B to be close to or away from each other.

[0016] Preferably, the front clamping arm A and the front clamping arm B are slidably mounted in the guide steel pipes on the front and rear sides of the bottom frame respectively; the second cylinder is longitudinally arranged and its rear end is connected to the front clamping arm A through an adjustment frame; the piston rod at the front end of the second cylinder is connected to the front clamping arm B.

[0017] Preferably, the middle platform is supported on the bottom frame by a lifting rod, and a secondary clamp is installed on the middle platform.

[0018] Preferably, four groups of auxiliary clamps are provided and are distributed in a rectangular shape on the middle platform, and each auxiliary clamp includes a rear bracket, a push rod, an auxiliary clamp and a clamp body, wherein shaft sleeves are embedded in the four corners of the end face of the rear bracket, the auxiliary clamp is arranged on the front side of the rear bracket, and the rear side of the auxiliary clamp extends into the inner side of the shaft sleeve through the shaft rod, and the push rod is connected in the middle of the auxiliary clamp, which passes through the rear bracket and extends to one side of the rear bracket.

[0019] Preferably, the clamp body is a push-pull type clamp, the front end of the clamp body is connected to a push rod, the clamp body performs a push-pull action and pushes the auxiliary clamp plate forward through the push rod.

[0020] Preferably, a servo actuator B is disposed at the upper end of the first arm, the shaft end of the servo actuator B is connected to the second arm, a servo actuator C is installed at the end of the second arm, the shaft end of the servo actuator C is connected to a bracket, and a welding gun is installed on the bracket.

[0021] Preferably, the dynamic feedback component includes a visual sensor and a pressure sensor. The pressure sensor is arranged on the welding gun, and the visual sensor is arranged on the bracket. The visual sensor and the pressure sensor identify the weld position and welding pressure based on vision and feed back to the console.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention improves the accuracy, safety and flexibility of the welding process by optimizing the design structure of the peripheral components and the welding robot and combining the dynamic feedback mechanism.

[0024] The specific technical effects include:

[0025] 1. The present invention integrates dynamic feedback components such as visual sensors and pressure sensors to detect key parameters in the welding process, such as weld position, welding pressure, etc. in real time, and automatically adjusts welding parameters based on feedback information to ensure the stability and consistency of welding quality.

[0026] 2. The present invention designs an innovative combined clamp, which includes a main clamp and a sub-clamp, which can be flexibly adjusted through a cylinder and a sliding structure to ensure the stability and precise positioning of the workpiece during welding. Whether it is a large-sized workpiece or a complex-shaped workpiece, accurate clamping and positioning can be achieved through automatic adjustment, avoiding welding errors caused by unstable or positional offset of the workpiece in traditional technologies.

[0027] 3. The welding robot of the present invention adopts a multi-degree-of-freedom robotic arm design, which has high flexibility and adaptability. It can flexibly adjust the welding path and angle according to the shapes and sizes of different workpieces to ensure the smooth progress of the welding operation; in addition, due to the multi-degree-of-freedom design of its robotic arm and the flexible clamping system, it can handle workpieces of various complex shapes, and can also be adjusted according to different welding process requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a schematic structural diagram of a mechanical arm component used for welding in Example 1 of the present invention;

[0030] Figure 3 Schematic diagram of the structure of the combined clamp in Example 2 of the present invention;

[0031] Figure 4 Schematic diagram of the structure of the main clamp in Example 2 of the present invention;

[0032] Figure 5Schematic diagram of the structure of the auxiliary clamp in Example 2 of the present invention.

[0033] In the figure: 1. guardrail; 2. workbench; 3. indicator light; 4. combined clamp; 41. main clamp; 411. bottom frame; 412. first cylinder; 413. side clamp arm A; 414. side clamp arm B; 415. second cylinder; 416. front clamp arm A; 417. front clamp arm B; 418. middle platform; 419. adjustment frame; 42. auxiliary clamp; 421. rear bracket; 422. push rod; 423. auxiliary clamp plate; 424. clamp body; 5. control console; 6. mechanical arm component; 61. chassis; 62. rotating platform; 63. servo servo A; 64. servo servo B; 65. servo servo C; 66. first arm; 67. second arm; 68. bracket; 69. welding gun. DETAILED DESCRIPTION

[0034] 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.

[0035] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

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

[0037] See also Figure 1 The present invention provides a technical solution: an intelligent welding industrial robot, peripheral components and a welding robot.

[0038] Example 1: Please refer to Figure 1-Figure 2In this embodiment, the welding robot includes a console 5 and a mechanical arm component 6, wherein the console 5 is used to control the mechanical arm component 6 to realize workpiece welding based on multiple degrees of freedom, and the mechanical arm component 6 includes a chassis 61, a rotating platform 62, a servo servo A63, a servo servo B64, a servo servo C65, a first arm 66, a second arm 67, a bracket 68, a welding gun 69 and a dynamic feedback component (not shown in the figure), the rotating platform 62 is arranged on the chassis 61, and a servo servo A63 is installed on the top of the rotating platform 62. The servo servo A63 The shaft end is connected to the first arm 66; the upper end of the first arm 66 is equipped with a servo actuator B64, the shaft end of the servo actuator B64 is connected to the second arm 67, the end of the second arm 67 is installed with a servo actuator C65, the shaft end of the servo actuator C65 is connected to the bracket 68, and the bracket 68 is equipped with a welding gun 69; the dynamic feedback component includes a visual sensor and a pressure sensor, the pressure sensor is arranged on the welding gun 69, and the visual sensor is arranged on the bracket 68, the visual sensor and the pressure sensor recognize the weld position and welding pressure based on vision and feed back to the console 5.

[0039] The above-mentioned embodiment 1 provides a welding robot. The welding robot relies on a multi-degree-of-freedom body and a dynamic feedback component to realize dynamic adjustment of welding parameters and modes. The specific technical advantages are as follows:

[0040] High flexibility and multi-degree-of-freedom design: The welding robot adopts a multi-degree-of-freedom mechanical arm design, and with the multi-axis control of servo servo A63, servo servo B64, and servo servo C65, the flexibility of the robot is greatly improved. Through multi-degree-of-freedom movement, the robot can easily adjust the welding path and angle to adapt to the shape and welding requirements of different workpieces, ensuring the smooth progress of welding operations.

[0041] Dynamic feedback system ensures welding accuracy: By integrating visual sensors and pressure sensors, the robot can monitor the weld position and welding pressure in real time during the welding process. The console 5 automatically adjusts the welding parameters according to the feedback data from the sensors to ensure the stability and consistency of the welding quality and avoid quality fluctuations caused by changes in welding conditions.

[0042] This embodiment also provides the technical principles of the visual sensor and the pressure sensor, and the specific process of the control system automatically adjusting the key parameters in the welding process based on the feedback information of the visual sensor and the pressure sensor.

[0043] The visual sensor uses image acquisition and processing technology to monitor the status of the weld in real time during the welding process. Its main functions are:

[0044] Weld positioning and tracking: Determine the exact position of the weld through real-time identification and analysis of the weld, and track the changes of the weld during the welding process.

[0045] Weld shape recognition: Visual sensors can determine the shape, size and geometric characteristics of the weld (such as width, depth, length, etc.), providing necessary reference for welding parameter adjustment.

[0046] Welding deviation detection: By comparing the actual weld with the preset weld model, the deviation that may occur during the welding process is detected and fed back to the control system for real-time adjustment.

[0047] Feedback from vision sensors includes:

[0048] Weld center position deviation (X, Y coordinates);

[0049] Weld shape and size (such as width, height, depth);

[0050] Defects in the welding area (such as voids, cracks, etc.).

[0051] The pressure sensor is used to monitor the pressure applied to the welding gun 69 in real time during the welding process. Its main functions are:

[0052] Welding pressure monitoring: ensure that the welding gun 69 applies stable and appropriate pressure during welding to avoid excessive or low pressure affecting welding quality.

[0053] Abnormal pressure detection: Detect pressure fluctuations or abnormalities during welding and make timely adjustments to avoid welding defects caused by excessive or insufficient pressure.

[0054] Coordinated control of pressure and temperature: Pressure and temperature interact with each other during the welding process. Through the joint use of pressure sensors and temperature sensors, the pressure and temperature of the welding process can be adjusted in real time to optimize the welding effect.

[0055] Feedback from the pressure sensor includes:

[0056] The real-time pressure applied by the welding gun 69 (unit: N, Pa, etc.);

[0057] Pressure fluctuations during welding (such as too high or too low);

[0058] Abnormal pressure alarm signal.

[0059] According to the feedback information from the visual sensor and the pressure sensor, the control system (console 5) can automatically adjust the key parameters in the welding process. The specific adjustment methods include:

[0060] 1) Welding position and path adjustment:

[0061] Visual sensor feedback: The visual sensor monitors the weld position in real time and compares it with the set ideal weld position. If a weld position deviation is found, the control system will immediately adjust the welding gun 69 position through the freedom of the robot arm to keep it on the correct welding path.

[0062] Adjustment method: The control console 5 calculates the correction amount according to the position information of the weld, adjusts the X, Y, and Z axis movements of the robot arm, and ensures that the welding gun 69 is accurately aligned with the center of the weld.

[0063] 2) Welding angle adjustment:

[0064] Vision sensor feedback: When the weld shape or angle deviates greatly, the vision sensor will detect the change and feedback to the control system. Welding angles that are too large will result in uneven welds, while welding angles that are too small may result in insufficient weld depth.

[0065] Adjustment method: According to the deviation between the weld angle and the preset angle, the control system compensates by adjusting the rotation angle of the robot arm (for example, controlling the angle of the welding gun 69 through a steering gear or servo motor) to keep the welding angle at the optimal state.

[0066] 3) Welding pressure adjustment:

[0067] Pressure sensor feedback: The pressure sensor monitors the pressure value applied to the welding gun 69 in real time. If the pressure is too high or too low during welding, it may cause unstable welding quality or even welding defects (such as weld overflow, burn-through, etc.).

[0068] Adjustment method: The control system will compare the real-time pressure feedback value with the set optimal pressure value. If the pressure exceeds the preset range, the system will adjust the pressure applied by the welding gun 69 by adjusting the gas pressure, hydraulic pressure or motor drive in the welding system to ensure that the pressure always remains within the ideal range.

[0069] 4) Real-time feedback and dynamic adjustment:

[0070] Vision and pressure data fusion: The data provided by the vision sensor and the pressure sensor can be combined in real time for data fusion processing. By combining the data of the two, various changes in the welding process, such as changes in weld shape, size and applied pressure, can be more comprehensively evaluated, so that various parameters can be adjusted more efficiently during the welding process.

[0071] Adjustment strategy: If the visual sensor reports that the weld center deviates from the path, the system will first adjust the welding path and control the pressure sensor to ensure that the pressure remains stable during the adjustment process. If the pressure sensor reports that the welding pressure is unstable, the system will first adjust the welding pressure, then use the visual sensor to determine whether the weld position has shifted, and then adjust the welding path according to the weld position.

[0072] 5) Compensation and error correction:

[0073] Error correction of vision and pressure sensors: System errors, workpiece deformation and other problems may occur during welding. Vision sensors and pressure sensors can jointly provide data for error correction. For example, if the weld position deviates, the system will correct the path in real time; if the pressure sensor finds that the pressure is too high, the system will automatically reduce the pressure and correct the path to ensure the best welding effect.

[0074] Example 2: Please refer to Figure 1 , Figure 3 , Figure 4 and Figure 5 In this embodiment, the peripheral components are used to provide welding protection and workpiece positioning functions, including a guardrail 1, a workbench 2, a combined clamp 4 and an indicator light 3, wherein the guardrail 1 surrounds the outer side of the workbench 2, an indicator light 3 is set on one side of the workbench 2, and a combined clamp 4 is arranged on the workbench 2; the combined clamp 4 includes a main clamp 41 and a sub-clamp 42, the main clamp 41 includes a bottom frame 411, a first cylinder 412, a side clamp arm A413, a side clamp arm B414, a second cylinder 415, a front clamp arm A416, a front clamp arm B417 and an intermediate platform 418, wherein the bottom frame 411 is formed by four guide steel pipes welded in a rectangular distribution, the side clamp arm A413, the side clamp arm B414, the second cylinder 415, the front clamp arm A416, the front clamp arm B417 and the intermediate platform 418, The clamping arm B414 is respectively slidably mounted in the guide steel pipes on the left and right sides of the bottom frame 411, the first cylinder 412 is horizontally arranged and its rear end is connected to the side clamping arm A413 through the adjusting frame 419, the piston rod at the front end of the first cylinder 412 is connected to the side clamping arm B414, the first cylinder 412 and the adjusting frame 419 can push the side clamping arm A413 and the side clamping arm B414 to be close to or away from each other; the front clamping arm A416 and the front clamping arm B417 are respectively slidably mounted in the guide steel pipes on the front and rear sides of the bottom frame 411, the second cylinder 415 is longitudinally arranged and its rear end is connected to the front clamping arm A416 through the adjusting frame 419, the piston rod at the front end of the second cylinder 415 is connected to the front clamping arm B417.

[0075] In this embodiment, the middle platform 418 is supported on the bottom frame 411 by a lifting rod, and a secondary clamp 42 is installed on the middle platform 418; the secondary clamp 42 is provided with four groups and is distributed in a rectangular shape on the middle platform 418, and each secondary clamp 42 includes a rear bracket 421, a push rod 422, a secondary clamp 423 and a clamp body 424, wherein the four corners of the end face of the rear bracket 421 are embedded with shaft sleeves, the secondary clamp 423 is arranged on the front side of the rear bracket 421, and the rear side of the secondary clamp 423 extends into the inner side of the shaft sleeve through the shaft rod, and the middle of the secondary clamp 423 is connected with a push rod 422, which passes through the rear bracket 421 and extends to one side of the rear bracket 421; the clamp body 424 is a push-pull clamp, and the front end of the clamp body 424 is connected to the push rod 422, and the clamp body 424 performs a push-pull action and pushes the secondary clamp 423 forward through the push rod 422.

[0076] The above-mentioned embodiment 2 provides a peripheral component, which has the following technical advantages when applied to the entire robot system:

[0077] Precise workpiece positioning and stable clamping: The design of the combined fixture 4 optimizes the workpiece positioning and clamping functions. In particular, the relative positions of the main fixture 41 and the auxiliary fixture 42 can be flexibly adjusted through the cylinder and the sliding structure, thereby ensuring the stability of the workpiece during the welding process. This design effectively avoids welding errors caused by unstable fixtures or workpiece offset, and ensures precise positioning during the welding process.

[0078] Flexible clamping system: The cylinder and sliding structure of the main clamp 41 provides high flexibility, allowing it to adapt to workpieces of different sizes and shapes. It can automatically adjust the size and shape of the clamp to ensure stable clamping and precise positioning of workpieces of large size or complex shape.

[0079] Precise positioning and multi-angle clamping of workpieces: The design of the combined clamp 4 can not only clamp the workpiece accurately, but also provide stable support for the workpiece at multiple angles through the adjustment of the front clamp arm and the side clamp arm. This multi-point support and clamping design effectively avoids workpiece deformation and position error, and improves welding accuracy.

[0080] Highly adaptable fixture adjustment mechanism: The design of the intermediate platform 418 makes the installation and position adjustment of the auxiliary fixture 42 more convenient, and the position of the auxiliary fixture 42 can be accurately adjusted according to the requirements of different workpieces, thereby adapting to various complex welding tasks.

[0081] Working principle of the main clamp 41: The main clamp 41 is mainly used to clamp and fix larger workpieces. Its design takes into account the clamping requirements of larger workpieces. Through its structural stability and clamping strength, it ensures the stability of larger workpieces during welding and avoids quality problems caused by loosening or positional displacement of the workpiece during welding.

[0082] Clamping method: The main clamp 41 adjusts the clamping force and the clamping angle of the clamp through a cylinder or other driving device to ensure that the workpiece can be firmly fixed on the workbench.

[0083] Applicable workpiece types: Suitable for workpieces with larger size and heavier weight. These workpieces usually require stronger clamping force and stability.

[0084] Working principle of the auxiliary clamp 42: The auxiliary clamp 42 is designed to clamp smaller workpieces and can be flexibly raised and lowered as needed, providing a wider range of adaptability and functionality.

[0085] Automatic lifting function: When the auxiliary clamp 42 is not needed, it descends through the intermediate platform so that the clamping surface of the auxiliary clamp is lower than the clamping surface of the main clamp 41 to avoid interference with the workpiece.

[0086] Applicable workpiece types: The auxiliary clamp 42 is particularly suitable for clamping small or precision workpieces. It can provide more flexible clamping methods to adapt to workpieces of different shapes and sizes.

[0087] Lifting during use: When a smaller workpiece needs to be clamped, the auxiliary clamp 42 rises through the lifting function and can be parallel to or slightly higher than the clamping surface of the main clamp 41, so as to clamp the smaller workpiece.

[0088] When the main fixture works with the auxiliary fixture:

[0089] Size adaptation: Through the cooperation of the main fixture and the auxiliary fixture, the system can automatically select the appropriate fixture according to the different sizes and shapes of the workpiece. For large-sized workpieces, the main fixture can ensure a firm clamping; for small-sized workpieces, the auxiliary fixture provides a precise clamping solution.

[0090] Save space: The auxiliary fixture can be lowered to a lower position when not in use to avoid taking up too much space, especially when the workpiece size is large, which can reduce the interference of the fixture.

[0091] Flexibility and adaptability: The combined use of the two not only improves the adaptability of the workpiece, but also enhances the flexibility of the welding robot, enabling it to cope with different types of workpieces and complex working environments.

[0092] In combination with the above-mentioned Embodiment 1 and Embodiment 2, the present invention further provides the steps of using the above-mentioned welding industrial robot, including the following:

[0093] 1. Set up fixture and workpiece positioning:

[0094] Step 1.1: Adjust the combined fixture 4 according to the size and shape of the workpiece to be welded;

[0095] Adjustment of the main clamp 41: The relative positions of the two groups of clamp arms (side clamp arm A413, side clamp arm B414 and front clamp arm A416, front clamp arm B417) are adjusted through the first cylinder 412, the adjustment frame 419 and the second cylinder 415, the adjustment frame 419, so that the workpiece is firmly clamped;

[0096] Adjustment of the auxiliary fixture 42: According to the shape and requirements of the workpiece, the intermediate platform 418 is lifted by the lifting rod, and the push rod 422 and the clamp body 424 on the intermediate platform 418 are used to firmly position the workpiece in the fixture;

[0097] Step 1.2: Check that all fixtures are firmly clamped to prevent the workpiece from moving or deflecting during welding.

[0098] 2. Configure welding robot:

[0099] Step 2.1: Select welding mode and welding parameters (such as welding pressure, welding speed, welding gun 69 temperature, etc.) on the console 5;

[0100] Step 2.2: According to the welding path and angle requirements of the workpiece, the motion parameters of the robot arm are adjusted to ensure that the positions of the servo actuators (servo actuators A63, B, C) of the robot arm are correct and can meet the welding requirements of the workpiece; the path of the robot arm can be flexibly adjusted through the rotating platform 62, the servo actuators and the multi-degree-of-freedom design;

[0101] Step 2.3: Configure dynamic feedback components (visual sensors and pressure sensors) to ensure real-time monitoring of key parameters during the welding process.

[0102] 3. Welding process:

[0103] Step 3.1: Start the welding robot, and the robotic arm automatically performs the welding task;

[0104] Step 3.2: During the welding process, the visual sensor monitors the weld position and the pressure sensor monitors the welding pressure in real time;

[0105] Step 3.3: The control console 5 receives data from the dynamic feedback component and automatically adjusts welding parameters (such as welding gun 69 position, welding pressure, etc.) to ensure welding quality and accuracy;

[0106] Step 3.4: According to the changes in the shape of the workpiece, the welding robot will automatically adjust the welding angle and path to ensure uniform and stable welding.

[0107] 4.Complete welding and inspection:

[0108] Step 4.1: After welding is completed, check the weld quality and the stability of the workpiece. Use a visual sensor to check the weld to ensure there are no obvious defects. Check whether the fixture is still stable and ensure that the position of the workpiece has not shifted during the entire welding process.

[0109] Step 4.2: If necessary, use the console 5 to readjust the welding parameters and make corrections or repair welding;

[0110] Step 4.3: After confirming that the welding task is completed, shut down the welding robot and peripheral component systems, and perform routine maintenance checks on all equipment.

[0111] It is worth noting that the entire device is controlled by a general control system. Since the equipment matched with the control system is commonly used equipment and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0112] 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. An intelligent welding industrial robot, characterized in that: It includes peripheral components and welding robots, including: The peripheral component is used to provide welding protection and workpiece positioning functions, comprising a guardrail (1), a workbench (2), a combined clamp (4) and an indicator light (3), wherein the guardrail (1) surrounds the outside of the workbench (2), an indicator light (3) is arranged on one side of the workbench (2), and the combined clamp (4) is arranged on the workbench (2); A welding robot comprises a control console (5) and a mechanical arm component (6), wherein the control console (5) is used to control the mechanical arm component (6) to realize workpiece welding based on multiple degrees of freedom, and the mechanical arm component (6) comprises a chassis (61), a rotating platform (62), a servo servo motor A (63), a servo servo motor B (64), a servo servo motor C (65), a first machine arm (66), a second machine arm (67), a bracket (68), a welding gun (69) and a dynamic feedback component, wherein the rotating platform (62) is arranged on the chassis (61), and the servo servo motor A (63) is installed on the top of the rotating platform (62), and the shaft end of the servo servo motor A (63) is connected to the first machine arm (66).

2. The intelligent welding industrial robot according to claim 1, characterized in that: A servo steering gear B (64) is disposed at the upper end of the first machine arm (66), an axis end of the servo steering gear B (64) is connected to a second machine arm (67), a servo steering gear C (65) is installed at the end of the second machine arm (67), an axis end of the servo steering gear C (65) is connected to a bracket (68), and a welding gun (69) is installed on the bracket (68).

3. The intelligent welding industrial robot according to claim 1, characterized in that: The dynamic feedback component comprises a visual sensor and a pressure sensor. The pressure sensor is arranged on the welding gun (69), and the visual sensor is arranged on the bracket (68). The visual sensor and the pressure sensor identify the weld position and welding pressure based on vision and feed back to the control console (5).

4. The intelligent welding industrial robot according to claim 1, characterized in that: The combined clamp (4) comprises a main clamp (41) and a sub-clamp (42), wherein the main clamp (41) comprises a bottom frame (411), a first cylinder (412), a side clamp arm A (413), a side clamp arm B (414), a second cylinder (415), a front clamp arm A (416), a front clamp arm B (417) and an intermediate platform (418), wherein the bottom frame (411) is formed by four guide steel pipes welded in a rectangular arrangement, and the side clamp arm A (413) is provided with a plurality of guide steel pipes. ) and the side clamp arm B (414) are respectively slidably mounted in the guide steel pipes on the left and right sides of the bottom frame (411); the first cylinder (412) is arranged horizontally and its rear end is connected to the side clamp arm A (413) through the adjustment frame (419); the piston rod at the front end of the first cylinder (412) is connected to the side clamp arm B (414); the first cylinder (412) and the adjustment frame (419) can push the side clamp arm A (413) and the side clamp arm B (414) to be close to or away from each other.

5. The intelligent welding industrial robot according to claim 4, characterized in that: The front clamping arm A (416) and the front clamping arm B (417) are respectively slidably mounted in the guide steel pipes at the front and rear sides of the bottom frame (411); the second cylinder (415) is longitudinally arranged and its rear end is connected to the front clamping arm A (416) through an adjustment frame (419); the piston rod at the front end of the second cylinder (415) is connected to the front clamping arm B (417).

6. The intelligent welding industrial robot according to claim 4, characterized in that: The intermediate platform (418) is supported on the bottom frame (411) via a lifting rod, and a secondary clamp (42) is installed on the intermediate platform (418).

7. The intelligent welding industrial robot according to claim 4, characterized in that: The auxiliary clamps (42) are provided with four groups and are distributed in a rectangular shape on the middle platform (418). Each auxiliary clamp (42) includes a rear bracket (421), a push rod (422), an auxiliary clamp (423) and a clamp body (424), wherein the four corners of the end surface of the rear bracket (421) are embedded with shaft sleeves, the auxiliary clamp (423) is arranged on the front side of the rear bracket (421), and the rear side of the auxiliary clamp (423) extends into the inner side of the shaft sleeve through the shaft rod, and the push rod (422) is connected in the middle of the auxiliary clamp (423), and the push rod (422) passes through the rear bracket (421) and extends to one side of the rear bracket (421).

8. The intelligent welding industrial robot according to claim 7, characterized in that: The clamp body (424) is a push-pull type clamp. The front end of the clamp body (424) is connected to a push rod (422). The clamp body (424) performs a push-pull action and pushes the auxiliary clamp plate (423) forward through the push rod (422).

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