A robot for automatically and intelligently welding a children's bicycle frame and a welding method thereof

Abstract

The present invention is applicable to the technical field related to welding, and provides a robot for automatically and intelligently welding a children's bicycle frame, comprising a pedestal assembly: a robot arm is provided on the top of the pedestal assembly, a connecting seat box is provided at the output end of the robot arm, a welding robot is fixedly connected to the outer wall of the connecting seat box, a lifting assembly is provided on the top of the pedestal assembly, a supporting platform assembly is fixedly connected above the lifting assembly, and a sliding rack assembly is provided on the outer wall of the pedestal assembly; wherein, the welding robot comprises a palm mechanism, and a plurality of finger joint mechanisms are provided at the output end of the palm mechanism. Through the setting of the welding robot, the operations of grabbing, clamping and welding the bicycle pipe frame to be welded can be realized, and the welding operation of the internal workpiece position of the robot is improved. There is no need to repeatedly rotate the welded bicycle pipe frame for welding, and the deviation of welding lines in the welding of the bicycle pipe frame that has been rotated for welding multiple times is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field related to welding, and in particular relates to a robot for automatically and intelligently welding a children's bicycle frame and a welding method thereof. Background Art

[0002] A bicycle is a two-wheeled vehicle powered by human power. The bicycle frame is the core supporting structure of the bicycle and is typically made of lightweight, high-strength materials. Existing bicycle frames primarily consist of a main frame, a head tube connected to one end of the main frame, front fork tubes symmetrically connected to the head tube, and rear fork tubes symmetrically connected to the other end of the main frame. Bicycles are suitable for both adults and children, with children's bicycle frames featuring a more compact and lightweight design.

[0003] The automated intelligent welding robot for bicycle frames described in the patent application with reference publication number CN119077768A includes a base and a welding robot body mounted on the upper end of the base. The upper end of the base is provided with a component carrier mechanism. In the components of the bicycle frame, the head tube, two front forks, and the main frame can be fixed to a fixture, and the head tube, two front forks, and the main frame can quickly maintain a good welding fit, and the main frame and the head tube can be quickly and accurately aligned. The assembly holes in the front forks can be used to quickly and accurately align the two front forks with the head tube, making preparatory work for bicycle frame welding simple, and the rear fork assembly in the bicycle frame can be welded later.

[0004] Traditional ordinary manipulators are generally used to grab or clamp fixed target objects and do not have welding functions. Welding manipulators are usually composed of a robotic arm and a welding mechanism and do not have grabbing and fixing functions. Therefore, in welding operations, the welding mechanism and the grabbing and clamping mechanism need to be used in conjunction with each other. In actual use, there will be mutual interference between the two mechanisms, and welding cannot be performed on the grabbing position. In order to solve the above situation, an automated intelligent welding manipulator for children's bicycle frames and a welding method thereof are provided. Summary of the Invention

[0005] The present invention provides a robot for automatically and intelligently welding a children's bicycle frame and a welding method thereof, aiming to solve the problem that a conventional ordinary robot is generally used to grasp or clamp a fixed target object and does not have a welding function, and a welding robot is usually composed of a robot arm and a welding mechanism and does not have a grasping and fixing function. Therefore, during the welding operation, the welding mechanism and the grasping and clamping mechanism need to be used in conjunction with each other. In actual use, there will be mutual interference between the two mechanisms, and the problem of being unable to weld the grasped position.

[0006] The present invention is implemented as follows: a robot for automatically and intelligently welding a children's bicycle frame comprises a pedestal assembly: a robot arm is provided on the top of the pedestal assembly, a connecting seat box is provided at the output end of the robot arm, a welding robot is fixedly connected to the outer wall of the connecting seat box, a material lifting assembly is provided on the top of the pedestal assembly, a bearing platform assembly is fixedly connected above the material lifting assembly, and a sliding rack assembly is provided on the outer wall of the pedestal assembly;

[0007] The welding manipulator includes a palm mechanism, a plurality of finger joint mechanisms are provided at the output end of the palm mechanism, and an internal welding mechanism is provided inside the palm mechanism. Through the setting of the welding manipulator, the bicycle tube frame to be welded can be grasped, clamped and welded, and the position of the internal workpiece clamped by the manipulator for welding is improved. There is no need to repeatedly rotate the bicycle tube frame for welding, and the deviation of the welding line of the bicycle tube frame welded by repeatedly rotating the bicycle tube frame for welding is avoided.

[0008] The bearing platform assembly includes a bearing platform, an internal clamping mechanism is provided on the top of the bearing platform, an upper slide is fixedly connected to the bottom of the bearing platform, and a sensing groove is provided on the top of the bearing platform; through the setting of the bearing platform assembly, the outer wall can be supported and limited during use: the bicycle tube frame to be welded is placed on the bearing platform, the infrared sensor probe on the inner wall of the sensing groove scans the shape of the bicycle tube frame to be welded, and the internal clamping mechanism is selected at a suitable position according to the scanning result to start and limit the outer wall of the bicycle tube frame.

[0009] Preferably, the top of the supporting platform is provided with a built-in hole slot, and a small lifting mechanism is provided inside each built-in hole slot, and the inside of the built-in hole slot is fixedly connected to the bottom of the internal clamping mechanism through the small lifting mechanism;

[0010] The sensing groove has a mesh shape at the top, and a number of infrared sensor probes are set on the inner wall of the sensing groove, and the infrared sensor probes are infrared ranging sensor probes.

[0011] Preferably, the palm mechanism includes a palm plate, the bottom of the palm plate is fixedly connected to a lighting ring belt, the inner wall of the palm plate is fixedly connected to a limiting ring frame, and the inner wall of the limiting ring frame is provided with a limiting annular groove;

[0012] An imaging scanner is provided at the bottom of the palm tray, and the imaging scanner mainly includes a linear drive moving mechanism and a micro-shooting structure; through the setting of the palm mechanism, the setting of the lighting ring belt can provide a better welding lighting effect during the welding operation, and the setting in the limit ring frame can achieve a better limiting effect on the inner rotating frame. The setting of the imaging scanner in the palm tray can scan the area to be welded on the bicycle tube frame and provide feedback to the operator based on the shadow lines on the scanned image. The operator determines the welding position through the shadow lines and gives a confirmation operation, thereby improving the precise welding effect of automated welding.

[0013] Preferably, the finger joint mechanism includes a second small connecting motor fixedly arranged on the palm plate, the output shaft of the second small connecting motor is fixedly connected to the first small rotating shaft through a coupling, and one end of the first small rotating shaft is fixedly connected to the first finger joint, one end of the first finger joint is fixedly connected to the first small connecting motor, the output shaft of the first small connecting motor is fixedly connected to the second small rotating shaft through a coupling, and one end of the second small rotating shaft is fixedly connected to the second finger joint; through the setting of the finger joint mechanism, in use, by starting and controlling the use of the second small connecting motor, it is possible to drive and rotate to adjust the use position of the first finger joint and the second finger joint, and by starting and controlling the use of the first small connecting motor, it is possible to adjust the clamping position of the second finger joint, thereby realizing the grasping and clamping of the outer wall of the bicycle frame pipe to be welded.

[0014] Preferably, the inner welding mechanism includes an inner adjustment motor fixed to the inner wall of the palm plate, the output shaft of the inner adjustment motor is fixedly connected to the inner rotating frame through a coupling, the bottom of the inner rotating frame is fixedly connected to the inner slide seat, the inner wall of the inner slide seat is fitted and slidably connected to the inner slide, and an inner telescopic hydraulic cylinder is fixedly connected between the inner slide seat and the inner slide, the bottom of the inner slide is fixedly connected to the inner lifting hydraulic cylinder, one end of the inner lifting hydraulic cylinder is fixedly connected to the welding machine connecting seat, and a small electric welder is provided at the bottom of the welding machine connecting seat;

[0015] One end of the inner rotating frame is fitted and slidably connected with the inner wall of the limiting annular groove in the limiting ring frame; through the setting of the internal welding mechanism, in use, the position of the inner rotating frame is rotated and adjusted by starting and controlling the internal adjustment motor, and then the position of the inner slide is adjusted laterally by starting the internal telescopic hydraulic cylinder, and finally the position of the welding machine connecting seat and the small electric welder is lifted and adjusted by manipulating the internal lifting hydraulic cylinder. After grabbing the outer wall of the bicycle frame pipe to be welded, the welding position of the small electric welder can be adjusted in multiple directions inside the palm mechanism and several finger joint mechanisms, thereby realizing multi-directional welding of the outer part of the bicycle frame pipe to be welded.

[0016] Preferably, the slide frame assembly includes a bottom positioning plate fixedly arranged at the bottom of the pedestal assembly, one end of the bottom positioning plate is fixedly connected to a lower telescopic hydraulic cylinder, one end of the lower telescopic hydraulic cylinder is fixedly connected to the slide frame, and the slide frame is a hollow slide frame; through the setting of the slide frame assembly, in use, by starting and controlling the use of the lower telescopic hydraulic cylinder to move the position of the slide frame laterally, and after the slide frame is moved to above the pedestal assembly, the lifting mechanism on the lifting assembly is cooperated to discharge the welded bicycle workpiece outward, which solves the problem that the frame is too large to be moved and taken out, and avoids the situation where the welding workpiece of the vehicle is damaged by directly placing it at high altitude through unloading by a robotic arm and a welding robot.

[0017] Preferably, the lifting assembly includes an upper transmission motor fixedly arranged on the base assembly, the output shaft of the upper transmission motor is fixedly connected to a transmission roller through a coupling, the outer wall of the transmission roller is fitted with a sliding plate, the top of the sliding plate is fixedly connected to the bottom of the supporting platform, and the transmission roller, the upper transmission motor and the sliding plate constitute a transmission mechanism;

[0018] The outer wall of the sliding plate is fixedly connected to several upper small lifting hydraulic cylinders, one end of the upper small lifting hydraulic cylinder is fixedly connected to the lifting plate, and several small brackets are provided on the top of the lifting plate. The upper small lifting hydraulic cylinder, the lifting plate and the lifting plate constitute a lifting mechanism; through the setting of the lifting assembly, the setting of the transmission mechanism, by starting and controlling the use of the upper transmission motor, the upper transmission motor drives the transmission roller to roll to realize sliding the sliding plate along the small limit seat and the inner wall of the side anti-slip plate, and then drives the sliding plate to move to adjust the frame on the supporting platform. The use position can achieve a better coordinated use effect with the welding robot; the setting of the lifting mechanism can realize the lifting and lowering of the lifting plate and the position of the small bracket by controlling the small lifting hydraulic cylinder, wherein the small bracket provides auxiliary support for the outer end of the bicycle frame pipe to be welded on the supporting platform. After welding, after closing and retracting the internal clamping mechanism, the upper small lifting hydraulic cylinder is started to lift and control the position of the welded frame pipe, and then cooperate with the welding robot and the robotic arm to transfer the frame pipe to the slide rack assembly, and then discharge it outward from the slide rack assembly.

[0019] Preferably, the inner clamping mechanism includes a small column fixedly arranged on the upper portion, an air bag is fixedly connected to the outer wall of the small column, a micro air pump is arranged on the bottom wall of the small column, and the micro air pump and the air bag are connected; through the arrangement of the inner clamping mechanism and in conjunction with the small lifting mechanism, the inner clamping mechanism is raised by the small lifting mechanism, the micro air pump is started to exhaust air into the middle air bag, so that the volume of the micro air pump expands, thereby achieving clamping and limiting the outer wall of the frame tube, wherein the arrangement of the air bag can achieve a softer limiting clamping effect, thereby avoiding damage to the outer wall of the frame tube caused by the hard clamping mechanism.

[0020] Preferably, the pedestal assembly includes a base, the inner wall of the base is plugged with a pedestal, the number of the bases is multiple, and a lower connecting plate is fixedly connected between the multiple bases, a main lifting hydraulic cylinder is fixedly connected between the pedestal and the base, a limiting slide groove is provided on the top of the pedestal, the inner wall of the limiting slide groove fits and slides with the outer wall of the upper slide, a small limiting seat is fixedly connected to the top of the pedestal, and a side anti-slip plate is fixedly connected to the top of the pedestal; through the setting of the pedestal assembly, in use, by starting and controlling the use of the main lifting hydraulic cylinder, the pedestal is lifted and lowered to achieve the lifting and adjustment of the overall operating position of the equipment, thereby achieving coordinated operation with the bicycle production line.

[0021] A method for automatically and intelligently welding a children's bicycle frame comprises the following steps: S1, placing a bicycle tube frame to be welded on a bearing platform, scanning the shape of the bicycle tube frame to be welded with an infrared sensor probe, and selecting an inner clamping mechanism at a suitable position to start based on the scanning result to limit the outer wall of the bicycle tube frame; S2, manipulating a transmission mechanism in a lifting assembly to move the bearing platform and the position of the bicycle tube frame on the bearing platform, and manipulating a robotic arm to adjust the position of a welding manipulator so that the welding manipulator and the bicycle tube frame achieve an optimal coordinated use effect; S3, controlling and closing the inner clamping mechanism at a suitable position based on the position of a knuckle mechanism so that the knuckle mechanism can perform gripping; S4, after the welding manipulator and the bicycle tube frame are correspondingly set, scanning the area to be welded on the bottom bicycle tube frame through an imaging scanner on a palm panel and providing feedback to an operator based on the shadow lines on the scanned image. The operator determines the welding position based on the shadow lines and performs a confirmation operation; S5, adjusting the position of the inner welding mechanism based on the welding line at the welding position to perform welding.

[0022] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0023] Through the setting of the welding manipulator, the bicycle tube frame to be welded can be grasped, clamped and welded, and the position of the internal workpiece clamped by the manipulator for welding can be improved. There is no need to repeatedly turn the bicycle tube frame for welding, which avoids the deviation of welding lines caused by repeatedly turning the bicycle tube frame for welding.

[0024] The palm mechanism is configured, including a lighting ring, to provide better welding lighting effects during welding operations. The limiting ring frame is configured to achieve a better limiting effect on the inner rotating frame. The imaging scanner in the palm panel can scan the welding area on the bicycle tube frame and provide feedback to the operator based on the shadow lines on the scanned image. The operator determines the welding position based on the shadow lines and makes a confirmation operation, thereby improving the precision of automated welding.

[0025] Through the setting of the finger joint mechanism, in use, by starting and controlling the use of the second small connecting motor, it is possible to drive and rotate and adjust the use position of the first finger joint and the second finger joint, and by starting and controlling the use of the first small connecting motor, it is possible to adjust the clamping position of the second finger joint, thereby achieving the grasping and clamping of the outer wall of the bicycle frame pipe to be welded;

[0026] Through the setting of the internal welding mechanism, during use, the position of the internal rotating frame is rotated and adjusted by starting and controlling the internal direction adjustment motor, the position of the internal slide is laterally adjusted by starting the internal telescopic hydraulic cylinder, and finally the position of the welding machine connection seat and the small electric welder is lifted and lowered by manipulating the internal lifting hydraulic cylinder. After grasping the outer wall of the bicycle frame pipe to be welded, the welding position of the small electric welder can be adjusted in multiple directions inside the palm mechanism and several finger joint mechanisms, thereby realizing multi-directional welding of the outer part of the bicycle frame pipe to be welded;

[0027] Through the setting of the slide rack assembly, in use, by starting and controlling the use of the telescopic hydraulic cylinder, the position of the slide rack is moved horizontally. After the slide rack is moved to the top of the base assembly, the lifting mechanism on the lifting assembly is used to discharge the welded bicycle workpiece outward, solving the problem that the frame is too large to be moved and removed, and avoiding the situation where the welded workpiece is directly placed at high altitude after unloading by the mechanical arm and welding manipulator, which may cause damage to the bicycle.

[0028] Through the setting of the lifting assembly, in which the transmission mechanism is set, by starting and controlling the use of the upper transmission motor, the upper transmission motor drives the transmission roller to roll to realize the sliding slide along the small limit seat and the inner wall of the side anti-slip plate, and then drives the slide plate to move to adjust the use position of the frame on the supporting platform, thereby achieving a better coordination effect with the welding manipulator; wherein the setting of the lifting mechanism can realize the lifting and lowering of the lifting plate and the position of the small bracket by controlling the small lifting hydraulic cylinder, wherein the small bracket assists in supporting the outer end of the bicycle frame pipe to be welded on the supporting platform, and after welding, after the inner clamping mechanism is closed and retracted, the upper small lifting hydraulic cylinder is started to lift and control the position of the welded frame pipe, and then cooperate with the welding manipulator and the mechanical arm to transfer the frame pipe to the sliding rack assembly, and then discharge it outwards by the sliding rack assembly;

[0029] By setting up the bearing platform assembly, the outer wall can be supported and limited in use: the bicycle tube frame to be welded is placed on the bearing platform, and the infrared sensor probe on the inner wall of the sensing tank scans the shape of the bicycle tube frame to be welded, and according to the scanning result, the inner clamping mechanism is activated at the appropriate position to limit the outer wall of the bicycle tube frame;

[0030] By setting up an inner clamping mechanism and cooperating with a small lifting mechanism, the inner clamping mechanism is raised by the small lifting mechanism, and the micro air pump is started to exhaust air into the middle airbag, causing the volume of the micro air pump to expand, thereby clamping and limiting the outer wall of the frame tube. The setting of the airbag can achieve a softer limit clamping effect, avoiding damage to the outer wall of the frame tube caused by a hard clamping mechanism;

[0031] Through the setting of the pedestal assembly, during use, by starting and controlling the use of the main lifting hydraulic cylinder, the pedestal is raised and lowered to adjust the overall operating position of the equipment, thereby achieving coordinated operation with the bicycle production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is the front view of the present invention;

[0033] Figure 2 It is a structural diagram of the welding manipulator of the present invention;

[0034] Figure 3 It is a structural schematic diagram of the palm mechanism of the present invention;

[0035] Figure 4 It is a structural schematic diagram of the knuckle mechanism of the present invention;

[0036] Figure 5 It is a structural schematic diagram of the welding mechanism in the present invention;

[0037] Figure 6 It is a structural schematic diagram of the slide rack assembly of the present invention;

[0038] Figure 7 It is a structural schematic diagram of the material lifting assembly of the present invention;

[0039] Figure 8 It is a structural schematic diagram of the carrier platform assembly of the present invention;

[0040] Figure 9 It is a structural schematic diagram of the inner clamping mechanism of the present invention;

[0041] Figure 10 It is a structural schematic diagram of the pedestal assembly of the present invention.

[0042] In the figure: 1. Base assembly; 101. Base; 102. Base; 103. Lower connecting plate; 104. Main lifting hydraulic cylinder; 105. Limiting slide; 106. Small limiting seat; 107. Side anti-slip plate; 2. Welding manipulator; 201. Palm mechanism; 2011. Palm plate; 2012. Lighting ring belt; 2013. Limiting ring frame; 202. Finger joint mechanism; 2021. First finger joint; 2022. Second finger joint; 2023. First small connecting motor; 2024. Second small connecting motor; 203. Internal welding mechanism; 2031. Internal adjustment motor; 2032. Internal rotating frame; 2033. Internal slide; 2034. Internal slide; 203 5. Internal telescopic hydraulic cylinder; 2036. Internal lifting hydraulic cylinder; 2037. Welding machine connecting seat; 2038. Small electric welding machine; 3. Robotic arm; 4. Slide rack assembly; 401. Slide rack; 402. Lower telescopic hydraulic cylinder; 403. Bottom positioning plate; 5. Lifting assembly; 501. Slide plate; 502. Lifting plate; 503. Small bracket; 504. Upper small lifting hydraulic cylinder; 505. Upper transmission motor; 506. Transmission roller; 6. Load bearing platform assembly; 601. Load bearing platform; 602. Upper slide; 603. Induction slot; 604. Internal clamping mechanism; 6041. Airbag; 6042. Small column; 6043. Micro air pump; 7. Connecting seat box. DETAILED DESCRIPTION

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0044] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] An embodiment of the present invention provides a robot for automatically and intelligently welding a children's bicycle frame, comprising a pedestal assembly 1: a robot arm 3 is provided on the top of the pedestal assembly 1, a connecting seat box 7 is provided at the output end of the robot arm 3, a welding robot 2 is fixedly connected to the outer wall of the connecting seat box 7, a material lifting assembly 5 is provided on the top of the pedestal assembly 1, a supporting platform assembly 6 is fixedly connected above the material lifting assembly 5, and a sliding frame assembly 4 is provided on the outer wall of the pedestal assembly 1;

[0046] The welding robot 2 includes a palm mechanism 201, a plurality of finger joint mechanisms 202 are provided at the output end of the palm mechanism 201, and an internal welding mechanism 203 is provided inside the palm mechanism 201;

[0047] The palm mechanism 201 includes a palm plate 2011, the bottom of which is fixedly connected to a lighting ring belt 2012, and the inner wall of the palm plate 2011 is fixedly connected to a limit ring frame 2013, and the inner wall of the limit ring frame 2013 is provided with a limit ring groove;

[0048] An imaging scanner is provided at the bottom of the palm tray 2011. The imaging scanner mainly comprises a linear drive mechanism and a micro-photographing structure.

[0049] The finger joint mechanism 202 includes a second small connecting motor 2024 fixedly disposed on the palm plate 2011. The output shaft of the second small connecting motor 2024 is fixedly connected to the first small rotating shaft via a coupling. One end of the first small rotating shaft is fixedly connected to the first finger joint 2021. One end of the first finger joint 2021 is fixedly connected to the first small connecting motor 2023. The output shaft of the first small connecting motor 2023 is fixedly connected to the second small rotating shaft via a coupling. One end of the second small rotating shaft is fixedly connected to the second finger joint 2022.

[0050] The inner welding mechanism 203 includes an inner adjustment motor 2031 fixed to the inner wall of the palm plate 2011. The output shaft of the inner adjustment motor 2031 is fixedly connected to the inner rotating frame 2032 via a coupling. The bottom of the inner rotating frame 2032 is fixedly connected to an inner slide 2033. The inner wall of the inner slide 2033 is slidably connected to the inner slide 2034. An inner telescopic hydraulic cylinder 2035 is fixedly connected between the inner slide 2033 and the inner slide 2034. The bottom of the inner slide 2034 is fixedly connected to an inner lifting hydraulic cylinder 2036. One end of the inner lifting hydraulic cylinder 2036 is fixedly connected to a welding machine connecting seat 2037. A small electric welder 2038 is provided at the bottom of the welding machine connecting seat 2037.

[0051] One end of the inner rotating frame 2032 is fitted and slidably connected to the inner wall of the limiting annular groove in the limiting ring frame 2013.

[0052] It should be noted that the existing traditional ordinary manipulators are generally used to grab or clamp the target objects and do not have welding functions. The welding manipulator is usually composed of a robotic arm and a welding mechanism and does not have the grabbing and fixing function. Therefore, the welding mechanism and the grabbing and clamping mechanism need to be used in conjunction with each other during the welding operation. In actual use, there will be mutual interference between the two mechanisms, and welding cannot be performed on the grabbing position.

[0053] Specifically, in this embodiment, this solution mainly includes the following steps: a pedestal assembly 1, a robotic arm 3, a connecting seat box 7, a welding robot 2, a lifting assembly 5, a bearing platform assembly 6, and a sliding rack assembly 4. First, the bicycle tube frame to be welded is placed on the bearing platform 601. The imaging scanner in the palm panel 2011 is set to scan the shape of the bicycle tube frame to be welded, and the inner clamping mechanism 604 is selected at a suitable position according to the scanning result to start the outer wall of the bicycle tube frame. The inner clamping mechanism 604 is raised by the small lifting mechanism to limit the outer wall of the bicycle tube frame. The structure 604 starts the micro air pump 6043 to exhaust air into the middle air bag 6041, causing the volume of the micro air pump 6043 to expand, thereby clamping and limiting the outer wall of the frame tube. The provision of the air bag 6041 can achieve a softer limiting clamping effect. Then, the transmission mechanism in the lifting assembly 5 is manipulated to move the supporting platform 601 and the position of the bicycle tube frame on the supporting platform 601. At the same time, the robot arm 3 is manipulated to adjust the position of the welding robot 2, so that the welding robot 2 and the bicycle tube frame achieve the best working effect.

[0054] Next, the inner clamping mechanism 604 is closed at an appropriate position according to the position of the finger joint mechanism 202, so that the finger joint mechanism 202 can grasp the bicycle. Then, after the welding robot 2 is set corresponding to the bicycle tube frame, the imaging scanner on the palm panel 211 scans the welding area on the bottom bicycle tube frame and provides feedback to the operator based on the shadow lines on the scanned image. The operator determines the welding position based on the shadow lines and makes a confirmation operation.

[0055] Finally, the position of the inner welding mechanism 203 is adjusted according to the welding line on the welding position to perform welding: the position of the inner rotating frame 2032 is rotationally adjusted by starting and controlling the inner direction adjustment motor 2031, and the position of the inner slide 2034 is laterally adjusted by starting the inner telescopic hydraulic cylinder 2035. Finally, the position of the welding machine connecting seat 2037 and the small electric welder 2038 is lifted and lowered by manipulating the inner lifting hydraulic cylinder 2036. After grasping the outer wall of the bicycle frame pipe to be welded, the welding position of the small electric welder 2038 can be adjusted in various directions inside the palm mechanism 201 and the several finger joint mechanisms 202, thereby achieving multi-directional welding of the outer part of the bicycle frame pipe to be welded;

[0056] After welding is completed, the position of the lifting plate 502 and the small bracket 503 can be raised and lowered by controlling the small lifting hydraulic cylinder 504, wherein the small bracket 503 provides auxiliary support for the outer end of the bicycle frame pipe to be welded on the supporting platform 601. After welding, after the internal clamping mechanism 604 is closed and retracted, the upper small lifting hydraulic cylinder 504 is started to lift and control the position of the welded frame pipe, and then cooperate with the welding robot 2 and the robot arm 3 to transfer the frame pipe to the slide rack assembly 4, and then discharge it outward from the slide rack assembly 4.

[0057] In this embodiment, by setting the welding manipulator 2, it is possible to realize the operation of grabbing, clamping and welding the bicycle tube frame to be welded, and improve the position of the manipulator clamping the internal workpiece for welding operation, without having to repeatedly turn the welded bicycle tube frame for welding, thereby avoiding the situation where the welding line deviation occurs in the welding of the bicycle tube frame that is repeatedly turned for welding;

[0058] In this embodiment, the palm mechanism 201, including the lighting ring 2012, can provide a better welding lighting effect during the welding operation. The limiting ring frame 2013 can achieve a better limiting effect on the inner rotating frame 2032. The imaging scanner in the palm panel 2011 can scan the welding area on the bicycle tube frame and provide feedback to the operator based on the shadow lines on the scanned image. The operator determines the welding position based on the shadow lines and makes a confirmation operation, thereby improving the precision of the automated welding.

[0059] In this embodiment, by setting the finger joint mechanism 202, during use, by starting and controlling the second small connecting motor 2024, it is possible to drive and rotate the first finger joint 2021 and the second finger joint 2022 to adjust the use position, and by starting and controlling the first small connecting motor 2023, it is possible to adjust the clamping position of the second finger joint 2022, thereby achieving the purpose of grasping and clamping the outer wall of the bicycle frame pipe to be welded;

[0060] In this embodiment, through the setting of the internal welding mechanism 203, during use, the position of the inner rotating frame 2032 is rotated and adjusted by starting and controlling the internal adjustment motor 2031, and then the position of the inner slide 2034 is adjusted laterally by starting the internal telescopic hydraulic cylinder 2035. Finally, the position of the welding machine connecting seat 2037 and the small electric welder 2038 is lifted and adjusted by controlling the internal lifting hydraulic cylinder 2036. After grasping the outer wall of the bicycle frame pipe to be welded, the welding position of the small electric welder 2038 can be adjusted in multiple directions inside the palm mechanism 201 and several finger joint mechanisms 202, thereby realizing multi-directional welding of the outside of the bicycle frame pipe to be welded.

[0061] In a further preferred embodiment of the present invention, the slide frame assembly 4 includes a bottom positioning plate 403 fixedly arranged at the bottom of the pedestal assembly 1, one end of the bottom positioning plate 403 is fixedly connected to the lower telescopic hydraulic cylinder 402, and one end of the lower telescopic hydraulic cylinder 402 is fixedly connected to the slide frame 401, and the slide frame 401 is a hollow slide frame.

[0062] In this embodiment, through the setting of the slide rack assembly 4, during use, the position of the slide rack 401 is moved horizontally by starting and controlling the use of the lower telescopic hydraulic cylinder 402. After the slide rack 401 is moved above the base assembly 1, the lifting mechanism on the lifting assembly 5 is cooperated to discharge the welded bicycle workpiece outward, solving the problem that the frame is too large to be moved and removed, and avoiding the situation where the welding workpiece of the vehicle is directly placed in the air through unloading by the robotic arm 3 and the welding robot 2, causing damage to the workpiece.

[0063] In a further preferred embodiment of the present invention, the material lifting assembly 5 includes an upper transmission motor 505 fixedly arranged on the base assembly 1, the output shaft of the upper transmission motor 505 is fixedly connected to the transmission roller 506 through a coupling, the outer wall of the transmission roller 506 is fitted with a sliding plate 501, the top of the sliding plate 501 is fixedly connected to the bottom of the supporting platform 601, and the transmission roller 506, the upper transmission motor 505 and the sliding plate 501 constitute a transmission mechanism;

[0064] The outer wall of the sliding plate 501 is fixedly connected with several upper small lifting hydraulic cylinders 504, one end of the upper small lifting hydraulic cylinder 504 is fixedly connected with the lifting plate 502, and several small brackets 503 are provided on the top of the lifting plate 502. The upper small lifting hydraulic cylinder 504, the lifting plate 502 and the lifting plate 502 constitute a lifting mechanism.

[0065] In this embodiment, through the setting of the lifting assembly 5, the setting of the transmission mechanism, by starting and controlling the use of the upper transmission motor 505, the upper transmission motor 505 drives the transmission roller 506 to roll to realize sliding the sliding plate 501 along the inner wall of the small limit seat 106 and the side anti-slip plate 107, and then drives the sliding plate 501 to move to adjust the use position of the frame on the supporting platform 601, thereby achieving a better coordination effect with the welding manipulator 2; wherein the setting of the lifting mechanism, by manipulating the small lifting hydraulic cylinder 504, the position of the lifting plate 502 and the small bracket 503 can be realized, wherein the small bracket 503 provides auxiliary support for the outer end of the bicycle frame pipe to be welded on the supporting platform 601. After welding, after the inner clamping mechanism 604 is closed and retracted, the upper small lifting hydraulic cylinder 504 is started to lift and control the position of the welded frame pipe, and then cooperate with the welding manipulator 2 and the robotic arm 3 to transfer the frame pipe to the sliding rack assembly 4, and then the sliding rack assembly 4 discharges it outward.

[0066] In a further preferred embodiment of the present invention, the carrier platform assembly 6 includes a carrier platform 601, an inner clamping mechanism 604 is provided on the top of the carrier platform 601, an upper slide 602 is fixedly connected to the bottom of the carrier platform 601, and an induction slot 603 is provided on the top of the carrier platform 601;

[0067] The top of the carrier 601 is provided with built-in slots, and each built-in slot is provided with a small lifting mechanism inside, and the inside of the built-in slot is fixedly connected to the bottom of the inner clamping mechanism 604 through the small lifting mechanism;

[0068] The sensing slot 603 has a mesh shape at the top, and a plurality of infrared sensor probes are set on the inner wall of the sensing slot 603. The infrared sensor probes are infrared ranging sensor probes.

[0069] The inner clamping mechanism 604 includes a small column 6042 fixedly arranged on the upper portion, an air bag 6041 fixedly connected to the outer wall of the small column 6042 , a micro air pump 6043 is provided on the bottom wall of the small column 6042 , and the micro air pump 6043 is connected to the air bag 6041 .

[0070] In this embodiment, the support platform assembly 6 is provided to achieve the effect of supporting and limiting the outer wall during use: the bicycle tube frame to be welded is placed on the support platform 601, and the infrared sensor probe on the inner wall of the sensing groove 603 scans the shape of the bicycle tube frame to be welded. Based on the scanning result, the inner clamping mechanism 604 is activated at a suitable position to limit the outer wall of the bicycle tube frame;

[0071] In this embodiment, by setting up the inner clamping mechanism 604 and cooperating with the small lifting mechanism, the inner clamping mechanism 604 is raised by the small lifting mechanism, and the micro air pump 6043 is started to exhaust air into the middle air bag 6041, so that the volume of the micro air pump 6043 expands, thereby achieving clamping and limiting the outer wall of the frame tube. The setting of the air bag 6041 can achieve a softer limiting clamping effect, thereby avoiding damage to the outer wall of the frame tube caused by the hard clamping mechanism.

[0072] In a further preferred embodiment of the present invention, the pedestal assembly 1 includes a base 102, the inner wall of the base 102 is plugged with a pedestal 101, the number of the bases 102 is multiple, and a lower connecting plate 103 is fixedly connected between the multiple bases 102, a main lifting hydraulic cylinder 104 is fixedly connected between the pedestal 101 and the base 102, a limiting slide groove 105 is provided on the top of the pedestal 101, the inner wall of the limiting slide groove 105 is fitted and slidably connected with the outer wall of the upper slide 602, a small limiting seat 106 is fixedly connected to the top of the pedestal 101, and a side anti-slip plate 107 is fixedly connected to the top of the pedestal 101.

[0073] In this embodiment, through the setting of the pedestal assembly 1, during use, by starting and controlling the use of the main lifting hydraulic cylinder 104, the pedestal 101 is lifted and adjusted to achieve the lifting and adjustment of the overall operating position of the equipment, thereby achieving coordinated operation with the bicycle production line.

[0074] A method for automatically and intelligently welding a children's bicycle frame comprises the following steps: S1, placing the bicycle tube frame to be welded on a carrier 601, scanning the shape of the bicycle tube frame to be welded with an infrared sensor probe, and selecting an appropriate position for starting an internal clamping mechanism 604 according to the scanning result to limit the outer wall of the bicycle tube frame; S2, manipulating the transmission mechanism in the lifting component 5 to realize the position of the mobile carrier 601 and the bicycle tube frame on the carrier 601, and at the same time manipulating the robot arm 3 to adjust the position of the welding robot 2 so that the welding robot 2 and the bicycle tube frame are aligned. The best coordination effect is achieved; S3, the inner clamping mechanism 604 at the appropriate position is closed according to the position control of the finger joint mechanism 202, so that the finger joint mechanism 202 can grasp; S4, when the welding robot 2 is set corresponding to the bicycle tube frame, the imaging scanner on the palm panel 2011 is used to scan the welding area on the bottom bicycle tube frame and provide feedback to the operator based on the shadow lines on the scanned image. The operator determines the welding position based on the shadow lines and gives a confirmation operation; S5, the position of the inner welding mechanism 203 is adjusted according to the welding line at the welding position to perform welding.

[0075] It should be noted that for the aforementioned embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative, such as the division of the above-mentioned units. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the coupling or communication connection between each other shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be in the form of telecommunications or other forms.

[0077] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0078] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the embodiments described are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also fall within the scope of protection of the present invention.

Claims

1. A robot for automatically and intelligently welding a children's bicycle frame, characterized in that: It comprises a pedestal assembly (1): a robotic arm (3) is provided on the top of the pedestal assembly (1), a connecting seat box (7) is provided at the output end of the robotic arm (3), a welding robot (2) is fixedly connected to the outer wall of the connecting seat box (7), a lifting assembly (5) is provided on the top of the pedestal assembly (1), a supporting platform assembly (6) is fixedly connected above the lifting assembly (5), and a sliding rack assembly (4) is provided on the outer wall of the pedestal assembly (1); The welding manipulator (2) comprises a palm mechanism (201), a plurality of finger joint mechanisms (202) are provided at the output end of the palm mechanism (201), and an internal welding mechanism (203) is provided inside the palm mechanism (201); The carrier platform assembly (6) comprises a carrier platform (601), an inner clamping mechanism (604) is provided on the top of the carrier platform (601), an upper slide seat (602) is fixedly connected to the bottom of the carrier platform (601), and a sensing slot (603) is provided on the top of the carrier platform (601); The top of the supporting platform (601) is provided with built-in slots, and a small lifting mechanism is provided inside each built-in slot, and the inside of the built-in slot is fixedly connected to the bottom of the internal clamping mechanism (604) via the small lifting mechanism; The sensing groove (603) has a mesh shape at the top, and a plurality of infrared sensor probes are provided on the inner wall of the sensing groove (603), and the infrared sensor probes are infrared distance measuring sensor probes; The palm mechanism (201) comprises a palm plate (2011), the bottom of the palm plate (2011) is fixedly connected to a lighting ring belt (212), the inner wall of the palm plate (2011) is fixedly connected to a limiting ring frame (2013), and the inner wall of the limiting ring frame (2013) is provided with a limiting annular groove; An imaging scanner is provided at the bottom of the palm tray (2011), and the imaging scanner mainly comprises a linear drive movement mechanism and a micro-shooting structure.

2. The robot for automatically and intelligently welding a children's bicycle frame according to claim 1, characterized in that: The finger joint mechanism (202) comprises a second small connecting motor (2024) fixedly arranged on the palm plate (211); the output shaft of the second small connecting motor (2024) is fixedly connected to the first small rotating shaft via a coupling, and one end of the first small rotating shaft is fixedly connected to the first finger joint (2021); one end of the first finger joint (2021) is fixedly connected to the first small connecting motor (2023); the output shaft of the first small connecting motor (2023) is fixedly connected to the second small rotating shaft via a coupling, and one end of the second small rotating shaft is fixedly connected to the second finger joint (2022).

3. The robot for automatically and intelligently welding a children's bicycle frame according to claim 2, characterized in that: The inner welding mechanism (203) comprises an inner direction-adjusting motor (2031) fixed to the inner wall of the palm plate (2011); the output shaft of the inner direction-adjusting motor (2031) is fixedly connected to an inner rotating frame (2032) via a coupling; the bottom of the inner rotating frame (2032) is fixedly connected to an inner slide seat (2033); the inner wall of the inner slide seat (2033) is slidably connected to an inner slide frame (2034); an inner telescopic hydraulic cylinder (2035) is fixedly connected between the inner slide seat (2033) and the inner slide frame (2034); the bottom of the inner slide frame (2034) is fixedly connected to an inner lifting hydraulic cylinder (2036); one end of the inner lifting hydraulic cylinder (2036) is fixedly connected to a welding machine connecting seat (2037); and a small electric welder (2038) is provided at the bottom of the welding machine connecting seat (2037); One end of the inner rotating frame (2032) is fitted and slidably connected to the inner wall of the limiting annular groove in the limiting ring frame (2013).

4. The robot for automatically and intelligently welding a children's bicycle frame according to claim 1, characterized in that: The slide frame assembly (4) includes a bottom positioning plate (403) fixedly arranged at the bottom of the pedestal assembly (1), one end of the bottom positioning plate (403) is fixedly connected to a lower telescopic hydraulic cylinder (402), one end of the lower telescopic hydraulic cylinder (402) is fixedly connected to a slide frame (401), and the slide frame (401) is a hollow slide frame.

5. The robot for automatically and intelligently welding a children's bicycle frame according to claim 1, characterized in that: The lifting assembly (5) includes an upper transmission motor (505) fixedly arranged on the pedestal assembly (1); the output shaft of the upper transmission motor (505) is fixedly connected to a transmission roller (506) via a coupling; the outer wall of the transmission roller (506) is fitted with a sliding plate (501); the top of the sliding plate (501) is fixedly connected to the bottom of the supporting platform (601); the transmission roller (506), the upper transmission motor (505) and the sliding plate (501) constitute a transmission mechanism; The outer wall of the sliding plate (501) is fixedly connected to a plurality of upper small lifting hydraulic cylinders (504), one end of the upper small lifting hydraulic cylinder (504) is fixedly connected to a lifting plate (502), and a plurality of small brackets (503) are provided on the top of the lifting plate (502). The upper small lifting hydraulic cylinder (504), the lifting plate (502) and the lifting plate (502) constitute a lifting mechanism.

6. The robot for automatically and intelligently welding a children's bicycle frame according to claim 1, characterized in that: The inner clamping mechanism (604) comprises a small column (6042) fixedly arranged on the supporting platform (601); the outer wall of the small column (6042) is fixedly connected to an air bag (6041); the bottom wall of the small column (6042) is provided with a micro air pump (6043), and the micro air pump (6043) and the air bag (6041) are connected.

7. The robot for automatically and intelligently welding a children's bicycle frame according to claim 1, characterized in that: The pedestal assembly (1) includes a base (102), the inner wall of the base (102) is plugged with a pedestal (101), the number of the bases (102) is multiple, and a lower connecting plate (103) is fixedly connected between the multiple bases (102), a main lifting hydraulic cylinder (104) is fixedly connected between the pedestal (101) and the base (102), a limiting slide groove (105) is provided on the top of the pedestal (101), the inner wall of the limiting slide groove (105) is slidably connected to the outer wall of the upper slide (602), a small limiting seat (106) is fixedly connected to the top of the pedestal (101), and a side anti-slip plate (107) is fixedly connected to the top of the pedestal (101).

8. According to the robot for automatically and intelligently welding a children's bicycle frame according to claim 1, a method for automatically and intelligently welding a children's bicycle frame is provided, comprising the following steps: S1. The bicycle tube frame to be welded is placed on the supporting platform (601), and the infrared sensor probe scans the shape of the bicycle tube frame to be welded, and according to the scanning result, the inner clamping mechanism (604) is selected at a suitable position to start and limit the outer wall of the bicycle tube frame; S2. The transmission mechanism in the lifting component (5) is controlled to realize the position of the mobile supporting platform (601) and the bicycle tube frame on the supporting platform (601), and the robot arm (3) is controlled to adjust the position of the welding robot (2) so that the welding robot (2) and the bicycle tube frame achieve the best cooperation effect; S3. According to the position control of the finger joint mechanism (202), the inner clamping mechanism (604) at the appropriate position is closed so that the finger joint mechanism (202) can grasp and clamp. S4. After the welding manipulator (2) is set corresponding to the bicycle tube frame, the imaging scanner on the palm panel (2011) is used to scan the welding area on the bottom bicycle tube frame and provide feedback to the operator based on the shadow lines on the scanned image. The operator determines the welding position based on the shadow lines and gives a confirmation operation. S5. According to the welding line on the welding position, the position of the inner welding mechanism (203) is adjusted to perform welding.

Images