Industrial welding robot

Abstract

The invention relates to the technical field of welding devices, and provides an industrial welding robot which is used for pipeline butt welding and comprises a slag stopping box which is movably arranged on one side of a pipeline. The welding head is arranged on the slag stopping box, and the slag stopping box moves to drive the welding head to be close to the pipeline butt joint position. The slag stopping pieces are slidably arranged relative to the slag stopping box, the slag stopping pieces are arranged in the circumferential direction of the slag stopping box, and the side walls of the adjacent slag stopping pieces abut against each other; the slag stopping pieces are used for abutting against the side wall of the pipeline after sliding, the welding head is located among the multiple slag stopping pieces, and the slag stopping box and the slag stopping pieces are used for stopping splashing welding slag generated by welding of the welding head. By means of the technical scheme, the technical problem that in the prior art, splashing welding slag in the welding process easily damages the surface quality of the other parts of the to-be-welded part is solved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of welding devices, and in particular, to an industrial welding robot. Background Art

[0002] At present, welding robots are widely used in industrial production in scenarios such as pipeline welding, which significantly improves welding efficiency and automation. However, during gas shielded welding (such as metal arc welding MAG / MIG), the welding wire melts under the action of resistance heat and arc high temperature to form molten droplets. Under the influence of complex forces such as shielding gas blowing, arc force and electromagnetic force, some molten droplets will deviate from the trajectory and splash at high speed. These high-temperature welding slags are easy to hit the surface of the non-welding area of ​​the pipeline and adhere to it when scattered, causing a series of problems: Before use, pipelines are usually machined and surface treated to ensure dimensional accuracy and corrosion resistance. After the welding slag cools and solidifies, it will form marks on the surface that are difficult to remove, destroying the surface flatness and finish, damaging the anti-corrosion coating and reducing corrosion resistance; the attached welding slag may also become a stress concentration point, causing crack propagation under load, affecting the strength and reliability of the pipeline structure. In addition, the splashing welding slag will also pollute the robot's operating environment, enter the joint bearing, cause grease carbonization, and affect the reliability of the equipment; accumulation on the visual sensor lens will reduce the accuracy of weld recognition, and there is a safety risk of igniting combustibles and causing occupational health problems. Summary of the invention

[0003] In order to overcome the above-mentioned defects, an embodiment of the present disclosure provides an industrial welding robot, which solves the technical problem in the prior art that the splashing welding slag during the welding process easily damages the surface quality of the remaining parts of the welded parts.

[0004] According to one aspect, at least one embodiment of the present disclosure provides an industrial welding robot for pipe butt welding, comprising: A slag blocking box, the slag blocking box is used to be movably arranged on one side of the pipeline; A welding head, wherein the welding head is arranged on the slag blocking box, and the slag blocking box moves to drive the welding head close to the pipe joint; A slag stopper, wherein the slag stopper is in a plurality of numbers and is slidably arranged relative to the slag stopper box, the plurality of slag stoppers are arranged circumferentially along the slag stopper box, and the side walls of adjacent slag stoppers abut against each other; the slag stopper is used to abut against the side wall of the pipe after sliding, the welding head is located between the plurality of slag stoppers, and the slag stopper box and the slag stopper are used to block the spattering slag generated by welding of the welding head.

[0005] For example, in an industrial welding robot provided by at least one embodiment of the present disclosure, the industrial welding robot further includes: A sliding frame, the sliding frame is slidably sleeved on the outside of the slag blocking box and moves closer to or away from the pipeline after sliding. The sliding frame has an abutment surface on a side away from the pipeline, and the slag blocking member is slidably arranged on the sliding frame; After the sliding frame slides away from the pipeline, the abutting surface abuts against the tops of the plurality of slag blocking members, which can drive the plurality of slag blocking members to synchronously slide away from the pipeline, so that the welding head is exposed. For example, in an industrial welding robot provided by at least one embodiment of the present disclosure, the slag stopper and the abutment surface are connected by a first elastic member; when the slag stopper abuts against the pipe surface, the first elastic member is used to elastically pull the slag stopper so that the slag stopper is pressed against the pipe surface.

[0006] For example, in an industrial welding robot provided in at least one embodiment of the present disclosure, the slag stopper comprises: A mounting plate, the mounting plate being slidably disposed on the sliding frame; the mounting plate having a mounting groove on a side close to the slag blocking box, and the mounting groove having a first notch on a side away from the pipeline; A slag stopper plate is slidably disposed in the mounting groove, and the slag stopper plate can slide into or out of the mounting groove through the first notch; the slag stopper plate is used to block the welding slag.

[0007] For example, in an industrial welding robot provided by at least one embodiment of the present disclosure, the mounting groove has a second notch near the side of the pipe, the slag blocking plate blocks the welding slag to form a waste slag protrusion, and the slag blocking member further includes: A blocking plate, the blocking plate being rotatably disposed on the mounting plate, and the blocking plate closes or opens the second notch after rotation; a second elastic member, two ends of which act on the blocking plate and the mounting plate respectively, and are used to elastically pull the blocking plate to rotate so that the blocking plate closes the second notch; The slag blocking member is arranged so that the mounting plate slides away from the pipeline to drive the waste slag protrusion to contact the slag blocking box, so that the slag blocking plate can push the blocking plate to rotate and slide out of the second slot.

[0008] For example, in an industrial welding robot provided in at least one embodiment of the present disclosure, the slag stopper further includes: An abutment wheel, the abutment wheel is rotatably arranged on the mounting plate, and the abutment wheel is used for abutting against the surface of the pipeline.

[0009] For example, in at least one embodiment of the present disclosure, an industrial welding robot is provided, wherein the industrial welding robot further includes: A plate replenishing bin is circumferentially slidably arranged in the slag blocking box, and the plate replenishing bin has a plate outlet on the side close to the slag blocking member; after the plate replenishing bin slides, the plate outlet is sequentially connected with several of the first slots for replenishing the slag blocking plates.

[0010] For example, in at least one embodiment of the present disclosure, an industrial welding robot is provided, wherein the industrial welding robot further includes a transmission mechanism, and the transmission mechanism includes: Transmission wheels, which are in a plurality of numbers and are rotatably arranged on the slag blocking box; A transmission belt, the transmission belt circulates on the slag blocking box through a plurality of transmission wheels; A connecting rod, both ends of which are respectively connected to the transmission belt and the plate replenishing bin, and are used to drive the plate replenishing bin to move circumferentially on the slag blocking box.

[0011] For example, in an industrial welding robot provided in at least one embodiment of the present disclosure, the plate replenishment bin includes: A plate filling box, wherein the plate outlet is located on a side of the plate filling box close to the slag blocking member, and the interior of the plate filling box is used to hold a plurality of the slag blocking plates; the plate filling box is connected to the connecting rod; A pressing plate, the pressing plate is slidably arranged in the plate filling box, and a plurality of slag blocking plates are located on a side of the pressing plate close to the plate outlet; The third elastic member is arranged in the patch box, and the two ends of the third elastic member act on the pressure plate and the inner wall of the patch box respectively, and are used for elastically pushing the pressure plate close to the first slot to make the plurality of slag baffles close to the plate outlet.

[0012] For example, in an industrial welding robot provided by at least one embodiment of the present disclosure, the side wall of the plate filling box has a through groove, and the plate filling bin further includes: A discharging wheel is rotatably arranged on the plate filling box, the discharging wheel passes through the through slot and abuts against the slag baffle plate, and after the discharging wheel rotates, it drives the slag baffle plate to slide out of the plate outlet and enter the first slot.

[0013] The beneficial effects of the embodiments of the present disclosure are: In the present disclosure, the problem of damage to the surface quality of the pipeline by spattering welding slag during welding is effectively solved. The protective structure formed by the slag blocking box and the slag blocking member can block most of the spattering welding slag within a certain range, preventing the welding slag from directly hitting other parts of the pipeline except the welding area, thereby protecting the flatness and smoothness of the pipeline surface, maintaining the integrity of the anti-corrosion coating on the pipeline surface, and improving the corrosion resistance of the pipeline. At the same time, the slag blocking member can slide to adapt to the design of different curvatures of the pipeline surface, which enhances the versatility of the welding robot, making it applicable to pipeline welding work of various diameters, reducing the cost and time of replacing different welding equipment for pipelines of different diameters, and improving the efficiency of industrial production. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. Obviously, the drawings described below are only some exemplary embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on the contents of the exemplary embodiments of the present disclosure and these drawings without creative work.

[0015] Figure 1 This is a schematic diagram of the structure of an industrial welding robot in one embodiment of the present disclosure; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 for Figure 1 A schematic diagram of the internal structure of the welding head part in the embodiment; Figure 4 for Figure 1 Another angle schematic diagram of the internal structure of the welding head part in the embodiment; Figure 5 for Figure 1 A schematic diagram of the internal structure of the slag stopper in the embodiment of the present invention; Figure 6 for Figure 1 A schematic diagram of the internal structure of the slag stopper from another angle in the embodiment of the present invention; Figure 7 for Figure 5 Enlarged view of point B in the middle; Figure 8 for Figure 1 A schematic diagram of the structure of the board filling warehouse in the embodiment of the invention; Fig. 9 for Figure 1 Schematic diagram of the structure inside the board filling warehouse in the embodiment.

[0016] In the figure: 1. pipeline, 2. welding head, 3. slag blocking box, 4. slag blocking member, 5. sliding frame, 51. abutment surface, 6. first elastic member, 42. mounting plate, 421. mounting groove, 422. first notch, 43. slag blocking plate, 423. second notch, 431. waste slag protrusion, 44. sealing plate, 45. second elastic member, 46. abutment wheel, 7. board filling bin, 71. board outlet, 8. transmission mechanism, 81. transmission wheel, 82. transmission belt, 83. connecting rod, 72. board filling box, 73. pressure plate, 74. third elastic member, 721. through groove, 75. discharge wheel. DETAILED DESCRIPTION

[0017] The present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure, rather than to limit the present disclosure.

[0018] In order to simplify the drawings, only the parts related to the disclosure are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically shown, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0019] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 components. For ordinary technicians in this field, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances.

[0020] In the present disclosure, unless otherwise expressly specified and limited, a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being “above”, “above”, and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0021] In the description of this embodiment, terms such as "up", "down", "left", and "right" and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of description and simplification of operation, 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 should not be understood as a limitation on the present disclosure.

[0022] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0023] like Figure 1 to Figure 9 As shown, it shows an industrial welding robot in one embodiment of the present disclosure, which is used for butt welding of pipelines 1, including a slag stop box 3, which is used to be movably set on one side of the pipeline 1; the welding head 2 is set on the slag stop box 3, and the slag stop box 3 drives the welding head 2 to approach the butt joint of the pipeline 1 after moving; there are a number of slag stop parts 4, which are slidably set relative to the slag stop box 3, and a number of slag stop parts 4 are arranged circumferentially along the slag stop box 3, and the side walls of adjacent slag stop parts 4 abut against each other; the slag stop parts 4 are used to abut against the side wall of the pipeline 1 after sliding, and the welding head 2 is located between the several slag stop parts 4, and the slag stop box 3 and the slag stop parts 4 are used to block the spatter slag generated by the welding of the welding head 2.

[0024] For example, Figure 1-4 As shown, in order to solve the technical problem in the prior art that the welding slag splashed during the welding process is easy to damage the surface quality of the rest of the parts to be welded. A welding robot is designed. First, the two ends of the pipes to be welded are docked with each other, and the pipes are allowed to rotate. The slag blocking box 3 is installed on one side of the pipe 1 through a movable mechanical arm, and can move freely on one side of the pipe 1. The welding head 2 is arranged in the slag blocking box 3. It is slidably arranged in a slide groove opened on the side wall of the slag blocking box 3, and a plurality of slag blocking parts 4 are evenly distributed around the slag blocking box 3, and the side walls of adjacent slag blocking parts 4 are fitted together to form a continuous structure surrounding the welding head 2.

[0025] When it is necessary to butt-weld the pipe 1, first move the welding robot to a suitable position so that the welding head 2 is located on one side of the butt joint of the pipe 1. By controlling the movable mechanical structure, move the welding head 2 to a welding position close to the surface of the pipe 1. The pipe is driven to rotate axially by an external drive device, and then the welding head 2 starts to work. The spattering slag generated during the welding process will be blocked by the slag blocking box 3 and the slag blocking member 4. If pipes 1 of different diameters are encountered, due to the different curvatures of the surface of the pipe 1, the slag blocking member 4 can be slid closer to or away from the pipe 1, so that the slag blocking member 4 can better fit the surface of the pipe 1 and continue to completely block the welding slag.

[0026] The structural design in the present application effectively solves the problem of damage to the surface quality of the pipeline 1 caused by spattering welding slag during welding. The protective structure formed by the slag blocking box 3 and the slag blocking member 4 can block most of the spattering welding slag within a certain range, preventing the welding slag from directly hitting other parts of the pipeline 1 except the welding area, thereby protecting the flatness and smoothness of the surface of the pipeline 1, maintaining the integrity of the anti-corrosion coating on the surface of the pipeline 1, and improving the corrosion resistance of the pipeline 1. At the same time, the slag blocking member 4 can slide to adapt to the design of different surface curvatures of the pipeline 1, which enhances the versatility of the welding robot and enables it to be applicable to welding work of pipelines 1 of various diameters, reducing the cost and time of replacing different welding equipment for pipelines 1 of different diameters, and improving the efficiency of industrial production.

[0027] In some examples, an industrial welding robot further includes a sliding frame 5, which is slidably sleeved on the outside of the slag blocking box 3 and moves closer to or away from the pipeline 1 after sliding. The sliding frame 5 has an abutment surface 51 on the side away from the pipeline 1, and the slag blocking member 4 is slidably arranged on the sliding frame 5; after the sliding frame 5 slides away from the pipeline 1, the abutment surface 51 abuts against the top of several slag blocking members 4, which can drive several slag blocking members 4 to synchronously slide away from the pipeline 1, so that the welding head 2 is exposed For example, Figure 1-4 As shown, in order to realize the flexible movement of the slag stopper 4 and the convenient operation of the welding head 2, a sliding frame 5 is added. The sliding frame 5 is slidably sleeved on the outside of the slag stopper box 3 through a sliding track, so that the sliding frame 5 can move linearly along the slag stopper box 3 to approach or move away from the pipeline 1. A flat abutment surface 51 is processed on the side of the sliding frame 5 away from the pipeline 1, and the slag stopper 4 is installed on the sliding frame 5 by a sliding connection, so that the slag stopper 4 can move synchronously with the movement of the sliding frame 5, and can also slide autonomously on the sliding frame 5 within a certain range.

[0028] Before welding begins, the entire industrial welding robot is first moved to a suitable position so that the slag blocking box 3 is on one side of the pipe 1. Then, the sliding frame 5 is slid toward the pipe 1, driving the slag blocking member 4 to approach the pipe 1. When several slag blocking members 4 abut against the side wall of the pipe 1, the movement of the sliding frame 5 is stopped, and the welding head 2 can be started to perform welding operations. The slag blocking box 3 and the slag blocking member 4 jointly block the splashing welding slag.

[0029] When the welding operation is completed, or the welding head 2 needs to be repaired or replaced, or the welding head 2 needs to be aligned before welding, the sliding frame 5 is controlled to slide in the direction away from the pipe 1. During the sliding process of the sliding frame 5, its abutment surface 51 will gradually contact the tops of several slag blocking members 4. As the sliding frame 5 continues to slide, the abutment surface 51 will generate a driving force on the slag blocking member 4, driving the slag blocking member 4 to slide away from the pipe 1 synchronously. When the slag blocking member 4 moves to a certain position, the welding head 2 will be completely exposed, which is convenient for the operator to perform subsequent related operations.

[0030] The design of the sliding frame 5 improves the convenience of operation and maintainability of the industrial welding robot. The slag stopper 4 can be moved and the welding head 2 can be exposed through a simple sliding action. When the welding head 2 needs to be maintained, there is no need for a complicated disassembly process. The welding head 2 can be exposed by sliding the sliding frame 5, which greatly saves maintenance time and labor costs.

[0031] In some examples, the slag stopper 4 and the abutment surface 51 are connected by a first elastic member 6 ; when the slag stopper 4 abuts against the surface of the pipeline 1 , the first elastic member 6 is used to elastically pull the slag stopper 4 so that the slag stopper 4 presses against the surface of the pipeline 1 .

[0032] For example, Figure 1-4 As shown, a first elastic member 6 is connected between the slag stopper 4 and the abutting surface 51. Both ends of the first elastic member 6 are fixed on the slag stopper 4 and the abutting surface 51, respectively. When the relative position between the slag stopper 4 and the abutting surface 51 changes, the first elastic member 6 will produce corresponding elastic deformation.

[0033] When the slag stopper 4 contacts the surface of the pipe 1, the first elastic member 6 is in a stretched state, generating an elastic tension. This elastic tension pulls the slag stopper 4 close to the sliding frame 5, so that the slag stopper 4 is tightly pressed against the surface of the pipe 1. During the welding process, even if the surface of the pipe 1 is uneven or slightly vibrates, the elastic effect of the first elastic member 6 can ensure that the slag stopper 4 always maintains close contact with the surface of the pipe 1.

[0034] The first elastic member 6 enhances the fit between the slag stopper 4 and the surface of the pipe 1. Through the elastic pulling action, the slag stopper 4 can better adapt to various conditions on the surface of the pipe 1, effectively preventing welding slag from splashing out from the gap between the slag stopper 4 and the surface of the pipe 1, further improving the slag blocking effect.

[0035] In some examples, the slag blocking member 4 includes a mounting plate 42, which is slidably set on the sliding frame 5; the mounting plate 42 has a mounting groove 421 on the side close to the slag blocking box 3, and the mounting groove 421 has a first groove 422 on the side away from the pipeline 1; the slag blocking plate 43 is slidably set in the mounting groove 421, and the slag blocking plate 43 can slide into or out of the mounting groove 421 through the first groove 422; the slag blocking plate 43 is used to block welding slag.

[0036] For example, Figure 5-6 As shown, before welding, the slag stopper 43 is slid into the mounting groove 421 through the first notch 422. When welding starts, the slag stopper 43 is in the mounting groove 421 to block the welding slag. If the slag stopper 43 is damaged during use or needs to be replaced, the slag stopper 43 is slid out of the mounting groove 421 from the first notch 422, and then a new slag stopper 43 is replaced.

[0037] This structural design makes the maintenance and replacement of the slag stopper 4 more convenient. The slag stopper plate 43 is designed to be separated from the mounting plate 42. When the slag stopper plate 43 is damaged, only the slag stopper plate 43 needs to be replaced, without replacing the entire slag stopper 4, thereby reducing the use cost. At the same time, the setting of the mounting groove 421 provides a stable installation position for the slag stopper plate 43, ensures the stability of the slag stopper plate 43 during the welding process, and improves the slag blocking effect.

[0038] In some examples, the mounting groove 421 has a second slot 423 on one side close to the pipeline 1, and the slag blocking plate 43 blocks the welding slag to form a waste slag protrusion 431. The slag blocking member 4 also includes a sealing plate 44, which is rotatably set on the mounting plate 42. After the sealing plate 44 is rotated, it closes or opens the second slot 423; the two ends of the second elastic member 45 act on the sealing plate 44 and the mounting plate 42 respectively, and are used to elastically pull the sealing plate 44 to rotate so that the sealing plate 44 closes the second slot 423; the slag blocking member 4 is arranged so that the mounting plate 42 slides away from the pipeline 1 to drive the waste slag protrusion 431 to contact the slag blocking box 3, so that the slag blocking plate 43 can push the sealing plate 44 to rotate and slide out from the second slot 423.

[0039] For example, Figure 5-7 As shown, a second slot 423 is provided on one side of the mounting groove 421 close to the pipe 1. The blocking plate 44 is mounted on the mounting plate 42 through a rotating structure and can rotate around the rotating shaft to close or open the second slot 423. The two ends of the second elastic member 45 act on the blocking plate 44 and the mounting plate 42 respectively, so that the blocking plate 44 keeps the second slot 423 closed under normal circumstances.

[0040] During normal welding, the second elastic member 45 causes the blocking plate 44 to close the second notch 423 to prevent welding slag from entering the interior of the mounting groove 421. When the slag blocking plate 43 blocks welding slag for a long time to form a waste slag protrusion 431, and the mounting plate 42 slides away from the pipeline 1, the slag blocking box 3 will contact the waste slag protrusion 431, pushing the slag blocking plate 43 to move inside the mounting groove 421. The movement of the slag blocking plate 43 will push the blocking plate 44 to overcome the elastic force of the second elastic member 45 and rotate, thereby opening the second notch 423, so that the slag blocking plate 43 can slide out of the mounting groove 421 from the second notch 423.

[0041] This structural design realizes the automatic discharge of the damaged slag blocking plate 43. When the slag blocking plate 43 accumulates too much waste slag and affects the sliding effect of the slag blocking part, it can be automatically discharged from the installation groove 421 without manual cleaning, thereby improving work efficiency. At the same time, the setting of the blocking plate 44 and the second elastic member 45 ensures the stability of the installation groove 421 during normal welding, preventing welding slag from entering the installation groove 421 and causing damage to other components.

[0042] In some examples, the slag stopper 4 further includes an abutment wheel 46 , which is rotatably disposed on the mounting plate 42 , and the abutment wheel 46 is used to abut against the surface of the pipeline 1 .

[0043] For example, Figure 5-7 As shown, an abutment wheel 46 is installed on the mounting plate 42, and the abutment wheel 46 is connected to the mounting plate 42 through a rotating structure and can rotate freely. The slag stopper 4 contacts the surface of the pipeline 1 through the abutment wheel 46.

[0044] During the welding process, the abutment wheel 46 rolls on the surface of the pipe 1. The rolling of the abutment wheel 46 makes the slag stopper 4 move more smoothly and can better adapt to the curvature change of the surface of the pipe 1.

[0045] The setting of the abutment wheel 46 reduces the friction between the slag stopper 4 and the surface of the pipe 1, reduces the resistance of the slag stopper 4 when moving, and enables the slag stopper 4 to move more flexibly. At the same time, the rolling of the abutment wheel 46 can better adapt to the unevenness and curvature changes of the surface of the pipe 1, ensure good contact between the slag stopper 4 and the surface of the pipe 1, and improve the slag blocking effect. In addition, the rolling contact method reduces the scratches and damages on the surface of the pipe 1, and protects the quality of the surface of the pipe 1.

[0046] In some examples, an industrial welding robot also includes a plate replenishing bin 7, which is circumferentially slidably arranged in the slag blocking box 3, and has a plate outlet 71 on the side of the plate replenishing bin 7 close to the slag blocking part 4; after the plate replenishing bin 7 slides, the plate outlet 71 is sequentially connected to a plurality of first slots 422 for replenishing the slag blocking plate 43.

[0047] For example, Figure 3-4As shown, a plate filling bin 7 is provided on the slag blocking box 3, and the plate filling bin 7 is circumferentially slidably arranged on the slag blocking box 3 through a sliding structure. A plate outlet 71 is provided on one side of the plate filling bin 7 close to the slag blocking member 4, and when the plate filling bin 7 slides, the plate outlet 71 can be connected with the first notches 422 of several slag blocking members 4 in sequence.

[0048] When the slag blocking plate 43 of a slag blocking member 4 needs to be replenished after being automatically discharged, the sliding frame 5 is slid to retract the slag blocking member 4 as a whole, and the replenishing plate bin 7 is controlled to slide on the slag blocking box 3, and then the plate outlet 71 is aligned with the first notch 422 of the slag blocking member 4. Then, the new slag blocking plate 43 in the replenishing plate bin 7 is transported to the first notch 422 through the plate outlet 71, and then enters the installation groove 421, and the replenishment of the slag blocking plate 43 is completed.

[0049] The provision of the plate replenishment bin 7 realizes the automatic replenishment function of the slag stopper 43. During the welding process, when the slag stopper 43 is damaged, it can be replaced in time and automatically without manual operation, thereby improving the continuity and efficiency of the welding work. At the same time, the design of circumferential circulation sliding enables the plate replenishment bin 7 to provide slag stopper 43 for multiple slag stoppers 4, further improving the automation degree and use efficiency of the equipment.

[0050] In some examples, an industrial welding robot also includes a transmission mechanism 8, which includes a transmission wheel 81, a plurality of transmission wheels 81, and a rotation arrangement on the slag stop box 3; a transmission belt 82 circulates on the slag stop box 3 through the plurality of transmission wheels 81; two ends of a connecting rod 83 are respectively connected to the transmission belt 82 and the plate replenishing bin 7, so as to drive the plate replenishing bin 7 to circulate circumferentially on the slag stop box 3.

[0051] For example, Figure 3-4 As shown, the transmission mechanism 8 is composed of a transmission wheel 81, a transmission belt 82 and a connecting rod 83. The transmission wheel 81 is installed on the slag blocking box 3 through a rotating structure, and the transmission belt 82 is wrapped around a plurality of transmission wheels 81, and the cyclic movement is achieved through the rotation of the transmission wheel 81. The two ends of the connecting rod 83 are respectively connected to the transmission belt 82 and the supplementary plate bin 7. When the transmission belt 82 moves, the supplementary plate bin 7 is driven to slide circumferentially on the slag blocking box 3 through the connecting rod 83.

[0052] The transmission mechanism 8 is started to drive one of the transmission wheels 81 to rotate, and the rotation of the transmission wheel 81 drives the transmission belt 82 to circulate on the transmission wheel 81. The movement of the transmission belt 82 is transmitted to the board filling bin 7 through the connecting rod 83. Since the two ends of the connecting rod 83 are respectively connected to the transmission belt 82 and the board filling bin 7, the board outlet 71 of the board filling bin 7 can always be guaranteed to face the outside of the slag blocking box 3 during the cyclic movement, so that when the board filling bin 7 slides circumferentially on the slag blocking box 3, the board outlet 71 can be aligned with the first notches 422 of each slag blocking member 4 in sequence.

[0053] The transmission mechanism 8 provides a stable and reliable power and transmission method for the circumferential sliding of the plate filling bin 7. Through the cooperation of the transmission wheel 81 and the transmission belt 82, the sliding position of the plate filling bin 7 can be accurately controlled to ensure that the plate outlet 71 is accurately aligned with the first notch 422 of the slag blocking member 4, so as to achieve accurate replenishment of the slag blocking plate 43.

[0054] In some examples, the filling plate bin 7 includes a filling plate box 72, the plate outlet 71 is located on the side of the filling plate box 72 close to the slag blocking member 4, and the interior of the filling plate box 72 is used to hold a number of slag blocking plates 43; the filling plate box 72 is connected to the connecting rod 83; the pressure plate 73 is slidably arranged in the filling plate box 72, and the number of slag blocking plates 43 are located on the side of the pressure plate 73 close to the plate outlet 71; the third elastic member 74 is arranged in the filling plate box 72, and the two ends of the third elastic member 74 act on the pressure plate 73 and the inner wall of the filling plate box 72 respectively, and are used to elastically push the pressure plate 73 close to the first slot 422, so as to make the number of slag blocking plates 43 close to the plate outlet 71.

[0055] For example, Figure 8-9 As shown, a plurality of slag blocking plates 43 are placed in the plate filling box 72, and the third elastic member 74 is in a compressed state, generating an elastic thrust on the pressing plate 73. Under the action of this elastic thrust, the pressing plate 73 presses the slag blocking plates 43 toward the plate outlet 71. When the plate outlet 71 of the plate filling bin 7 is aligned with the first notch 422 of the slag blocking member 4, the slag blocking plates 43 slide out of the plate outlet 71 under the push of the pressing plate 73 and enter the first notch 422.

[0056] The arrangement of the pressing plate 73 and the third elastic member 74 ensures that the slag blocking plates 43 in the plate filling box 72 can continuously and stably move toward the plate outlet 71. Regardless of the number of slag blocking plates 43 in the plate filling box 72, the elastic action of the third elastic member 74 can make the slag blocking plates 43 closely arranged and squeezed toward the plate outlet 71, ensuring that when the plate outlet 71 is aligned with the first notch 422, the slag blocking plates 43 can slide out smoothly for replenishment, thereby improving the reliability and stability of replenishment of the slag blocking plates 43.

[0057] In some examples, the side wall of the plate filling box 72 has a through groove 721, and the plate filling bin 7 also includes a discharge wheel 75, which is rotatably set on the plate filling box 72. The discharge wheel 75 passes through the through groove 721 and abuts against the slag stop plate 43. After the discharge wheel 75 rotates, it drives the slag stop plate 43 to slide out of the plate outlet 71 and enter the first slot 422.

[0058] For example, Figure 8-9 As shown, when the plate outlet 71 of the plate filling bin 7 is aligned with the first notch 422 of the slag blocking member 4, the discharging wheel 75 is started to rotate. The discharging wheel 75 contacts the slag blocking plate 43 and drives the slag blocking plate 43 to slide out of the plate outlet 71 and enter the first notch 422 through friction.

[0059] The setting of the discharge wheel 75 further improves the accuracy and smoothness of the slag blocking plate 43 sliding out of the plate replenishing bin 7. The rotation of the discharge wheel 75 drives the slag blocking plate 43 to move, and the sliding speed and position of the slag blocking plate 43 can be accurately controlled, avoiding the slag blocking plate 43 from getting stuck or blocked at the plate outlet 71, ensuring that the slag blocking plate 43 can be smoothly added to the installation groove 421 of the slag blocking member 4, thereby improving the overall operation efficiency and reliability of the equipment.

[0060] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure rather than to limit it. Although the present disclosure has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present disclosure may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present disclosure, which should be included in the scope of the claims of the present disclosure.

Claims

1. An industrial welding robot for butt welding of pipelines (1), characterized in that: include: A slag blocking box (3), the slag blocking box (3) being used to be movably arranged on one side of the pipeline (1); A welding head (2), wherein the welding head (2) is arranged on the slag blocking box (3), and when the slag blocking box (3) moves, it drives the welding head (2) to approach the joint of the pipeline (1); A slag stopper (4), wherein the slag stopper (4) is provided in a plurality and is slidably arranged relative to the slag stopper box (3), the plurality of slag stoppers (4) are arranged circumferentially along the slag stopper box (3), and the side walls of adjacent slag stoppers (4) abut against each other; the slag stopper (4) is used to abut against the side wall of the pipeline (1) after sliding, the welding head (2) is located between the plurality of slag stoppers (4), and the slag stopper box (3) and the slag stopper (4) are used to block spatter slag generated by welding of the welding head (2).

2. An industrial welding robot according to claim 1, characterized in that: The industrial welding robot further comprises: A sliding frame (5), the sliding frame (5) being slidably sleeved on the outside of the slag blocking box (3) and being close to or away from the pipeline (1) after sliding, the sliding frame (5) having an abutting surface (51) on a side away from the pipeline (1), and the slag blocking member (4) being slidably arranged on the sliding frame (5); After the sliding frame (5) slides away from the pipeline (1), the abutting surface (51) abuts against the tops of the plurality of slag blocking members (4), which can drive the plurality of slag blocking members (4) to synchronously slide away from the pipeline (1), so that the welding head (2) is exposed.

3. An industrial welding robot according to claim 2, characterized in that: The slag stopper (4) and the abutting surface (51) are connected via a first elastic member (6); when the slag stopper (4) abuts against the surface of the pipeline (1), the first elastic member (6) is used to elastically pull the slag stopper (4) so ​​that the slag stopper (4) is pressed against the surface of the pipeline (1).

4. An industrial welding robot according to claim 2, characterized in that: The slag blocking member (4) comprises: A mounting plate (42), the mounting plate (42) being slidably disposed on the sliding frame (5); the mounting plate (42) having a mounting groove (421) on a side close to the slag blocking box (3), and the mounting groove (421) having a first notch (422) on a side away from the pipeline (1); A slag stop plate (43), the slag stop plate (43) being slidably disposed in the mounting groove (421), the slag stop plate (43) being able to slide into or out of the mounting groove (421) through the first notch (422); the slag stop plate (43) is used to stop the welding slag.

5. An industrial welding robot according to claim 4, characterized in that: The installation groove (421) has a second notch (423) on one side close to the pipe (1), the slag blocking plate (43) blocks the welding slag to form a waste slag protrusion (431), and the slag blocking member (4) further comprises: a blocking plate (44), the blocking plate (44) being rotatably disposed on the mounting plate (42), the blocking plate (44) closing or opening the second notch (423) after rotation; a second elastic member (45), the two ends of the second elastic member (45) acting on the blocking plate (44) and the mounting plate (42) respectively, and being used for elastically pulling the blocking plate (44) to rotate, so that the blocking plate (44) closes the second notch (423); The slag blocking member (4) is arranged such that the mounting plate (42) slides away from the pipeline (1) to drive the waste slag protrusion (431) to contact the slag blocking box (3), so that the slag blocking plate (43) can push the blocking plate (44) to rotate and slide out of the second slot (423).

6. An industrial welding robot according to claim 4, characterized in that: The slag blocking member (4) further comprises: An abutment wheel (46), the abutment wheel (46) being rotatably disposed on the mounting plate (42), the abutment wheel (46) being used to abut against a surface of the pipeline (1).

7. An industrial welding robot according to claim 5, characterized in that: The industrial welding robot further comprises: A plate replenishing bin (7), the plate replenishing bin (7) is circumferentially cyclically slidably arranged in the slag blocking box (3), and the plate replenishing bin (7) has a plate outlet (71) on a side close to the slag blocking member (4); after the plate replenishing bin (7) slides, the plate outlet (71) is sequentially connected to the plurality of first slots (422) for replenishing the slag blocking plate (43).

8. An industrial welding robot according to claim 7, characterized in that: The industrial welding robot further comprises a transmission mechanism (8), wherein the transmission mechanism (8) comprises: Transmission wheels (81), the transmission wheels (81) being of a plurality and rotatably disposed on the slag blocking box (3); A transmission belt (82), wherein the transmission belt (82) circulates on the slag blocking box (3) via a plurality of transmission wheels (81); A connecting rod (83), wherein both ends of the connecting rod (83) are respectively connected to the transmission belt (82) and the plate replenishing bin (7), and is used to drive the plate replenishing bin (7) to move circumferentially on the slag blocking box (3).

9. An industrial welding robot according to claim 8, characterized in that: The board filling bin (7) comprises: a plate filling box (72), wherein the plate outlet (71) is located on a side of the plate filling box (72) close to the slag blocking member (4), and the interior of the plate filling box (72) is used to contain a plurality of slag blocking plates (43); the plate filling box (72) is connected to the connecting rod (83); A pressing plate (73), the pressing plate (73) being slidably disposed in the plate filling box (72), and a plurality of slag blocking plates (43) being located on a side of the pressing plate (73) close to the plate outlet (71); A third elastic member (74), wherein the third elastic member (74) is arranged in the patch plate box (72), and two ends of the third elastic member (74) act on the pressure plate (73) and the inner wall of the patch plate box (72) respectively, and are used for elastically pushing the pressure plate (73) close to the first notch (422), so as to make the plurality of slag baffle plates (43) close to the plate outlet (71).

10. An industrial welding robot according to claim 9, characterized in that: The side wall of the plate-repairing box (72) has a through slot (721), and the plate-repairing bin (7) further comprises: A discharge wheel (75), the discharge wheel (75) being rotatably disposed on the plate filling box (72), the discharge wheel (75) passing through the through slot (721) and abutting against the slag blocking plate (43), and the discharge wheel (75) driving the slag blocking plate (43) to slide out of the plate outlet (71) and enter the first slot (422) after rotating.

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