Automatic welding system of mechanical arm type stud welding device

Abstract

The invention relates to the technical field of stud welding, in particular to an automatic welding system of a mechanical arm type stud welding device, a welding device and a to-be-welded workpiece layout area, the to-be-welded workpiece layout area comprises a laser emitting position and a plurality of to-be-welded positions, and a welding gun device is provided with a control module and a laser receiving module. A laser emitting module is arranged on the laser emitting position, the positions of the laser emitting position and the multiple to-be-welded positions are fixed, the specific distribution condition of the multiple to-be-welded positions is preset in the control module, the multiple to-be-welded positions comprise the welding starting position, and the laser emitting module emits laser to a to-be-welded workpiece layout area. The welding device can receive the laser emitted by the laser emitting module in the layout area of the workpieces to be welded, and the control module can recognize the relative position of the welding device and the welding starting point based on the laser received by the laser receiving module of the welding device. And the control module can control the welding device to weld at the welding starting point or other to-be-welded positions, so that the target welding point can be simply and quickly positioned and welded.

Description

Technical Field

[0001] The present invention relates to the technical field of stud welding, and particularly to an automatic welding system for a robotic arm type stud welding device. Background Art

[0002] Stud welding is to weld a stud-like welding nail onto a flat plate with a large current. The area of the flat plate only needs to be larger than the welding area of the welding nail. The technology is reliable and mature, and is applied to welding studs, heat dissipation nails, automotive screws, bolts, etc. in steel structures. Automatic welding can be achieved when the fixed workpiece or the operating environment is relatively flat.

[0003] In a steel structure production base, for I-shaped steel beams and box-shaped steel beams that are more than 2 meters high and more than 10 meters long, studs need to be welded on the inner side of the box-shaped steel beam in all directions (up, down, left, and right). However, currently, side welding and overhead welding still require experienced welders to perform welding under the condition of full body protection to avoid scalding and inconvenient movement. The construction is slow, affecting the production progress and resulting in economic losses. There is an urgent need for an automatic welding device that is convenient to move, easy to operate, and can perform welding operations on the working surface at 360°. Summary of the Invention

[0004] The present invention provides an automatic welding system for a robotic arm type stud welding device to solve the problems raised in the above background art.

[0005] To achieve the above object, the present invention provides the following technical solutions: An automatic welding system for a robotic arm type stud welding device, comprising a welding device and a layout area for workpieces to be welded. The layout area for workpieces to be welded includes a laser emission position and a plurality of welding stations to be welded. The welding gun device is provided with a control module and a laser receiving module. The laser emission position is provided with a laser emission module. The positions of the laser emission position and the plurality of welding stations to be welded are fixed. The specific distribution of the plurality of welding stations to be welded is preset in the control module. The plurality of welding stations to be welded include a welding start position. The laser emission module emits laser to the layout area for workpieces to be welded. The welding device can receive the laser emitted by the laser emission module within the layout area for workpieces to be welded. The control module can identify the relative position between the welding device and the welding start point based on the laser received by the laser receiving module of the welding device, and the control module can then control the welding device to move to the welding start point or other welding stations to be welded. By adopting the above technical solution, the target welding point can be located and welded simply and quickly.

[0006] Furthermore, the welding device includes a crawler chassis vehicle, a robotic arm, a welding torch, and a power supply mechanism. A bottom plate is provided on the crawler chassis vehicle. The robotic arm and the power supply mechanism are both connected to the bottom plate. The welding torch is connected to the free end of the robotic arm, and the laser receiving module is provided on the welding torch. By adopting the above technical solution, the crawler has a large friction force with the ground, does not slip, has a stable center of gravity, strong load-bearing capacity, and has off-road capabilities, enabling automated welding operations to adapt to various complex terrains.

[0007] Furthermore, the robotic arm is a planar multi-segment rotary robotic arm. The planar multi-segment rotary robotic arm is connected to the bottom plate through a column. The column is fixed on the bottom plate. There are a slide rail, a slider that slides up and down on the slide rail, and a lifting motor for controlling the up and down movement of the slider on the column. One end of the planar multi-segment rotary robotic arm is fixedly connected to the slider. The column is vertically arranged, and the planar multi-segment rotary robotic arm is horizontally arranged. By adopting the above technical solution, the lifting motor controls the slider to quickly move the robotic arm up and down.

[0008] Furthermore, the planar multi-segment rotary robotic arm includes a first robotic arm, a second robotic arm, and a third robotic arm. The first robotic arm is fixed on the slider. The second robotic arm is hinged to the first robotic arm. The third robotic arm is hinged to the second robotic arm. A rotary motor is fixedly installed at one end of the third robotic arm away from the second robotic arm. The output end of the rotary motor is horizontally arranged. The output end of the rotary motor is connected to a welding torch connecting plate. The third motor can drive the welding torch connecting plate to rotate in the vertical plane. The welding torch is connected to the welding torch connecting plate, and the number of welding torches is greater than or equal to two. By adopting the above technical solution, the planar multi-segment rotary robotic arm controls the degrees of freedom of the welding torch in the horizontal plane, and the rotary motor controls the degrees of freedom of the welding torch in the vertical plane, enabling the welding torch to perform welding operations on the working surface at 360°.

[0009] Furthermore, it also includes an auxiliary magazine. The auxiliary magazine is suspended at the lower end of the sliding mounting frame. The sliding mounting frame is slidably connected to the slide rail of the column. A sliding drive motor is provided on the sliding mounting frame. The output end of the motor is sleeved with a lifting gear. An elevating rack is provided on the adjacent side of one side of the slide rail on the column. The lifting gear meshes with the elevating rack. The auxiliary magazine slides on the column. The auxiliary magazine can slide to one side of the robotic arm to provide stud nails for the welding torch. When the stud nails in the auxiliary magazine are used up, it can slide down to the bottom for replenishing stud nails. By adopting the above technical solution, the auxiliary magazine reduces the steps of the planar multi-segment rotary robotic arm sliding up and down to pick up nails, greatly improving the welding efficiency.

[0010] Further, the robotic arm is an omnidirectional lifting robotic arm, which is directly connected to the bottom plate. The welding torch is fixedly connected to the free end of the robotic arm. A control cabinet for controlling the omnidirectional lifting robotic arm is also provided on the bottom plate. A welding torch connecting plate is fixedly connected to the free end of the omnidirectional lifting robotic arm. A track is provided on the side of the welding torch connecting plate away from the robotic arm. The welding torch is slidably connected to the track. The number of welding torches is greater than or equal to two. By adopting the above technical solution, the omnidirectional lifting robotic arm can directly control the free end of the welding torch in the horizontal and vertical planes. The welding torch can perform welding operations on the working surface at 360°. Multiple welding torches can be used to weld multiple rows of solder joints simultaneously, and the distance between the welding torches can be adjusted according to the distance between the solder joints.

[0011] Further, it also includes a stud magazine device. The stud magazine device includes a magazine cavity and a magazine bracket. The magazine cavity includes an inclined part and a horizontal part. The inclined part is composed of two parallel long strips. The horizontal part is "U"-shaped. The two ends of the horizontal part are connected to the lower ends of the two long strips of the inclined part. The magazine bracket includes a first bracket and a second bracket. The front side of the magazine cavity is suspended on the first bracket, and the rear side of the magazine cavity is suspended on the second bracket. By adopting the above technical solution, the welding torch can complete taking nails each time it moves above the horizontal part.

[0012] Further, the first bracket includes four first columns, a first rectangular connecting frame, a first connecting clip, a vibration motor and a vibration motor mounting plate. The four first connecting columns are directly below the four corners of the first rectangular connecting frame to provide support for the first rectangular connecting frame. The vibration motor mounting plate is fixedly connected to the first rectangular connecting frame. The vibration motor is mounted on the vibration motor mounting plate. The upper end of the first connecting clip is eccentrically connected to the motor shaft of the vibration motor. The lower end of the first connecting clip is fixedly connected to the magazine cavity. The second bracket includes four second columns, a second rectangular connecting frame, a second connecting clip, a connecting cross bar, a connecting vertical bar, a vibration motor and a vibration motor mounting plate. The four second connecting columns are directly below the four corners of the second rectangular connecting frame to provide support for the second rectangular connecting frame. The connecting cross bar is fixedly connected to the second rectangular connecting frame. The upper end of the connecting vertical bar is hinged to the lower end of the connecting cross bar. The lower end of the connecting vertical bar is hinged to the upper end of the second connecting clip. The lower end of the second connecting clip is fixedly connected to the magazine cavity. By adopting the above technical solution, studs can be prevented from getting stuck in the magazine cavity.

[0013] Furthermore, the automatic welding system of the robotic stud welding device further includes a stud ceramic ring combination machine, which includes a stud pusher, a stud runner, a vibrating bowl, a ceramic ring runner, an electric fixture, and an output runner. The input end of the stud runner is connected to the stud pusher, the input end of the ceramic ring runner is connected to the vibrating bowl, the output end of the ceramic ring runner is connected to the input end of the output runner and conveys the ceramic ring to the input end of the output runner. The electric fixture clamps the stud at the output end of the stud runner and assembles and mates it with the ceramic ring at the input end of the output runner. The output end of the output runner is connected to the upper end of the inclined portion of the stud magazine device. By adopting the above technical solution, only the stud and the ceramic ring need to be put into the stud ceramic ring combination machine, and the stud ceramic ring combination machine can input the stud combined with the ceramic ring to the upper end of the inclined portion of the magazine device, providing a continuous supply of studs for the stud magazine device.

[0014] Furthermore, the welding torch includes a motor, a lead screw, a lead screw slider, a main shaft, a ceramic ring clamping unit, and a stud clamping unit. The motor shaft of the motor is connected to the lead screw to drive the lead screw to rotate. The lead screw slider is threadedly connected to the lead screw. The slider can move up and down on the lead screw. The main shaft is hung on the lead screw slider, and the main shaft and the lead screw slider can slide relative to each other. The upper end of the stud clamping unit is fixedly connected to the lower end of the main shaft. By adopting the above technical solution, the slider and the main shaft can slide relative to each other. When the main shaft is lifted by the stud, the slider remains stationary. When the slider rises, it first rises until it contacts the main shaft connecting plate, and then drives the main shaft and the stud to rise, ensuring that the arc starting distances of studs with and without arc starting points are the same, and the combustion spaces are consistent, improving the uniformity of welding quality.

[0015] To make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Attached Figure 1 : Three-dimensional view of Embodiment 1 of the welding device of the present invention Figure 1 ; Attached Figure 2 : Three-dimensional view of Embodiment 1 of the welding device of the present invention Figure 2 ; Attached Figure 3 : Three-dimensional view of Embodiment 1 of the welding device of the present invention Figure 3 ; Appendix Figure 4 : Three-dimensional view of Embodiment 1 of the welding device of the present invention Figure 4 ; Appendix Figure 5 : Appendix Figure 4 Enlarged schematic view of part A in Appendix Figure 6 : Schematic structural view of the magazine cavity and magazine bracket of the welding device of the present invention Appendix Figure 7 : Three-dimensional view of Embodiment 2 of the welding device of the present invention Appendix Figure 8 : Three-dimensional view of Embodiment 2 of the welding device of the present invention Figure 2 ; Appendix Figure 9 : Appendix Figure 8 Enlarged schematic view of part A in Appendix Figure 10 : Schematic view of the magazine switch of the welding device of the present invention Appendix Figure 11 : Three-dimensional view of the crawler chassis vehicle of the welding device of the present invention Figure 1 ; Appendix Figure 12 : Three-dimensional view of the crawler chassis vehicle of the welding device of the present invention Figure 2 ; Appendix Figure 13 : Three-dimensional view of the crawler chassis vehicle of the welding device of the present invention Figure 3 ; Appendix Figure 14 : Three-dimensional view of the crawler chassis vehicle of the welding device of the present invention Figure 4 ; Appendix Figure 15 : Internal schematic view of the welding torch of the welding device of the present invention Appendix Figure 16 : External schematic view of the welding torch of the welding device of the present invention Appendix Figure 17 : Appendix Figure 16 Enlarged schematic view of part A in Appendix Figure 18 : Schematic view of multiple welding torches of the welding device of the present invention Appendix Figure 19 : Operating state of the welding device of the present invention Figure 1 ; Appendix Figure 20 : Operating state of the welding device of the present invention Figure 2 ; Appendix Figure 21 : Appendix Figure 20 Enlarged schematic view of part A in

[0018] Reference numerals: 102, drive motor; 103, gear; 104, crawler belt; 105, driven wheel; 106, connecting cross bar; 107, connecting vertical bar; 108, connecting vertical post; 109, safety frame; 1131, first receiver; 1132, second receiver; 1133, third receiver; 1134, laser lamp; 113, battery; 114, emergency stop switch; 115, radar module; 116, turning indicator light; 117, lighting lamp; 118, safety indicator light; 119, hanging ring; 1110, safety rope; 1111, ring; 10, stud pusher; 11, stud runner; 12, vibrating bowl; 13, porcelain ring runner; 14, electric fixture; 15, output runner; 2, bottom plate; 20, column; 201, slider; 202, lifting motor; 21, auxiliary magazine; 22, sliding mounting bracket; 23, slide rail; 24, sliding drive motor; 241, lifting gear; 242, lifting rack; 25, output end of stud and porcelain ring combination machine; 26, magazine switch; 261, switch motor; 262, switch gear; 263, parallel rack; 3, omnidirectional lifting robotic arm; 4, welding torch; 40, motor; 41, welding torch connecting plate; 42, track; 43, laser receiving module; 44, main shaft; 45, stud clamping unit; 46, porcelain ring clamping unit; 47, connecting plate; 48, screw rod slider; 49, screw rod; 5, stud magazine device; 51, magazine cavity; 52, magazine bracket; 54, first bracket; 55, second bracket; 541, first column; 542, first rectangular connecting frame; 543, first connecting clip; 544, vibrating motor; 545, vibrating motor mounting plate; 551, second column; 552, second rectangular connecting frame; 553, second connecting clip; 554, connecting cross bar; 555, connecting vertical bar; 61, first robotic arm; 62, second robotic arm; 63, third robotic arm; 64, first motor; 65, second motor; 66, third motor; Detailed implementation manners

[0019] In this application, unless otherwise clearly specified and defined, terms such as "installation", "connection", "connection", "fixation" and other terms 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0020] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature. Embodiment

[0021] A robotic arm type stud welding device automatic welding system, comprising a welding device and a workpiece layout area to be welded. The workpiece layout area to be welded includes a laser emission position and a plurality of welding stations to be welded. The welding gun 4 device is provided with a control module and a laser receiving module 43. The laser emission position is provided with a laser emission module. The positions of the laser emission position and the plurality of welding stations to be welded are fixed. The specific distribution of the plurality of welding stations to be welded is preset in the control module. The plurality of welding stations to be welded include a welding start position. The laser emission module emits laser to the workpiece layout area to be welded. The welding device can receive the laser emitted by the laser emission module within the workpiece layout area to be welded. The control module can identify the relative position between the welding device and the welding start point based on the laser received by the laser receiving module 43 of the welding device, and then the control module can control the welding device to perform welding at the welding start point or other welding stations to be welded.

[0022] Such as Figure 1-14As shown, the welding device includes a crawler chassis vehicle, an omnidirectional lifting robotic arm 3 for welding, a welding torch 4, a control cabinet 7, a power supply mechanism 9, and a stud magazine device 5. The laser receiving module 43 is provided on the welding torch 4, and the control module is provided on the control cabinet 7. Move the crawler chassis vehicle to the layout area of the workpiece to be welded. Control the robotic arm to make the welding torch 4 enter above the layout area of the workpiece to be welded, so that the receiving module on the welding torch 4 receives the laser emitted by the laser emitting module. In the layout area of the workpiece to be welded, the positions of the laser emission position, the welding starting point, and all the welding stations to be welded are fixed. After detecting the planar position of the welding torch 4 through the laser, the control module moves the welding torch 4 above the welding starting point based on the distance between the welding torch 4 and the planar position of the welding starting point to weld the welding starting point. When welding other welding stations to be welded, first move the welding torch 4 above the welding starting point according to the above steps. The control system then identifies the distance between the starting point and other welding stations to be welded according to the specific distribution of the welding stations to be welded preset and moves the welding torch 4 to other welding stations to be welded for welding. Optionally, after the welding torch 4 receives the laser in the layout area of the workpiece to be welded, the control module calculates the distances between the welding torch 4 and all the welding stations to be welded based on the position of the welding torch 4 and the specific distribution of the welding stations to be welded, and directly moves the welding torch 4 to the welding station to be welded that needs to be welded, without passing through the welding starting point every time for welding.

[0023] The laser emitting module emits a straight laser beam towards the welding starting point. When the welding torch 4 receives the straight laser beam, the welding torch 4, the laser emission position, and the welding starting point are on the same straight line. Based on the emission speed of the laser and the time difference between the emission and reception of the laser, the control module can calculate the distance between the welding torch 4 and the laser emitting module, and at the same time can also calculate the distances between the welding torch 4 and all the welding stations to be welded.

[0024] As Figure 11 、 12 As shown, the crawler chassis vehicle includes a drive motor 102, a gear 103, a crawler 104, a bottom plate 2, and a driven wheel 105. There are multiple driven wheels 105. The gear 103 is connected to the drive motor 102, and the drive motor 102 drives the gear 103 to rotate. The crawler 104 is sleeved outside the gear 103 and the driven wheel 105. There are two crawlers 104, and the two crawlers 104 are connected by a connecting component. The connecting component includes a connecting cross bar 106, a connecting vertical bar 107, and a connecting vertical post 108. There are two connecting cross bars 106. The gears 103 and the driven wheels 105 inside the two crawlers 104 are connected to both ends of the connecting cross bar 106. The two connecting cross bars 106 are connected to both ends of the connecting vertical bar 107. Connecting vertical posts 108 are provided above both ends of the connecting cross bar 106. The bottom plate 2 is arranged on the connecting vertical posts 108 The stud magazine device 5, the omnidirectional lifting robotic arm 3 for welding, the control cabinet 7, and the power supply mechanism 9 are all fixedly connected to the bottom plate 2. The welding torch 4 is connected to one end of the free end of the omnidirectional lifting robotic arm 3. The control cabinet 7 is used to control the omnidirectional lifting robotic arm 3. The omnidirectional lifting robotic arm 3 can align the welding torch 4 with various working surfaces. When the inner side or inner top surface of the object to be welded needs to be welded, the omnidirectional lifting robotic arm 3 can enter the object to be welded to complete the side and top welding operations. At the same time, it can also weld various other working surfaces. The crawler has a large friction force with the ground, a stable center of gravity, strong load-bearing capacity, and off-road capabilities, and can adapt to various complex terrains. The bottom plate 2 is located on the crawler moving wheels and is made of high-strength steel, and is used to carry the stud feeding mechanism, the ceramic ring feeding mechanism, the magazine device, the robotic arm, the control cabinet 7, and the power supply mechanism 9.

[0025] A welding torch connecting plate 41 is fixedly connected to the free end of the omnidirectional lifting robotic arm 3. A track 42 is provided on the welding torch connecting plate 41. The welding torch 4 is slidably connected to the track 42, and multiple welding torches 4 can be provided. The upper limit of the number of welding torches 4 is determined by the weighing capacity of the robotic arm. One welding torch 4 weighs about six kilograms.

[0026] In this embodiment, preferably two welding torches 4 are provided. After determining the spacing between the welding points, manually adjust or electrically adjust the spacing between the two welding torches 4. For electric adjustment, a small motor can be provided on each welding torch 4. A gear is sleeved at the end of the motor shaft, a rack is provided on the welding torch plate, and the gear meshes with the rack. The welding torch is moved by driving the gear to move on the rack by the small motor. After the spacing between the welding torches is consistent with the spacing between the welding points, the robotic arm first moves one welding torch 4 to the stud magazine device 5 to load studs, lifts the welding torch, then moves the other welding torch 4 to the stud magazine device 5 to load studs. After both welding torches 4 have completed stud picking, the robotic arm moves the welding torches 4 to the welding points and starts the welding torches 4 to complete the welding of two studs. In this way, the time for the robotic arm to pick studs back and forth is saved, and the welding efficiency is greatly increased.

[0027] Such as Figure 6As shown, the stud magazine device 5 includes a magazine cavity 51 and a magazine bracket 52. The magazine cavity 51 includes an inclined portion and a horizontal portion. The inclined portion is composed of two parallel long strips, and the horizontal portion is in a "U" shape. The two ends of the horizontal portion are connected to the lower ends of the two long strips of the inclined portion. The magazine bracket 52 includes a first bracket 54 and a second bracket 55. The first bracket 54 includes four first columns 541, a first rectangular connecting frame 542, a first connecting clip 543, a vibration motor 544, and a vibration motor mounting plate 545. The four first columns 541 are located directly below the four corners of the first rectangular connecting frame 542 to provide support for the first rectangular connecting frame 542. The vibration motor mounting plate 545 is fixedly connected to the first rectangular connecting frame 542. The vibration motor 544 is mounted on the vibration motor mounting plate 545. The upper end of the first connecting clip 543 is eccentrically connected to the motor shaft of the vibration motor 544, and the lower end of the first connecting clip 543 is fixedly connected to the magazine cavity 51. The second bracket 55 includes four second columns 551, a second rectangular connecting frame 552, a second connecting clip 553, a connecting cross bar 554, and a connecting vertical bar 555. The four second columns 551 are located directly below the four corners of the second rectangular connecting frame 552 to provide support for the second rectangular connecting frame 552. The connecting cross bar 554 is fixedly connected to the second rectangular connecting frame 552. The upper end of the connecting vertical bar 555 is hinged to the lower end of the connecting cross bar 554, and the lower end of the connecting vertical bar 555 is hinged to the upper end of the second connecting clip 553. The lower end of the second connecting clip 553 is fixedly connected to the magazine cavity 51.

[0028] As Figure 3-5 shown, the automatic welding system of the robotic stud welding device further includes a stud ceramic ring combination machine. The stud ceramic ring combination machine includes a stud push plate machine 10, a stud flow channel 11, a vibrating disc 12, a ceramic ring material channel 13, an electric fixture 14, and an output material channel 15. The input end of the stud flow channel 11 is connected to the stud push plate machine 10. The input end of the ceramic ring material channel 13 is connected to the vibrating disc 12. The output end of the ceramic ring material channel 13 is connected to the input end of the output material channel 15 and conveys the ceramic ring to the input end of the output material channel 15. The electric fixture 14 clamps the stud at the output end of the stud flow channel 11 and assembles and mates it with the ceramic ring at the input end of the output material channel 15. The output end of the output material channel 15 is connected to the upper end of the inclined portion of the stud magazine device 5. The specific technology of automatic loading, feeding, and assembling of the stud ceramic ring combination machine has been disclosed in the prior art and will not be elaborated here.

[0029] As Figure 15As shown, the welding gun 4 includes a motor 40, a screw 49, a screw slider 48, a main shaft 44, a ceramic ring clamping unit 46 and a stud clamping unit 45. The motor shaft of the motor 40 is connected to the screw 49 to drive the screw 49 to rotate. The screw slider 48 is threadedly connected to the screw 49. The screw slider 48 can move up and down on the screw 49. The main shaft 44 is hung on the screw slider 48. The main shaft 44 and the screw slider 48 can slide relative to each other. The upper end of the stud clamping unit 45 is fixedly connected to the lower end of the main shaft 44. The upper end of the main shaft 44 has a screw slider 48 mounting groove, the height of the mounting groove is greater than the height of the screw slider 48, and the screw slider 48 slides in the mounting groove.

[0030] First, the stud clamping unit 45 and the ceramic ring clamping unit 46 are installed with the stud and the ceramic ring, and the ceramic ring is located on the upper part of the stud. Figure 16-17 As shown, the distance between the bottom surface of the ceramic ring and the bottom surface of the stud (excluding the arc striking point) is h1, and the height of the arc striking point is h2; Then, after the stud contacts the welding point, the welding gun assembly is moved downward until the ceramic ring clamping unit 46 contacts the object to be welded. During this process, the screw slider 48 keeps moving downward, and the spindle 44 is held by the stud and does not move. When the ceramic ring clamping unit 46 contacts the welding point, the welding gun 4 stops moving downward. The height of the welding gun 4 moving downward is equal to the distance between the spindle 44 and the screw slider 48. The distance between the spindle 44 and the screw slider 48 of the stud with an arc initiation point is h1+h2, and the distance between the spindle 44 and the screw slider 48 of the stud without an arc initiation point is h1. Assuming the best arc striking distance is h2+h3, h3 is the distance between the bottom surface of the arc striking point and the surface of the object to be welded when the arc is struck, the screw rod 49 is uniformly rotated to raise the screw rod slider 48 to a height of h1+h2+h3; No arc-starting point: When the screw slider 48 is raised to h1, it contacts the connecting plate 47 of the main shaft 44 of the stud without arc-starting point. Then, when the screw slider 48 continues to rise to h2+h3, the screw slider 48 drives the main shaft 44 and the stud to rise to h2+h3. At this time, the height of the arc initiated between the bottom of the stud and the surface of the welded object is h2+h3. Including arc striking point: When the lead screw slider 48 is lifted by h1+h2, it contacts the connecting plate 47 of the main shaft 44 containing the arc striking point stud. Then, when the lead screw slider 48 continues to lift by h3, the lead screw slider 48 drives the main shaft 44 and the stud to also lift by h3. At this time, the height of the arc triggered between the bottom of the stud (excluding the arc striking point) and the surface of the substrate is h2+h3.

[0031] At this time, the distance between the bottom plate of the stud with or without an arc ignition point and the surface of the substrate is the same, and the combustion space is consistent. Electric arc is generated when power is turned on to melt the bottom of the stud and the surface of the substrate to form a molten pool. Subsequently, the motor 40 is started to reverse the screw rod 49, the screw rod slider 48 descends, and the main shaft 44 and the stud are pressed into the molten pool due to gravity to complete the welding. Embodiment

[0032] As shown in Figure 7 the figure, a welding device includes a crawler chassis vehicle, a planar multi-section rotary robotic arm, a welding torch 4, a stud ceramic ring combination machine, a control module, and a power supply mechanism 9 described in Embodiment 1. The power supply mechanism 9 is connected to the bottom plate 2, and the welding torch 4 is connected to the free end of the planar multi-section rotary robotic arm. The planar multi-section rotary robotic arm is connected to the bottom plate 2 through a column 20. The column 20 is fixed on the bottom plate 2. A slidable slider 201 and a lifting motor 202 for controlling the up and down movement of the slider 201 are provided on the column 20. One end of the planar multi-section rotary robotic arm is fixedly connected to the slider 201. The column 20 is vertically arranged, and the planar multi-section rotary robotic arm is horizontally arranged. A welding torch connecting plate 41 is fixedly connected to the free end of the robotic arm. The welding torch 4 is slidably connected to the welding torch connecting plate 41, and an upper shooter laser receiving module 43 is provided on the welding torch. Multiple welding torches 4 can be provided, and the specific structures of the welding torch and the stud ceramic ring combination machine are the same as those described in Embodiment 1. The upper limit of the number of welding torches 4 is determined by the weighing capacity of the robotic arm. One welding torch 4 weighs about six kilograms. In this embodiment, two welding torches 4 are preferably used. The distance between the two welding torches 4 can be manually adjusted or electrically adjusted according to the distance between the welding points. The welding points are mostly arranged in two rows. Using two welding torches 4 can efficiently complete welding and ensure that the robotic arm can bear the weight of the welding torches 4.

[0033] As shown in Figure 7 the figure, a slidable slider 201 and a lifting motor 102 for controlling the up and down movement of the slider 201 are provided on the column 20. The robotic arm is fixedly connected to the slider 201. The column 20 is vertically arranged, and the robotic arm is horizontally arranged. The robotic arm includes a first robotic arm 61, a second robotic arm 62, and a third robotic arm 63. The first robotic arm 61 is fixed on the slider 201. A first motor 64 is fixedly installed at one end of the first robotic arm 61 away from the slider 201. A second motor 65 is fixedly installed at one end of the second robotic arm 62 away from the first robotic arm 61. The second robotic arm 62 is hinged to the first robotic arm 61. The third robotic arm 63 is hinged to the second robotic arm 62. The welding torch connecting plate 41 includes a welding torch 4 connecting portion and a robotic arm connecting portion. One end of the robotic arm connecting portion is fixedly connected to the welding torch 4 connecting portion, and the other end of the robotic arm connecting portion is hinged to the third robotic arm 63. A third motor 66 is fixedly installed at one end of the third robotic arm 63 away from the second robotic arm 62.

[0034] The first robotic arm 61 is provided with a groove, the second robotic arm 62 is connected within the groove, the third robotic arm 63 is connected to the lower end of the second robotic arm 62, and the welding torch connecting plate 41 is connected to the lower end of the third robotic arm 63. The width of the first robotic arm 61 is greater than the width of the second robotic arm 62, and the width of the second robotic arm 62 is greater than the width of the third robotic arm 63.

[0035] As Figure 8-10 shown, the welding device further includes an auxiliary magazine 21. The auxiliary magazine 21 is suspended at the lower end of the sliding mounting frame 22. The sliding mounting frame 22 is slidably connected to the slide rail 23 of the column 20. A sliding drive motor 24 is provided on the sliding mounting frame 22. A lifting gear 241 is sleeved on the output end of the motor. An elevating rack 242 is provided on an adjacent side of the slide rail 23 on one side of the column 20. The lifting gear 241 meshes with the elevating rack 242. The auxiliary magazine 21 slides on the column 20 through the sliding drive motor 24. The auxiliary magazine 21 can slide to one side of the robotic arm to provide studs for the welding torch 4. When the studs in the auxiliary magazine 21 are used up, it can slide down to the bottommost end to replenish the studs. The auxiliary magazine 21 is located on one side of the robotic arm. When the robotic arm slides up and down, the auxiliary magazine 21 can also slide up and down by relying on a separate sliding drive motor 24 to ensure that the auxiliary magazine 21 provides studs for welding. After the studs in the auxiliary magazine 21 are used up, it can slide down to the bottommost end. At this time, the input end of the auxiliary magazine 21 is communicated with the output end 25 of the stud ceramic ring combination machine, and the studs can be replenished through the stud ceramic ring combination machine or manually.

[0036] A magazine switch 26 is provided at the output end 25 of the stud ceramic ring combination machine. The magazine switch 26 includes a switch motor 261. The end of the motor shaft of the switch motor 261 is arranged upward. A switch gear 262 is provided at the end of the motor shaft. Parallel racks 263 that mesh with the switch gear 262 are provided on both sides of the switch gear 262. In the initial state, the parallel rack 263 closer to the auxiliary magazine 21 is located at the output end 25 of the stud ceramic ring combination machine to block the studs, and the parallel rack 263 farther from the auxiliary magazine 21 is located outside the output end 25 of the stud ceramic ring combination machine. The spacing between the parallel racks 263 is adapted to the diameter of the stud head.

[0037] When the input end of the auxiliary magazine 21 is connected to the output end 25 of the stud porcelain ring combination machine, the switch motor 261 is started, and the switch gear 262 rotates. The parallel rack 263 on the side close to the auxiliary magazine 21 slowly moves away from the output end 25 of the stud porcelain ring combination machine. The stud at the outermost end of the output end 25 of the stud porcelain ring combination machine falls into the auxiliary magazine 21 under the action of gravity. At the same time, the parallel rack 263 on the side away from the auxiliary magazine 21 extends into the output end 25 of the stud porcelain ring combination machine from the outside of the output end 25 of the stud porcelain ring combination machine to clamp the remaining studs. After the stud at the outermost end of the output end 25 of the stud porcelain ring combination machine falls into the auxiliary magazine 21, the switch motor 261 rotates in reverse to drive the switch gear 262 to rotate in reverse. The parallel rack 263 on the side away from the auxiliary magazine 21 slowly moves away from the output end 25 of the stud porcelain ring combination machine. The studs at the output end 25 of the stud porcelain ring combination machine slide down under the action of gravity. At the same time, the parallel rack 263 on the side close to the auxiliary magazine 21 extends into the output end 25 of the stud porcelain ring combination machine from the outside of the output end 25 of the stud porcelain ring combination machine to clamp all the studs and return to the original state. By repeating the above steps, the studs can be loaded into the auxiliary magazine 21 in sequence.

[0038] A magazine switch 26 is also provided at the output end of the auxiliary magazine 21 to control the studs at the end of the output end of the auxiliary magazine 21 to be in a horizontal state, so as to facilitate the welding torch 4 to pick up the studs.

[0039] When welding operations are required, the welding device is moved to the operation area by the crawler chassis vehicle. The lifting motor 102 is started, and the slider 101 slides to drive the robotic arm and the welding torch 4 to move vertically to a suitable horizontal height above the welding operation surface in the vertical direction. The first motor 64, the second motor 65, and the third motor 66 cooperate with each other to control the robotic arm and the welding torch 4 so that the welding torch 4 is located directly above the auxiliary magazine. The welding torch 4 picks up the studs. The two welding torches 4 perform respectively. After both welding torches 4 have picked up the studs, the first motor 64, the second motor 65, and the third motor 66 cooperate with each other to control the robotic arm and the welding torch 4 so that the welding torch 4 is located directly above the welding point, and the welding torch 4 performs welding operations. By continuously repeating the above steps, the welding operations on work surfaces at different heights can be completed.

[0040] Such as Figure 13 、 14 As shown in the figure, the crawler chassis vehicle further includes a laser receiving plate. The laser receiving plate is arranged on the bottom plate 2. The laser receiving plate includes a first receiver 1131, a second receiver 1132, and a third receiver 1133 arranged in parallel and horizontally. The second receiver 1132 is located at the center. The first receiver 1131 and the third receiver 1133 are located on both sides of the second receiver 1132. A laser lamp 1134 for emitting a straight laser is fixed at a point outside the crawler chassis vehicle.

[0041] When the crawler chassis vehicle is driving straight under normal circumstances and needs to weld at the welding point, such as Figure 4As shown, when the second receiver 1132 of the crawler chassis vehicle receives the light from the light source, it indicates that the crawler chassis vehicle has not deviated and welding operations can be carried out. If the first receiver 1131 and the third receiver 1133 receive the light from the light source, it indicates that the crawler chassis vehicle has deviated. At this time, the crawler chassis vehicle can start the in-situ 360° rotation mode to rotate. When the second receiver 1132 receives the laser emitted by the laser lamp 1134, it stops rotating and can carry out welding operations. When the crawler chassis vehicle fluctuates greatly during walking, it is not necessary to detect whether the second receiver 1132 receives the laser. Only detect whether the entire laser receiving plate receives the laser. If someone blocks the laser, something blocks it, or it is too deviated and the receiving plate cannot receive the light, or the mechanism runs out of power, the crawler chassis vehicle will stop and trigger the alarm device. After manually solving the obstacle, it can continue to operate normally.

[0042] A radar module 115 is further provided on the bottom plate 2. The radar module includes a forward and backward radar for detecting front and rear obstacles and a ground radar for detecting whether the ground is hollowed out. There are four forward and backward radars and four ground radars. The forward and backward radars are symmetrically arranged at the left and right ends of the front side and the left and right ends of the rear side of the bottom plate 2. The forward and backward radars detect in advance whether there are obstacles in front of and behind the crawler chassis vehicle. If there are obstacles, it stops moving. It can continue to move only after the obstacles are manually cleared. The ground radars are symmetrically arranged at the left and right ends of the front side and the left and right ends of the rear side of the bottom plate 2. The position of the ground radars is more prominent than that of the crawler running mechanism. It detects in advance whether the front of the crawler running mechanism is hollowed out. If there is a hollowed-out situation, the crawler chassis vehicle stops, avoiding the crawler chassis vehicle from falling from a high-rise building during high-rise building operations and ensuring personal and equipment safety.

[0043] A safety frame 1109 for protecting the crawler chassis vehicle is provided on the bottom plate 2. The safety frame 1109 is in an arched shape and is symmetrically arranged at the upper ends of the left and right sides of the bottom plate 2. There are usually a large number of workpieces in the operation area. The safety frame 1109 can effectively prevent the stud welding device from colliding with other workpieces.

[0044] An emergency stop switch 114 for quickly stopping the operation of the crawler chassis vehicle is provided on the safety frame 1109. There are multiple emergency stop switches 114, and the emergency stop switches 114 are arranged at one end of the safety frame 1109 close to the bottom plate 2. If the crawler chassis vehicle breaks down, the emergency stop switch 114 can be pressed to stop the operation of the crawler chassis vehicle.

[0045] The bottom plate 2 is provided with lighting lamps 117 for night lighting. There are multiple lighting lamps 117, which are symmetrically arranged at the left and right ends of the front side and the left and right ends of the rear side of the bottom plate 2. The bottom plate 2 is provided with turning indicator lamps 116 for indicating the turning direction. The turning indicator lamps 116 are symmetrically arranged at the left and right ends of the front side and the left and right ends of the rear side of the bottom plate 2. The safety frame 1109 is provided with safety indicator lamps 118 for warning to keep away from the operating crawler chassis vehicle. There are multiple safety indicator lamps 118, which are arranged at the top end of the safety frame 1109.

[0046] The safety frame 1109 is provided with lifting rings 119 for facilitating the movement of the crawler chassis vehicle between multiple floors. There are multiple lifting rings 119, which are arranged at the front and rear sides of the top end of the safety frame 1109. By lifting the lifting rings 19 with a crane, the crawler chassis vehicle can be moved between multiple floors.

[0047] Circular rings 1111 are arranged in the middle of both sides of the bottom plate 2. One side or both sides of the crawler chassis vehicle are provided with safety ropes 1110. One end of the circular ring 1111 is connected to an emergency stop switch 114, and the other end of the circular ring 1111 is sleeved outside the safety rope 1110. The safety rope 1110 is fixed in a straight line on one side, and the circular ring 1111 is sleeved outside the safety rope 1110 without direct contact. When the crawler chassis vehicle travels in a straight line, the circular ring 1111 is parallel to the safety rope 1110 and does not collide. When the crawler chassis vehicle deviates from the straight-line travel, the circular ring 1111 collides with the safety rope 1110, and the other end of the circular ring 1111 triggers the emergency stop switch 114, and the crawler chassis vehicle stops moving to ensure the safety of the equipment.

[0048] The above are only the preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A robotic arm stud welding device automatic welding system, characterized in that: The invention comprises a welding device and a layout area for workpieces to be welded, wherein the layout area for workpieces to be welded comprises a laser emission position and a plurality of welding positions, the welding gun device is provided with a control module and a laser receiving module (43), the laser emission position is provided with a laser emission module, the positions of the laser emission position and the plurality of welding positions are fixed, the specific distribution of the plurality of welding positions is preset in the control module, the plurality of welding positions comprises a welding start position, the laser emission module emits laser light to the layout area for workpieces to be welded, the welding device can receive laser light emitted by the laser emission module in the layout area for workpieces to be welded, the control module can identify the relative position of the welding device and the welding start point based on the laser light received by the laser receiving module (43) of the welding device, and the control module can control the welding device to weld at the welding start point or other welding positions.

2. The automatic welding system of the manipulator stud welding device according to claim 1 is characterized in that: The welding device comprises a crawler chassis, a mechanical arm, a welding gun (4) and a power supply mechanism (9); the crawler chassis is provided with a base plate (2); the mechanical arm and the power supply mechanism (9) are both connected to the base plate (2); the welding gun (4) is connected to the free end of the mechanical arm; and the laser receiving module (43) is provided on the welding gun (4).

3. The automatic welding system of the manipulator stud welding device according to claim 2 is characterized in that: The mechanical arm is a planar multi-section rotary mechanical arm, which is connected to a base plate (2) via a column (10), the column (20) being fixed on the base plate (2), the column (20) being provided with a slide rail (23), a slider (201) sliding up and down on the slide rail (23), and a lifting motor (202) for controlling the slider (201) to move up and down, one end of the planar multi-section rotary mechanical arm being fixedly connected to the slider (201), the column (20) being arranged vertically, and the planar multi-section rotary mechanical arm being arranged horizontally.

4. The automatic welding system of the manipulator stud welding device according to claim 3 is characterized in that: The planar multi-section rotary mechanical arm comprises a first mechanical arm (61), a second mechanical arm (62) and a third mechanical arm (63); the first mechanical arm (61) is fixed on the slider; the second mechanical arm (62) is hinged to the first mechanical arm (61); the third mechanical arm (63) is hinged to the second mechanical arm (62); a rotary motor (66) is fixedly mounted on one end of the third mechanical arm (63) away from the second mechanical arm (62); the output end of the rotary motor (66) is arranged horizontally; the output end of the rotary motor (66) is connected to a welding gun connecting plate (41); the third motor (66) can drive the welding gun connecting plate (41) to rotate in a vertical and parallel direction; the welding gun (4) is connected to the welding gun connecting plate (41); the number of the welding guns (5) is one or more, which is determined according to the number of rows of welding studs required.

5. The automatic welding system of the manipulator stud welding device according to claim 3 is characterized in that: It also includes an auxiliary clip (21), the auxiliary clip (21) being suspended at the lower end of a sliding mounting frame (22), the sliding mounting frame (22) being slidably connected to a slide rail (23) of a column (20), a sliding drive motor (24) being provided on the sliding mounting frame (22), a lifting gear (241) being sleeved on an output end of the motor, a lifting rack (242) being provided on an adjacent side of one side of the slide rail on the column, the lifting gear (241) being engaged with the lifting rack (242), the auxiliary clip (21) sliding on the column (20), the auxiliary clip (21) being able to slide to one side of the mechanical arm to provide bolts for the welding gun (4), and when the bolts of the auxiliary clip (21) are used up, the auxiliary clip (21) can slide down to the bottom to replenish the bolts.

6. The automatic welding system of the manipulator stud welding device according to claim 2, characterized in that: The mechanical arm is an omnidirectional lifting mechanical arm (3), the omnidirectional lifting mechanical arm (3) is directly connected to the base plate (2), the welding gun is fixedly connected to the free end of the omnidirectional lifting mechanical arm (3), the base plate (2) is also provided with a control cabinet (7) for controlling the omnidirectional lifting mechanical arm (3), the free end of the omnidirectional lifting mechanical arm (3) is fixedly connected to a welding gun connecting plate (41), a track (42) is provided on the welding gun connecting plate (41) away from the mechanical arm, the welding gun (4) is slidably connected to the track (42), and the number of the welding guns (5) is one or more, which is specifically determined according to the number of rows of welding studs required.

7. The automatic welding system of the manipulator stud welding device according to claim 6, characterized in that: It also includes a bolt clip device, the bolt clip device includes a clip chamber (51) and a clip bracket, the clip chamber (51) includes an inclined portion (511) and a horizontal portion (512), the inclined portion (511) is composed of two parallel long strips, the horizontal portion (512) is "U"-shaped, and the two ends of the horizontal portion (512) are connected to the lower ends of the two long strips of the inclined portion (511), and the clip bracket includes a first bracket (54) and a second bracket (55), the front side of the clip chamber (51) is suspended on the first bracket (54), and the rear side of the clip chamber (51) is suspended on the second bracket (55).

8. The automatic welding system of the manipulator stud welding device according to claim 7, characterized in that: The first bracket (54) comprises four first upright posts (541), a first rectangular connecting frame (542), a first connecting clip (543), a vibration motor (544) and a vibration motor mounting plate (545); the four first upright posts (541) are located directly below the four corners of the first rectangular connecting frame (542) to provide support for the first rectangular connecting frame (542); the vibration motor mounting plate (545) is fixedly connected to the first rectangular connecting frame (542); the vibration motor (544) is mounted on the vibration motor mounting plate (545); the upper end of the first connecting clip (543) is eccentrically connected to the motor shaft of the vibration motor (544); and the lower end of the first connecting clip (543) is fixedly connected to the clip chamber (51). The second bracket (55) comprises four second upright posts (551), a second rectangular connecting frame (552), a second connecting clip (553), a connecting cross bar (554) and a connecting vertical bar (555). The four second upright posts (551) are located directly below the four corners of the second rectangular connecting frame (552) to provide support for the second rectangular connecting frame (552); the connecting cross bar (554) is fixedly connected to the second rectangular connecting frame (552); the upper end of the connecting vertical bar (555) is hinged to the lower end of the connecting cross bar (554); the lower end of the connecting vertical bar (555) is hinged to the upper end of the second connecting clip (553); and the lower end of the second connecting clip (553) is fixedly connected to the magazine chamber (51).

9. The automatic welding system of the manipulator stud welding device according to claim 8, characterized in that: It also includes a stud-ceramic ring assembly machine, which includes a stud pusher (10), a stud flow channel (11), a vibration plate (12), a ceramic ring material channel (13), an electric clamp (14) and an output channel (15). The input end of the stud flow channel (11) is connected to the stud pusher (10), the input end of the ceramic ring material channel (13) is connected to the vibration plate (12), the output end of the ceramic ring material channel (13) is connected to the input end of the output channel (15) and transports the ceramic ring to the input end of the output channel (15), the electric clamp (14) clamps the stud at the output end of the stud flow channel (11) and assembles it with the ceramic ring at the input end of the output channel (15), and the output end of the output channel (15) is connected to the upper end of the inclined portion (511) of the stud clip device (5).

10. The automatic welding system of the manipulator stud welding device according to claim 1, characterized in that: The welding gun (4) comprises a motor (40), a screw (49), a screw slider (48), a main shaft (44), a ceramic ring clamping unit (46) and a stud clamping unit (45); the motor shaft of the motor (40) is connected to the screw (49) to drive the screw (49) to rotate; the screw slider (48) is threadedly connected to the screw (49); the screw slider (48) can move up and down on the screw (49); the main shaft (44) is hung on the screw slider (48); the main shaft (44) and the screw slider (48) can slide relative to each other; and the upper end of the stud clamping unit (45) is fixedly connected to the lower end of the main shaft (44).

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