CNC multi-angle welding device

Abstract

The invention belongs to the field of welding, and particularly relates to a CNC multi-angle welding device which comprises a base used for placing a workpiece to be welded, four universal flexible shafts are arranged on the outer side of the base, a supporting box is installed at the ends of the universal flexible shafts, a top disc capable of rotating is installed on the outer side of the supporting box, and a mechanical claw is installed at the bottom of the supporting box. A multi-axis mechanical arm is arranged on the outer side of the base, an observation table is installed at the end of the multi-axis mechanical arm, multi-angle welding work of a workpiece to be welded is achieved, and welding work can be conducted no matter the workpiece to be welded is a standard part with the regular appearance or a non-standard part with the peculiar appearance or a bulk part. And through grabbing and fixing of the multiple universal flexible shafts and the supporting box, the functions of stable supporting and suspended welding operation of the workpieces to be welded are guaranteed, and real dead-corner-free welding work is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of welding, and specifically relates to a CNC multi-angle welding device. Background Art

[0002] CNC welding is a process of realizing automated welding through computer numerical control (CNC) technology; it is commonly used for welding various mechanical parts, such as machine tool beds, gears, cylinder blocks, etc.

[0003] The welding process parameters and operation steps can be input into the numerical control welding equipment by programming, so as to realize the automated control of the welding process; it is also possible to directly carry out the welding work by observing the weld seam without prior programming, mainly through operations such as image acquisition, feature extraction and matching, and path planning.

[0004] Traditional CNC welding equipment generally only includes a welding table and a movable welding torch. When welding flat plates, the welding work can be easily completed. However, when encountering workpieces with relatively complex structures or too many welding surfaces, it is necessary to cooperate with specified fixtures to fix the workpiece, and it is also necessary to control the rotation of the workpiece when necessary. However, this operation has great limitations. Static fixtures often can only correspond to a single workpiece. If multiple multi-axis robotic arms are used for control, although the work can be completed, the investment cost is huge and it is not suitable for industrial production.

[0005] Therefore, the present invention provides a CNC multi-angle welding device. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art and solve at least one technical problem proposed in the background art.

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows: A CNC multi-angle welding device of the present invention includes a base for placing the workpiece to be welded. Four universal flexible shafts are arranged on the outer side of the base. A support box is installed at the end of the universal flexible shaft. A rotatable top plate is installed on the outer side of the support box. A mechanical claw is installed at the bottom of the support box. A multi-axis robotic arm is arranged on the outer side of the base. An observation table is installed at the end of the multi-axis robotic arm. A welding torch is installed at the end of the observation table. A docking port adapted to the support box is installed on the outer side of the support box; Place the workpiece to be welded on the base. The workpiece to be welded can be a workpiece that has been preliminarily welded or a completely unconnected bulk workpiece. Control the welding torch to move through a multi-axis robotic arm. The welding torch adjusts the position of the support box by means of extrusion and pushing. The universal flexible shaft can be bent to a large extent and fixed in place after bending. When the workpiece to be welded is a standard part such as a round pipe or a flange, two support boxes can be used to clamp the workpiece to be welded in the middle. The two top plates of the support box are in contact with the workpiece to be welded. By rotating the top plate, the workpiece to be welded can be driven to rotate, so that all welding surfaces of the workpiece to be welded face the welding torch. Then the multi-axis robotic arm can control the welding torch to weld the welding part of the workpiece to be welded. An optical camera is installed at the front end of the observation platform to observe the welding position of the workpiece to be welded and ensure the smooth progress of the welding process. At the same time, the optical camera transmits the observed image to the processing terminal. Through digital processing, the position of the workpiece to be welded can be accurately obtained to control the movement of the welding torch to the specified position. When the workpiece to be welded has a strange shape or is an uncommon non-standard part, adjust the support box so that the mechanical claw faces the workpiece to be welded. Use the mechanical claw to grasp and fix the edge of the workpiece to be welded, and then control another support box and mechanical claw to fix other parts of the workpiece to be welded, so that the workpiece to be welded is suspended above the base. The fixed parts need to be selected at positions that do not need to be welded. The movement process of the support box is controlled by the extrusion and pushing of the welding torch. Then use the welding torch to weld the welding part of the workpiece to be welded. When the position of the workpiece to be welded needs to be adjusted, directly push the workpiece to be welded by the extrusion of the welding torch. Since the workpiece to be welded is fixed in a suspended state by two support boxes at this time, the shape of the workpiece to be welded can be changed at will. The welding torch is bent to assist in the process of flipping the workpiece to be welded. When the workpiece to be welded is in a bulk state, two support boxes can be used to fix the main body of the workpiece to be welded first, and then use other universal flexible shafts and mechanical claws to pick up the scattered parts and move them to the outside of the main body of the workpiece to be welded for docking. After the universal flexible shafts of the two are stationary, move the welding torch away, and then use the welding torch to weld the docking part. In this process that requires precise control, the end of the welding torch can be inserted into the docking port to integrate the two, making the transmission of force more accurate and reducing the swing when moving the support box, ensuring the docking of the workpieces to be welded. Through this setting, multi-angle welding work on the workpiece to be welded is realized. Whether the workpiece to be welded is a standard part with a regular shape, a non-standard part with a strange shape, or a bulk part, welding work can be carried out. And through the grasping and fixing of multiple universal flexible shafts and support boxes, the function of stably supporting the workpiece to be welded and carrying out suspended welding operations is ensured, realizing true welding work without dead angles. At the same time, the universal flexible shaft has a simple structure and low cost. Compared with using multiple multi-axis robotic arms for fixing, it saves equipment costs.

[0008] Preferably, the universal flexible shaft is composed of multiple separating shafts. The multiple separating shafts are connected end to end, and are rotationally clamped between each other. A transmission shaft made of a flexible material is arranged in the middle of the multiple separating shafts. The transmission shaft is in transmission connection with the top plate. A drive box is installed at the bottom of the universal flexible shaft. The drive box is fixedly connected to the outside of the base. A drive motor for driving the transmission shaft to rotate is installed in the drive box. The bottom of the universal flexible shaft is fixedly connected to the top surface of the drive box. The adjacent separating shafts can rotate relative to each other by a certain angle. After the multiple separating shafts are combined, the universal flexible shaft can be twisted into any shape. The flexible transmission shaft passes through the middle of the multiple separating shafts. The drive motor drives the transmission shaft to rotate, and the transmission shaft transmits the power to the top plate at the end for rotation. In this way, there is no need to set a motor in the support box, reducing the mass of the support box, reducing the load on the universal flexible shaft, and ensuring the suspended fixing effect of the workpiece to be welded.

[0009] Preferably, four horizontally arranged electric shafts are also installed in the drive box. A steel cable is fixedly connected to the outside of the electric shaft. The steel cable passes through the outside edge of the separating shaft. The end of the steel cable is fixedly connected to the separating shaft at the outermost end of the universal flexible shaft. After the welding torch adjusts the support box and the universal flexible shaft to stop, the multiple electric shafts are locked so that the steel cable cannot move anymore. The four steel cables are distributed around the separating shaft. When the steel cable cannot move, the separating shaft at the end cannot turn or move. At the same time, due to the tension of the steel cable, the stiffness of the entire universal flexible shaft is increased, and the universal flexible shaft can be quickly fixed, and the anti-movement ability is improved, so that the universal flexible shaft and the support box cannot move easily under the action of external force. In this way, it can be ensured that the support box can keep the workpiece to be welded in place, reducing the deviation problem of the workpiece to be welded during the welding process.

[0010] Preferably, a transmission rod is fixedly connected to the rear end of the top plate. The end of the universal flexible shaft is rotationally clamped to the top surface of the support box. The end of the transmission shaft is located in the support box. The transmission shaft and the transmission rod are in transmission connection through a bevel gear set. The bevel gear set includes two meshing bevel gears. The two bevel gears are respectively fixedly connected to the transmission shaft and the transmission rod. When the transmission shaft rotates, the power is transmitted to the transmission rod through the bevel gear set, thereby driving the top plate to rotate, and thus completing the function of driving the workpiece to be welded to rotate.

[0011] Preferably, the mechanical claw is composed of three metal claw arms. An electromagnet is arranged inside the metal claw arms. A support plate is fixedly connected to the top surface of the base. The support plate is made of magnetizable metal. The mechanical claw can complete two actions of grasping and releasing, so as to grasp the edge position of the workpiece to be welded. At the same time, when the workpiece to be welded is large, the mechanical claw is attached to the top surface of the base, and the electromagnet is started to firmly fix the mechanical claw on the base. In this way, when the two support boxes hold the workpiece to be welded in the middle, the workpiece to be welded can be driven to rotate firmly. As the mechanical claw closes, it will push the support box upward. Because the closed mechanical claw becomes vertical, the support box can be lifted, so that a larger workpiece to be welded can be fixed between the two support boxes.

[0012] Preferably, the inside of the base is hollow. A horizontal electric slide rail is arranged inside the base. One end of the electric slide rail is slidably connected to the base. The other end of the electric slide rail is provided with a lead screw nut mechanism for driving the electric slide rail to move horizontally. Adsorption platforms are installed at both mobile ends of the electric slide rail. Since the length of the multi-axis robotic arm is limited, it is difficult for the support box too far away from the multi-axis robotic arm to reach. The lead screw nut mechanism drives the electric slide rail to move, and the electric slide rail drives the adsorption platform to move, moving the adsorption platform to the bottom of the corresponding support box. At this time, the mechanical claw at the bottom of the support box is adsorbed and fixed on the base, and an electromagnet is also installed inside the adsorption platform, so that it can adsorb with the mechanical claw. Then, through the movement of the adsorption platform, the movement of the support box to the vicinity of the multi-axis robotic arm can be controlled. Through this setting, the process of adjusting the position of the support box is facilitated; it is necessary to observe the position of the support box through the observation platform first, and then transmit the position information to the electric slide rail to ensure that the adsorption platform moves to the designated position.

[0013] Preferably, a fitting groove is formed in the bottom surface of the support box. The mechanical claw is located in the fitting groove. A plurality of rolling balls are rotatably connected to the bottom surface of the support box. The formation of the fitting groove allows the mechanical claw to be turned upward to a horizontal state. At this time, the support box is completely attached to the base. When the mechanical claw closes and becomes vertical, it will push the support box upward, facilitating the fixation of a large-volume workpiece to be welded. When the mechanical claw is completely horizontal, the rolling balls at the bottom of the support box contact the base, which can reduce the friction between the support box and the base and allow the support box to be pulled and dragged by the adsorption platform.

[0014] Preferably, the support box is composed of an upper separation table and a lower fixing table. The transmission rod and the separation shaft are both connected to the upper separation table, the mechanical claw is connected to the lower fixing table, and the upper separation table and the lower fixing table are connected by a docking valve. When it is difficult to clamp the workpiece to be welded, the electromagnet in the mechanical claw can be activated first to fix the lower fixing table on the base. Then, the fixing of the docking valve is released, so that the upper separation table and the lower fixing table can be disassembled. The upper separation table is pushed from the side by the welding torch to separate the two. Then, the welding torch is docked with the lower fixing table, and the electromagnet is turned off at the same time. In this way, the welding torch can directly drive the mechanical claw to move, improving the grasping flexibility. The specific grasping method is as follows: First, use the welding torch to adjust another support box to a suitable state. Then, the welding torch is combined with the lower fixing table, and the mechanical claw is used to grasp the workpiece to be welded. Then, the workpiece to be welded is moved to one side of the adjusted support box, so that the adjusted support box can grasp the workpiece to be welded conveniently.

[0015] Preferably, the end of the welding torch is adapted to the docking valve of the lower fixing table. The docking port is installed on the outside of the upper separation table, and a locking valve is installed in the docking port. The end of the welding torch can be directly inserted into the docking valve to complete the fixation. When the support box needs to be restored, the mechanical claw is first adsorbed and fixed to the base. Then, the fixation between the welding torch and the docking valve is released. Then, the welding torch is inserted into the docking port to control the movement of the upper separation table, thereby driving the upper separation table to be docked and restored with the lower fixing table.

[0016] Preferably, the connecting surface between the upper separation table and the lower fixing table is bent, and the side of the base close to the multi-axis robotic arm is arc-shaped. The bent connecting surface enables the upper separation table and the lower fixing table to be separated from the side, reducing the forced separation of the two when the support box abuts against the workpiece to be welded. The arc-shaped base facilitates the placement of the multi-axis robotic arm.

[0017] The beneficial effects of the present invention are as follows: 1. For the CNC multi-angle welding device of the present invention, through the setting of the universal flexible shaft and the support box, the multi-angle welding work of the workpiece to be welded is realized. Whether the workpiece to be welded is a standard part with regular shape, a non-standard part with strange shape, or a bulk part, welding work can be carried out. And through the grasping and fixing of multiple universal flexible shafts and support boxes, the functions of stably supporting the workpiece to be welded and performing suspended welding operations are ensured, realizing true dead-angle-free welding work. At the same time, the universal flexible shaft has a simple structure and low cost. Compared with using multiple multi-axis robotic arms for fixation, the equipment cost is saved.

[0018] 2. The CNC multi-angle welding device described in the present invention, through the setting of multiple separation shafts, after the combination of multiple separation shafts, the universal flexible shaft can be twisted into any shape; the flexible transmission shaft passes through the middle of multiple separation shafts, and the drive motor drives the transmission shaft to rotate. The transmission shaft transmits power to the top plate at the end for rotation. In this way, there is no need to set a motor in the support box, reducing the mass of the support box, reducing the load on the universal flexible shaft, and ensuring the suspended fixing effect of the workpiece to be welded. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 is a perspective view of the present invention; Figure 2 is a perspective view of the universal flexible shaft and the support box of the present invention; Figure 3 is a perspective view of the support box of the present invention; Figure 4 is a perspective view of the top plate and the separation shaft of the present invention; Figure 5 is an exploded view of the support box of the present invention; Figure 6 is an internal schematic view of the base of the present invention; Figure 7 is a perspective view of the mechanical claw of the present invention; In the figure: 1, base; 2, drive box; 3, universal flexible shaft; 4, support box; 5, workpiece to be welded; 6, multi-axis robotic arm; 7, observation platform; 8, welding torch; 9, mechanical claw; 10, top plate; 11, separation shaft; 12, steel cable; 13, fitting groove; 14, transmission rod; 15, bevel gear set; 16, transmission shaft; 17, upper separation table; 18, lower fixing table; 19, docking valve; 20, support plate; 21, electric slide rail; 22, adsorption table; 23, rolling ball; 24, docking port. DETAILED DESCRIPTION OF THE INVENTION

[0021] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0022] Such as Figures 1 to 7As shown in the figure, a CNC multi-angle welding device according to an embodiment of the present invention includes a base 1 for placing a workpiece 5 to be welded. Four universal flexible shafts 3 are provided on the outer side of the base 1. A support box 4 is installed at the end of the universal flexible shaft 3. A rotatable top plate 10 is installed on the outer side of the support box 4. A mechanical claw 9 is installed at the bottom of the support box 4. A multi-axis robotic arm 6 is provided on the outer side of the base 1. An observation platform 7 is installed at the end of the multi-axis robotic arm 6. A welding torch 8 is installed at the end of the observation platform 7. A docking port 24 adapted to the support box 4 is installed on the outer side of the support box 4; Traditional CNC welding equipment generally only includes a welding table and a movable welding torch. When welding flat plates, the welding work can be easily completed. However, when encountering workpieces with relatively complex structures or too many welding surfaces, it is necessary to cooperate with specified jigs to fix the workpiece. If necessary, the workpiece also needs to be controlled to rotate. However, this operation has great limitations. Static jigs often can only correspond to a single workpiece. If multiple multi-axis robotic arms are used for control, although the work can be completed, the investment cost is huge and it is not suitable for industrial production.

[0023] During operation, the workpiece 5 to be welded is placed on the base 1. The workpiece 5 to be welded can be a workpiece that has been preliminarily welded or a bulk workpiece that is not connected at all. The multi-axis robotic arm 6 is used to control the movement of the welding torch 8. The welding torch 8 adjusts the position of the support box 4 by means of extrusion and pushing. The universal flexible shaft 3 can be bent to a large extent and fixed in place after bending. When the workpiece 5 to be welded is a standard part such as a round pipe or a flange, two support boxes 4 can be used to clamp the workpiece 5 to be welded in the middle. The two top plates 10 of the support box 4 are in contact with the workpiece 5 to be welded. By rotating the top plate 10, the workpiece 5 to be welded can be driven to rotate, so that all the welding surfaces of the workpiece 5 to be welded face the welding torch 8. Then the multi-axis robotic arm 6 can control the welding torch 8 to weld the welding part of the workpiece 5 to be welded. An optical camera is installed at the front end of the observation platform 7 to observe the welding position of the workpiece 5 to be welded and ensure the smooth progress of the welding process. At the same time, the optical camera transmits the observed image to the processing terminal. Through digital processing, the position of the workpiece 5 to be welded can be accurately obtained to move the welding torch 8 to the specified position. When the workpiece 5 to be welded has a strange shape or is an uncommon non-standard part, the support box 4 is adjusted so that the mechanical claw 9 faces the workpiece 5 to be welded. The mechanical claw 9 is used to grasp and fix the edge of the workpiece 5 to be welded. Then, another support box 4 and the mechanical claw 9 are controlled to fix other parts of the workpiece 5 to be welded, so that the workpiece 5 to be welded is suspended above the base 1. The fixed parts need to be selected at positions that do not need to be welded. The movement process of the support box 4 is controlled by the extrusion and pushing of the welding torch 8. Then, the welding torch 8 is used to weld the welding part of the workpiece 5 to be welded. When the position of the workpiece 5 to be welded needs to be adjusted, the workpiece 5 to be welded is directly pushed by the extrusion of the welding torch 8. Since the workpiece 5 to be welded is fixed in a suspended state by the two support boxes 4 at this time, the shape of the workpiece 5 to be welded can be changed at will. The welding torch 8 is arranged in a bent shape to assist in the process of flipping the workpiece 5 to be welded. When the workpiece 5 to be welded is in a bulk state, two support boxes 4 can be used to fix the main body of the workpiece 5 to be welded first. Then, the other universal flexible shafts 3 and the mechanical claws 9 are used to pick up the scattered parts and move them to the outside of the main body of the workpiece 5 to be welded for docking. After the universal flexible shafts 3 of the two are stationary, the welding torch 8 is removed, and then the welding torch 8 is used to weld the docking part. For this process that requires precise control, the end of the welding torch 8 can be inserted into the docking port 24 to integrate the two, making the transmission of force more accurate and reducing the swing when moving the support box 4, ensuring the docking of the workpiece 5 to be welded. Through this setting, multi-angle welding work of the workpiece 5 to be welded is realized, and whether the workpiece 5 to be welded is a standard part with a regular shape, a non-standard part with a strange shape, or a bulk part, welding work can be carried out. Moreover, through the grasping and fixing of multiple universal flexible shafts 3 and support boxes 4, the function of stably supporting the workpiece 5 to be welded and carrying out suspended welding operations is ensured, realizing true dead-angle-free welding work;Meanwhile, the universal flexible shaft 3 has a simple structure and low cost. Compared with using multiple multi-axis robotic arms 6 for fixation, it saves equipment costs.

[0024] The universal flexible shaft 3 is composed of multiple separate shafts 11. The multiple separate shafts 11 are connected end to end, and are rotationally clamped between the multiple separate shafts 11. A transmission shaft 16 made of a flexible material is provided in the middle of the multiple separate shafts 11. The transmission shaft 16 is in transmission connection with the top plate 10. A drive box 2 is installed at the bottom of the universal flexible shaft 3. The drive box 2 is fixedly connected to the outside of the base 1. A drive motor for driving the transmission shaft 16 to rotate is installed in the drive box 2. The bottom of the universal flexible shaft 3 is fixedly connected to the top surface of the drive box 2. During operation, the connected separate shafts 11 can rotate relative to each other by a certain angle. After the multiple separate shafts 11 are combined, the universal flexible shaft 3 can be twisted into any shape. The flexible transmission shaft 16 passes through the middle of the multiple separate shafts 11. The drive motor drives the transmission shaft 16 to rotate, and the transmission shaft 16 transmits power to the top plate 10 at the end for rotation. In this way, there is no need to set a motor in the support box 4, reducing the mass of the support box 4, reducing the load on the universal flexible shaft 3, and ensuring the suspended fixation effect of the workpiece to be welded 5.

[0025] Four horizontally arranged electric shafts are also installed in the drive box 2. A steel cable 12 is fixedly connected to the outside of the electric shaft. The steel cable 12 passes through the outside edge of the separate shaft 11. The end of the steel cable 12 is fixedly connected to the separate shaft 11 at the outermost end of the universal flexible shaft 3. During operation, when the welding torch 8 adjusts and the support box 4 and the universal flexible shaft 3 stop, the multiple electric shafts are locked so that the steel cable 12 cannot move anymore. The four steel cables 12 are distributed around the separate shaft 11. When the steel cable 12 cannot move, the separate shaft 11 at the end cannot turn or move. At the same time, due to the tension of the steel cable 12, the stiffness of the entire universal flexible shaft 3 is increased, and the universal flexible shaft 3 can be quickly fixed, and the anti-movement ability is improved, so that the universal flexible shaft 3 and the support box 4 cannot move easily under the action of external forces. In this way, it can be ensured that the support box 4 can keep the workpiece to be welded 5 in place, reducing the deviation problem of the workpiece to be welded 5 during the welding process.

[0026] A transmission rod 14 is fixedly connected to the rear end of the top plate 10. The end of the universal flexible shaft 3 is rotationally clamped to the top surface of the support box 4. The end of the transmission shaft 16 is located in the support box 4. The transmission shaft 16 and the transmission rod 14 are in transmission connection through a bevel gear set 15. During operation, the bevel gear set 15 includes two meshing bevel gears. The two bevel gears are respectively fixedly connected to the transmission shaft 16 and the transmission rod 14. When the transmission shaft 16 rotates, power is transmitted to the transmission rod 14 through the bevel gear set 15, thereby driving the top plate 10 to rotate, and thus completing the function of driving the workpiece to be welded 5 to rotate.

[0027] The mechanical claw 9 is composed of three metal claw arms. An electromagnet is arranged inside the metal claw arms. The top surface of the base 1 is fixedly connected with a support plate 20, and the support plate 20 is made of magnetizable metal material; During operation, the mechanical claw 9 can complete two actions of grasping and releasing, so as to grasp the edge position of the workpiece 5 to be welded. At the same time, when the workpiece 5 to be welded is relatively large, the mechanical claw 9 is made to fit the top surface of the base 1, and the electromagnet is activated, so as to firmly fix the mechanical claw 9 on the base 1. In this way, when the two support boxes 4 press the workpiece 5 to be welded in the middle, the workpiece 5 to be welded can be driven to rotate very firmly. As the mechanical claw 9 closes, it will push the support box 4 upward. Because the mechanical claw 9 after closing becomes in a vertical state, the support box 4 can be lifted in this way, so that a larger workpiece 5 to be welded can be fixed between the two support boxes 4.

[0028] The interior of the base 1 is hollow. A horizontal electric slide rail 21 is arranged inside the base 1. One end of the electric slide rail 21 is slidably connected with the base 1, and the other end of the electric slide rail 21 is provided with a lead screw nut mechanism for driving the electric slide rail 21 to move horizontally. Adsorption platforms 22 are installed at both mobile ends of the electric slide rail 21; During operation, due to the limited length of the multi-axis robotic arm 6, the support box 4 that is too far away from the multi-axis robotic arm 6 is difficult to reach. The lead screw nut mechanism drives the electric slide rail 21 to move, and the electric slide rail 21 drives the adsorption platform 22 to move, and the adsorption platform 22 is moved to the bottom of the corresponding support box 4. At this time, the mechanical claw 9 at the bottom of the support box 4 is adsorbed and fixed on the base 1, and an electromagnet is also installed inside the adsorption platform 22, so that it can adsorb with the mechanical claw 9. Then, through the movement of the adsorption platform 22, the movement of the support box 4 to the vicinity of the multi-axis robotic arm 6 can be controlled. Through this setting, the process of regulating the position of the support box 4 is facilitated; it is necessary to observe the position of the support box 4 through the observation platform 7 first, and then transmit the position information to the electric slide rail 21 to ensure that the adsorption platform 22 moves to the designated position.

[0029] A fitting groove 13 is formed in the bottom surface of the support box 4, the mechanical claw 9 is located in the fitting groove 13, and a plurality of rolling balls 23 are rotatably connected to the bottom surface of the support box 4; During operation, the formation of the fitting groove 13 enables the mechanical claw 9 to be turned upward to a horizontal state. At this time, the support box 4 is completely attached to the base 1. When the mechanical claw 9 closes and becomes in a vertical state, it will push the support box 4 upward, which is convenient for fixing a large workpiece 5 to be welded. When the mechanical claw 9 is completely horizontal, the rolling balls 23 at the bottom of the support box 4 contact the base 1, which can reduce the friction between the support box 4 and the base 1, so that the support box 4 can be pulled and dragged by the adsorption platform 22.

[0030] The support box 4 is composed of an upper separation table 17 and a lower fixing table 18. The transmission rod 14 and the separation shaft 11 are both connected to the upper separation table 17. The mechanical claw 9 is connected to the lower fixing table 18. The upper separation table 17 and the lower fixing table 18 are connected by a docking valve 19. During operation, when it is difficult to clamp the workpiece to be welded 5, the electromagnet in the mechanical claw 9 can be activated first to fix the lower fixing table 18 on the base 1. Then, the fixation of the docking valve 19 is released, allowing the upper separation table 17 and the lower fixing table 18 to be disassembled. The upper separation table 17 is pushed from the upper side by the welding torch 8 to separate the two. Then, the welding torch 8 is docked with the lower fixing table 18, and the electromagnet is turned off at the same time. In this way, the welding torch 8 can directly drive the mechanical claw 9 to move, improving the grasping flexibility. The specific grasping method is as follows: First, use the welding torch 8 to adjust another support box 4 to a proper state. Then, the welding torch 8 is combined with the lower fixing table 18, and the mechanical claw 9 is used to grasp the workpiece to be welded 5. Then, the workpiece to be welded 5 is moved to one side of the adjusted support box 4, facilitating the adjusted support box 4 to grasp the workpiece to be welded 5.

[0031] The end of the welding torch 8 is adapted to the docking valve 19 of the lower fixing table 18. The docking port 24 is installed on the outside of the upper separation table 17, and a locking valve is installed in the docking port 24. During operation, the end of the welding torch 8 can be directly inserted into the docking valve 19 to complete the fixation. When the support box 4 needs to be restored, the mechanical claw 9 is first adsorbed and fixed to the base 1. Then, the fixation between the welding torch 8 and the docking valve 19 is released. Then, the welding torch 8 is inserted into the docking port 24 to control the movement of the upper separation table 17, thereby driving the upper separation table 17 to be docked and restored with the lower fixing table 18.

[0032] The connection surface between the upper separation table 17 and the lower fixing table 18 is bent, and the side of the base 1 close to the multi-axis robotic arm 6 is arc-shaped. During operation, the bent connection surface enables the upper separation table 17 and the lower fixing table 18 to be separated from the side, reducing the forced separation of the two when the support box 4 abuts against the workpiece to be welded 5. The arc-shaped base 1 facilitates the placement of the multi-axis robotic arm 6.

[0033] During operation, the workpiece 5 to be welded is placed on the base 1. The workpiece 5 to be welded can be a workpiece that has been preliminarily welded or a bulk workpiece that is not connected at all. The multi-axis robotic arm 6 is used to control the movement of the welding torch 8. The welding torch 8 adjusts the position of the support box 4 by means of extrusion and pushing. The universal flexible shaft 3 can be bent to a large extent and fixed in place after bending. When the workpiece 5 to be welded is a standard part such as a round pipe or a flange, two support boxes 4 can be used to clamp the workpiece 5 to be welded in the middle. The two top plates 10 of the support box 4 are in contact with the workpiece 5 to be welded. By rotating the top plate 10, the workpiece 5 to be welded can be driven to rotate, so that all the welding surfaces of the workpiece 5 to be welded face the welding torch 8. Then, the multi-axis robotic arm 6 can control the welding torch 8 to weld the welding part of the workpiece 5 to be welded. An optical camera is installed at the front end of the observation table 7 to observe the welding position of the workpiece 5 to be welded and ensure the smooth progress of the welding process. At the same time, the optical camera transmits the observed image to the processing terminal. Through digital processing, the position of the workpiece 5 to be welded can be accurately obtained to move the welding torch 8 to the specified position. When the workpiece 5 to be welded has a strange shape or is an uncommon non-standard part, the support box 4 is adjusted so that the mechanical claw 9 faces the workpiece 5 to be welded. The mechanical claw 9 is used to grasp and fix the edge of the workpiece 5 to be welded. Then, another support box 4 and the mechanical claw 9 are controlled to fix other parts of the workpiece 5 to be welded, so that the workpiece 5 to be welded is suspended above the base 1. The fixed parts need to be selected at positions that do not need to be welded. The movement process of the support box 4 is regulated by the extrusion and pushing of the welding torch 8. Then, the welding torch 8 is used to weld the welding part of the workpiece 5 to be welded. When the position of the workpiece 5 to be welded needs to be adjusted, the workpiece 5 to be welded is directly pushed by the extrusion of the welding torch 8. Since the workpiece 5 to be welded is fixed in a suspended state by the two support boxes 4 at this time, the shape of the workpiece 5 to be welded can be changed at will. The welding torch 8 is arranged in a bent shape to assist in the process of flipping the workpiece 5 to be welded. When the workpiece 5 to be welded is in a bulk state, two support boxes 4 can be used to fix the main body of the workpiece 5 to be welded first. Then, the other universal flexible shafts 3 and mechanical claws 9 are used to pick up the loose parts and move them to the outside of the main body of the workpiece 5 to be welded, and the two are docked. After the universal flexible shafts 3 of the two are stationary, the welding torch 8 is removed, and then the welding torch 8 is used to weld the docking part. For this process that requires precise regulation, the end of the welding torch 8 can be inserted into the docking port 24 to make the two integrated, making the transmission of force more accurate and reducing the swing when moving the support box 4, ensuring the docking between the workpieces 5 to be welded. Through this setting, multi-angle welding work on the workpiece 5 to be welded is realized. Whether the workpiece 5 to be welded is a standard part with a regular shape, a non-standard part with a strange shape, or a bulk part, welding work can be carried out. And through the grasping and fixing of multiple universal flexible shafts 3 and support boxes 4, the function of stably supporting the workpiece 5 to be welded and performing suspended welding operations is ensured, realizing true welding work without dead angles.Meanwhile, the structure of the universal flexible shaft 3 is simple and the cost is relatively low. Compared with using multiple multi-axis robotic arms 6 for fixation, the equipment cost is saved; The connected and separated shafts 11 can rotate relative to each other by a certain angle. After multiple separated shafts 11 are combined, the universal flexible shaft 3 can be twisted into any shape; the flexible transmission shaft 16 passes through the middle of multiple separated shafts 11, and the transmission shaft 16 is driven to rotate by a driving motor. The transmission shaft 16 transmits power to the top plate 10 at the end for rotation. In this way, there is no need to set a motor in the support box 4, reducing the mass of the support box 4, reducing the load on the universal flexible shaft 3, and ensuring the suspended fixation effect of the workpiece to be welded 5; When the welding torch 8 adjusts and the support box 4 and the universal flexible shaft 3 stop, lock the multiple electric shafts so that the steel cables 12 can no longer move. The four steel cables 12 are distributed around the separated shaft 11. When the steel cables 12 cannot move, the separated shaft 11 at the end cannot turn or move. At the same time, due to the tension of the steel cables 12, the stiffness of the entire universal flexible shaft 3 is increased, and the universal flexible shaft 3 can be quickly fixed and the anti-movement ability is improved, so that the universal flexible shaft 3 and the support box 4 cannot move easily under the action of external forces. In this way, it can be ensured that the support box 4 can keep the workpiece to be welded 5 in place and reduce the deviation problem of the workpiece to be welded 5 during the welding process; The bevel gear set 15 includes two meshing bevel gears. The two bevel gears are respectively fixed to the transmission shaft 16 and the transmission rod 14. When the transmission shaft 16 rotates, power is transmitted to the transmission rod 14 through the bevel gear set 15, and then the top plate 10 is driven to rotate, so as to complete the function of driving the workpiece to be welded 5 to rotate; The mechanical claw 9 can complete two actions of grasping and releasing, so it can grasp the edge position of the workpiece to be welded 5. At the same time, when the workpiece to be welded 5 is large, let the mechanical claw 9 fit the top surface of the base 1 and start the electromagnet, so as to firmly fix the mechanical claw 9 on the base 1. In this way, when the two support boxes 4 press the workpiece to be welded 5 in the middle, they can drive the workpiece to be welded 5 to rotate firmly. As the mechanical claw 9 closes, it will push the support box 4 upward. Because the closed mechanical claw 9 becomes vertical, the support box 4 can be lifted, so that a larger workpiece to be welded 5 can be fixed between the two support boxes 4; Due to the limited length of the multi-axis robotic arm 6, it is difficult to reach the support box 4 that is too far away from the multi-axis robotic arm 6. The electric slide rail 21 is driven to move through the lead screw nut mechanism, and the electric slide rail 21 drives the adsorption table 22 to move. The adsorption table 22 is moved to the bottom of the corresponding support box 4. At this time, the mechanical claw 9 at the bottom of the support box 4 is adsorbed and fixed on the base 1, and an electromagnet is also installed inside the adsorption table 22, so that it can adsorb with the mechanical claw 9. After that, through the movement of the adsorption table 22, the movement of the support box 4 to the vicinity of the multi-axis robotic arm 6 can be controlled. Through this setting, the process of adjusting the position of the support box 4 is facilitated; it is necessary to first observe the position of the support box 4 through the observation table 7, and then transmit the position information to the electric slide rail 21 to ensure that the adsorption table 22 moves to the specified position; The opening of the fitting groove 13 enables the mechanical claw 9 to be turned upward to the horizontal state. At this time, the support box 4 is completely attached to the base 1. When the mechanical claw 9 closes and becomes vertical, it will lift the support box 4 upward, which is convenient for fixing the large-volume workpiece to be welded 5. When the mechanical claw 9 is completely horizontal, the rolling ball 23 at the bottom of the support box 4 contacts the base 1, which can reduce the friction between the support box 4 and the base 1 and enable the support box 4 to be pulled and dragged by the adsorption table 22; When it is difficult to clamp the workpiece to be welded 5, the electromagnet in the mechanical claw 9 can be started first to fix the lower fixing table 18 on the base 1, and then the fixing of the docking valve 19 is released, so that the upper separation table 17 and the lower fixing table 18 can be disassembled. The upper separation table 17 is pushed from the side by the welding torch 8 to separate the two. After that, the welding torch 8 is docked with the lower fixing table 18, and the electromagnet is turned off at the same time. In this way, the welding torch 8 can directly drive the mechanical claw 9 to move, improving the grasping flexibility; the specific grasping method is to first use the welding torch 8 to adjust another support box 4 to a suitable state, then the welding torch 8 is combined with the lower fixing table 18, and the mechanical claw 9 is used to grasp the workpiece to be welded 5, and then the workpiece to be welded 5 is moved to one side of the adjusted support box 4 to facilitate the adjusted support box 4 to grasp the workpiece to be welded 5; The end of the welding torch 8 can be directly inserted into the docking valve 19 to complete the fixation. When the support box 4 needs to be restored, the mechanical claw 9 is first adsorbed and fixed on the base 1, then the fixation between the welding torch 8 and the docking valve 19 is released, and then the welding torch 8 is inserted into the docking port 24 to control the movement of the upper separation table 17, thereby driving the upper separation table 17 to be docked and restored with the lower fixing table 18; The bent connecting surface enables the upper separation table 17 and the lower fixing table 18 to be separated from the side, reducing the forced separation of the two when the support box 4 abuts against the workpiece to be welded 5. The arc-shaped base 1 is convenient for the placement of the multi-axis robotic arm 6.

[0034] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A CNC multi-angle welding device, characterized in that: It comprises a base for placing the workpiece to be welded, four universal flexible shafts are arranged on the outer side of the base, a support box is installed on the end of the universal flexible shaft, a rotatable top plate is installed on the outer side of the support box, a mechanical claw is installed on the bottom of the support box, a multi-axis mechanical arm is arranged on the outer side of the base, an observation platform is installed on the end of the multi-axis mechanical arm, a welding gun is installed on the end of the observation platform, and a docking interface adapted to the support box is installed on the outer side of the support box.

2. A CNC multi-angle welding device according to claim 1, characterized in that: The Vientiane flexible shaft is composed of multiple separation shafts, which are connected at the ends and rotatably connected to each other. A transmission shaft made of flexible material is arranged in the middle of the multiple separation shafts, and the transmission shaft is transmission-connected to the top plate. A drive box is installed at the bottom of the Vientiane flexible shaft, and the drive box is fixedly connected to the outer side of the base. A drive motor for driving the drive shaft to rotate is installed in the drive box, and the bottom of the Vientiane flexible shaft is fixedly connected to the top surface of the drive box.

3. A CNC multi-angle welding device according to claim 2, characterized in that: Four horizontally arranged electric shafts are also installed in the driving box. Steel cables are fixedly connected to the outer sides of the electric shafts. The steel cables pass through the outer side of the separation shaft near the edge. The ends of the steel cables are fixedly connected to the separation shaft at the end of the Vientiane flexible shaft.

4. A CNC multi-angle welding device according to claim 3, characterized in that: A transmission rod is fixedly connected to the rear end of the top plate, the end of the universal flexible shaft is rotatably engaged with the top surface of the support box, the end of the transmission shaft is located in the support box, and the transmission shaft and the transmission rod are connected through a bevel gear set.

5. A CNC multi-angle welding device according to claim 4, characterized in that: The mechanical claw is composed of three metal claw arms, and an electromagnet is arranged inside the metal claw arm. A support plate is fixedly connected to the top surface of the base, and the support plate is made of a magnetizable metal material.

6. A CNC multi-angle welding device according to claim 5, characterized in that: The interior of the base is hollow, and a horizontal electric slide rail is arranged inside the base. One end of the electric slide rail is slidably connected to the base, and the other end of the electric slide rail is equipped with a screw nut mechanism for driving the electric slide rail to move horizontally. Both moving ends of the electric slide rail are equipped with adsorption platforms.

7. The CNC multi-angle welding device according to claim 6, characterized in that: The bottom surface of the support box is provided with an embedding groove, the mechanical claw is located in the embedding groove, and the bottom surface of the support box is rotatably connected with a plurality of rolling balls.

8. The CNC multi-angle welding device according to claim 7, characterized in that: The support box is composed of an upper separation platform and a lower fixed platform. The transmission rod and the separation shaft are both connected to the upper separation platform. The mechanical claw is connected to the lower fixed platform. The upper separation platform and the lower fixed platform are connected via a docking valve.

9. The CNC multi-angle welding device according to claim 8, characterized in that: The end of the welding gun is matched with the docking valve of the lower fixing platform, the docking port is installed on the outer side of the upper separation platform, and a locking valve is installed in the docking port.

10. The CNC multi-angle welding device according to claim 9, characterized in that: The connection surface between the upper separation platform and the lower fixing platform is bent, and the side of the base close to the multi-axis mechanical arm is arranged in an arc shape.

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