Welding robot with automatic welding slag cleaning function

Abstract

The invention relates to the technical field of welding robots, and provides a welding robot with an automatic welding slag cleaning function, which comprises a base, a workbench is fixedly connected to the top of the base, a mechanical arm is arranged at the top of the workbench, and a welding gun is arranged at one end, far away from the workbench, of the mechanical arm. A baffle is fixedly connected to the top of the workbench, and a movable cleaning mechanism and a collecting and pushing-out mechanism are arranged at the top of the base. The movable cleaning mechanism is arranged, so that a suction fan can be started when object welding is finished, the suction fan can generate suction force to suck welding slag and discharge the welding slag through a discharge pipe, and a movable motor can be started to drive a rotating shaft to rotate when a next group of objects are welded; and at the moment, a transmission belt A, a rotating rod, a first connecting plate and a second connecting plate assembly are matched to drive a suction fan to move towards the rear end to leave the position above the workbench, and the situation that welding is affected due to collision with a mechanical arm in the welding process is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, and specifically, to a welding robot with an automatic slag cleaning function. Background Art

[0002] A welding robot is an industrial robot engaged in welding (including cutting and spraying). A welding robot mainly includes two parts: a robot and welding equipment. The robot consists of a robot body and a control cabinet (hardware and software). For welding equipment, taking arc welding and spot welding as examples, it consists of a welding power source (including its control system), a wire feeder (for arc welding), a welding torch (pliers), etc. For an intelligent robot, there should also be a sensing system, such as a laser or camera sensor and its control device, etc.

[0003] According to the published (publication number: CN207239587U): A welding robot with an automatic slag cleaning function includes a base. The outer wall of the top end of the base is fixed with a vacuum cleaner by bolts, and a hard pipe is sleeved on the outer wall of the top end of the vacuum cleaner. The outer wall of the top end of the base is fixed with a speed reducer by bolts, and a swing arm motor is fixed on one side of the input end of the speed reducer by bolts. The output end of the speed reducer is fixed with a rotating arm by bolts. The outer wall of the top end of the rotating arm is fixed with a transverse movement support by bolts, and an opening is formed on one outer wall of the transverse movement support. The inner wall of the opening is sleeved with a second bearing.

[0004] In the above application document, through a dust suction hood and a vacuum cleaner, the slag generated around the welding torch during welding can be adsorbed onto the vacuum cleaner. However, during the welding process, the dust suction hood and the vacuum cleaner are likely to affect the welding equipment, and may also collide with the rotating arm, which is not conducive to the progress of welding work. Therefore, it needs to be improved. Summary of the Invention

[0005] The present invention provides a welding robot with an automatic slag cleaning function, which solves the problems in the related art.

[0006] The technical solution of the present invention is as follows:

[0007] The present invention discloses a welding robot with the function of automatically cleaning welding slag, comprising a base, a workbench is fixedly connected to the top of the base, a mechanical arm is arranged on the top of the workbench, a welding gun is arranged on the end of the mechanical arm away from the workbench, a baffle is fixedly connected to the top of the workbench, a movable cleaning mechanism and a collecting and pushing mechanism are arranged on the top of the base; the movable cleaning mechanism comprises a fixed seat and a transmission belt A, the fixed seat is fixedly connected to the top of the base, a rotating rod is rotatably connected to the inner side of the fixed seat, a first connecting plate is fixedly connected to the surface of the rotating rod, one end of the first connecting plate is hinged to the second connecting plate, the other end of the first connecting plate is rotatably connected to the fixed plate, and the end of the second connecting plate away from the first connecting plate is hinged to The third connecting plate, a suction fan is arranged at the bottom of the third connecting plate, a discharge pipe is arranged at the rear end of the suction fan, a movable motor is fixedly installed on the inner side of the fixed seat, the movable motor is fixedly connected to the rotating shaft through its output shaft, the rotating rod is connected to the rotating shaft through the transmission belt A, and a movable cleaning mechanism is arranged, so that the suction fan can be turned on when the welding of the objects is finished, the suction fan will generate suction to suck the welding slag and discharge it through the discharge pipe, and when the next group of objects is welded, the movable motor can be turned on to drive the rotating shaft to rotate, and at this time, the suction fan will be driven to move to the rear end away from the top of the workbench through the cooperation of the transmission belt A, the rotating rod, the first connecting plate and the second connecting plate assembly to prevent the collision with the robot arm during the welding process and affect the welding process.

[0008] Optionally, one end of the rotating shaft away from the moving motor is rotatably connected to the fixed plate, and one end of the fixed plate away from the rotating shaft is fixedly connected to the inner wall of the base. The fixed plate is fixed on the inner side of the base and will not rotate. When the moving motor drives the rotating shaft to rotate, the rotating shaft will drive the rotating rod to rotate through the transmission belt A.

[0009] Optionally, the suction fan is initially located above the workbench, and when the suction fan is turned on, the welding slag above the workbench is sucked in and discharged through the discharge pipe.

[0010] Optionally, the collecting and pushing out mechanism includes a collecting box, the bottom of the collecting box is fixedly connected to the top of the base, the top of the collecting box is fixedly connected to a mounting plate, the collection box is internally slidably connected to a guide plate, the rear end of the collection box is provided with a discharge port, the collection box is internally rotatably connected to a threaded rod, a rotating motor is fixedly installed inside the collection box, a pushing plate is internally slidably connected to the collection box, and a shaking mechanism is arranged inside the collection box. By providing the collecting and pushing out mechanism, the welding slag discharged from the discharge pipe will fall onto the guide plate and slide along the guide plate into the collection box, and turning on the rotating motor to drive the threaded rod to rotate forward and then reverse can make the pushing plate move back and forth to push the welding slag in the collection box to the discharge port for discharge, thereby achieving the effect of centralized collection and automatic discharge.

[0011] Optionally, the push plate is threadedly connected to the threaded rod via a built-in thread, and the output shaft of the rotating motor is fixedly connected to the threaded rod. When the rotating motor is started, it drives the threaded rod to rotate through its output shaft. When the threaded rod rotates, it drives the push plate to move toward the front end or rear end along the collection box.

[0012] Optionally, one end of the exhaust pipe away from the suction fan passes through and is fixedly connected to the mounting plate, the guide plate is inclined, and the bottom of the push plate fits into the inner bottom of the collection box. The welding slag discharged from the exhaust pipe will fall onto the guide plate and slide along the guide plate to the bottom of the collection box. When the push plate moves to the rear end, the welding slag will be pushed toward the discharge port.

[0013] Optionally, the shaking mechanism includes a rotating shaft and an electric push rod, the rotating shaft is rotatably connected to the inner wall of the collecting box, a transmission belt B is provided on the surface of the rotating shaft, a fixed ring is fixedly connected to the surface of the rotating shaft, and a collision plate is hinged at the end of the fixed ring away from the rotating shaft, and the electric push rod is fixedly connected to the inner wall of the collecting box. By providing the shaking mechanism, the welding slag discharged from the discharge pipe will fall onto the guide plate, and the electric push rod can be turned on to drive the guide plate to move up and down repeatedly. Through the cooperation of the transmission belt B, the rotating shaft and other components, the collision plate will also be driven to intermittently collide with the bottom of the guide plate, so that the guide plate will produce a small shake to prevent the welding slag from staying on the guide plate.

[0014] Optionally, the rotating shaft is connected to the threaded rod through a transmission belt B, and when the threaded rod rotates, the transmission belt B drives the rotating shaft to rotate.

[0015] Optionally, the end of the collision plate away from the fixed ring is close to the bottom of the guide plate, and the output end of the electric push rod is fixedly connected to the bottom of the guide plate. When the rotating shaft drives the fixed ring to rotate, the collision plate will be driven to hit the bottom of the guide plate. Turning on the electric push rod can drive the guide plate to rise and fall.

[0016] The working principle and beneficial effects of the present invention are:

[0017] 1. The present invention is provided with a movable cleaning mechanism, so that the suction fan can be turned on when the welding of the objects is finished. The suction fan will generate suction to suck the welding slag and discharge it from the discharge pipe. When welding the next group of objects, the mobile motor can be turned on to drive the rotating shaft to rotate. At this time, the suction fan will be driven to move to the rear end away from the top of the workbench through the cooperation of the transmission belt A, the rotating rod, the first connecting plate, and the second connecting plate assembly to prevent the collision with the robot arm during the welding process and affect the welding process.

[0018] 2. In the present invention, by providing a collection and ejection mechanism, the welding slag discharged from the discharge pipe will fall onto the guide plate and slide down along the guide plate into the collection box. After starting the rotation motor to drive the threaded rod to rotate forward and then reverse, the push plate can move back and forth to push the welding slag in the collection box towards the discharge port for discharge, thereby achieving the effect of centralized collection and automatic discharge.

[0019] 3. In the present invention, by providing a shaking mechanism, when the welding slag discharged from the discharge pipe falls onto the guide plate, the electric push rod can be started to drive the guide plate to move up and down repeatedly. Through the cooperation of components such as the transmission belt B and the rotating shaft, the collision plate will also drive the guide plate to intermittently collide with the bottom of the guide plate, thereby cooperating to cause the guide plate to vibrate slightly and prevent the welding slag from staying on the guide plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above characteristics, technical features, advantages and their implementation manners of the present invention will be further described below in a clear and understandable manner in combination with the drawings of the preferred embodiments.

[0021] Figure 1 is a three-dimensional schematic diagram of the overall structure of the present invention;

[0022] Figure 2 is a three-dimensional schematic diagram of the structure of the movable cleaning mechanism of the present invention;

[0023] Figure 3 For the present invention Figure 1 is an enlarged view of the structure at A in the present invention;

[0024] Figure 4 is a three-dimensional schematic diagram of the structure of the collection and ejection mechanism of the present invention;

[0025] Figure 5 is a three-dimensional sectional view of the structure of the collection and ejection mechanism of the present invention;

[0026] Figure 6 is a three-dimensional schematic diagram of the structure of the shaking mechanism of the present invention;

[0027] Figure 7 is a three-dimensional schematic diagram of the structure at the electric push rod of the present invention.

[0028] In the figure: 1, base; 2, workbench; 3, robotic arm; 4, baffle; 5, movable cleaning mechanism; 51, fixed seat; 52, first connecting plate; 53, second connecting plate; 54, third connecting plate; 55, suction fan; 56, discharge pipe; 57, rotating shaft; 58, fixing plate; 59, rotating rod; 510, moving motor; 511, drive belt A; 6, collecting and pushing mechanism; 61, collecting box; 62, mounting plate; 63, guiding plate; 64, discharge opening; 65, threaded rod; 66, rotating motor; 67, pushing plate; 7, shaking mechanism; 71, rotating shaft; 72, drive belt B; 73, fixing ring; 74, collision plate; 75, electric push rod; 8, welding torch. Detailed implementation manners

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings, and other implementation manners can also be obtained.

[0030] To make the drawings concise, only the parts related to the invention are schematically shown in each drawing, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, parts with the same structure or function are only schematically shown for one of them, or only one of them is marked. In this article, "one" not only means "only this one", but also means "more than one" situation, and "several" includes "two" and "more than two".

[0031] In this article, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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 the present invention can be understood according to specific situations.

[0032] In addition, in the description of this application, the terms "first", "second", etc. are only used for distinguishing descriptions, and cannot be understood as indicating or implying relative importance.

[0033] Embodiment 1

[0034] Refer to Figures 1 to 7, which is the first embodiment of the present invention, proposes a welding robot with an automatic slag cleaning function, including a base 1. A workbench 2 is fixedly connected to the top of the base 1. A robotic arm 3 is arranged on the top of the workbench 2. A welding torch 8 is arranged at one end of the robotic arm 3 away from the workbench 2. A baffle 4 is fixedly connected to the top of the workbench 2. A movable cleaning mechanism 5 and a collection and ejection mechanism 6 are arranged on the top of the base 1; The movable cleaning mechanism 5 includes a fixed seat 51 and a transmission belt A511. The fixed seat 51 is fixedly connected to the top of the base 1. A rotating rod 59 is rotatably connected to the inside of the fixed seat 51. A first connecting plate 52 is fixedly connected to the surface of the rotating rod 59. One end of the first connecting plate 52 is hinged to a second connecting plate 53. The other end of the first connecting plate 52 is rotatably connected to a fixing plate 58. One end of the second connecting plate 53 away from the first connecting plate 52 is hinged to a third connecting plate 54. An air suction fan 55 is arranged at the bottom of the third connecting plate 54. A discharge pipe 56 is arranged at the rear end of the air suction fan 55. In the initial state, the air suction fan 55 is located above the workbench 2. When the air suction fan 55 is turned on, it will suck the welding slag above the workbench 2 and discharge it through the discharge pipe 56. A moving motor 510 is fixedly installed inside the fixed seat 51. The rotating shaft 57 is fixedly connected to the output shaft of the moving motor 510. The rotating rod 59 is in transmission connection with the rotating shaft 57 through the transmission belt A511. One end of the rotating shaft 57 away from the moving motor 510 is rotatably connected to the fixing plate 58, and one end of the fixing plate 58 away from the rotating shaft 57 is fixedly connected to the inner side wall of the base 1. The fixing plate 58 is fixed inside the base 1 and will not rotate. When the moving motor 510 drives the rotating shaft 57 to rotate, the rotating shaft 57 will drive the rotating rod 59 to rotate through the transmission belt A511.

[0035] In this embodiment, the item to be welded is placed on the top of the workbench 2. By controlling the extension of the robotic arm 3, the welding torch 8 is driven to move closer to the item. Subsequently, the item can be welded by the welding torch 8. The welding slag generated during welding will fall onto the top of the workbench 2, and the baffle 4 can prevent the welding slag from falling too dispersedly. When the air suction fan 55 is turned on, the air suction fan 55 will generate suction to suck the welding slag on the top of the workbench 2 and discharge it through the discharge pipe 56, so as to achieve the effect of cleaning the welding slag on the top of the workbench 2. When welding the next group of items, the moving motor 510 can be turned on. The moving motor 510 will drive the rotating shaft 57 to rotate counterclockwise through its output shaft. The fixing plate 58 is fixed inside the base 1 and will not rotate. The rotating shaft 57 will drive the rotating rod 59 to rotate counterclockwise through the transmission belt A511. The counterclockwise rotation of the rotating rod 59 will cause the first connecting plate 52 to rotate counterclockwise by a certain angle. The counterclockwise rotation of the first connecting plate 52 drives the second connecting plate 53 and the third connecting plate 54 to move backward, thereby driving the air suction fan 55 to move backward and leave above the workbench 2, preventing collision with the robotic arm 3 during welding and affecting the welding process.

[0036] Embodiment 2

[0037] Referring to Figures 1 to 7 , which is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is that the collecting and pushing mechanism 6 includes a collecting box 61. The bottom of the collecting box 61 is fixedly connected to the top of the base 1. The top of the collecting box 61 is fixedly connected with a mounting plate 62. A guiding plate 63 is slidably connected inside the collecting box 61. A discharge port 64 is formed at the rear end of the collecting box 61. A threaded rod 65 is rotatably connected inside the collecting box 61. A rotating motor 66 is fixedly installed inside the collecting box 61. A pushing plate 67 is slidably connected inside the collecting box 61. The pushing plate 67 is threadedly connected to the threaded rod 65 through an internal thread. The output shaft of the rotating motor 66 is fixedly connected to the threaded rod 65. When the rotating motor 66 is started, it will drive the threaded rod 65 to rotate through its output shaft. When the threaded rod 65 rotates, it will drive the pushing plate 67 to move forward or backward along the collecting box 61. One end of the discharge pipe 56 away from the suction fan 55 penetrates and is fixedly connected to the mounting plate 62. The guiding plate 63 is inclined. The bottom of the pushing plate 67 is in contact with the inner bottom of the collecting box 61. The welding slag discharged from the discharge pipe 56 will fall onto the guiding plate 63 and slide down along the guiding plate 63 to the bottom of the collecting box 61. When the pushing plate 67 moves backward, it will push the welding slag towards the discharge port 64. A shaking mechanism 7 is arranged inside the collecting box 61. The shaking mechanism 7 includes a rotating shaft 71 and an electric push rod 75. The rotating shaft 71 is rotatably connected to the inner side wall of the collecting box 61. A transmission belt B72 is arranged on the surface of the rotating shaft 71. The rotating shaft 71 is in transmission connection with the threaded rod 65 through the transmission belt B72. When the threaded rod 65 rotates, it will drive the rotating shaft 71 to rotate through the transmission belt B72. A fixing ring 73 is fixedly connected to the surface of the rotating shaft 71. One end of the fixing ring 73 away from the rotating shaft 71 is hinged with a collision plate 74. The electric push rod 75 is fixedly connected to the inner wall of the collecting box 61. One end of the collision plate 74 away from the fixing ring 73 is close to the bottom of the guiding plate 63, and the output end of the electric push rod 75 is fixedly connected to the bottom of the guiding plate 63. When the rotating shaft 71 drives the fixing ring 73 to rotate, it will drive the collision plate 74 to hit the bottom of the guiding plate 63. Turning on the electric push rod 75 can drive the guiding plate 63 to lift and lower.

[0038] Compared with Embodiment 1, further, the welding slag discharged from the discharge pipe 56 will fall onto the guide plate 63 and slide down along the guide plate 63 to the bottom of the collection box 61. At this time, the rotation motor 66 can be turned on to drive the threaded rod 65 to rotate forward and then reverse. During the process of the threaded rod 65 rotating forward and then reverse, it will drive the push plate 67 to move backward and then forward along the collection box 61 through the cooperation between the threads and return to the original position. During the process of the push plate 67 repeatedly moving backward, it will push the welding slag at the bottom of the collection box 61 towards the discharge port 64 for discharging, thereby achieving the effect of centralized collection and automatic discharge. When the middle threaded rod 65 rotates, it will drive the rotating shaft 71 to rotate through the transmission belt B72. The rotation of the rotating shaft 71 will drive the fixed ring 73 to rotate. The rotation of the fixed ring 73 will drive the collision plate 74 to collide with the bottom of the guide plate 63. The collision plate 74 hinged to the fixed ring 73 will not be stuck with the guide plate 63. During this process, the electric push rod 75 can also be opened to drive the guide plate 63 to repeatedly lift and lower. Through the repeated lifting and lowering of the guide plate 63 and the intermittent collision of the collision plate 74 with the bottom of the guide plate 63, the guide plate 63 will generate small-amplitude vibrations to prevent the welding slag from staying on the guide plate 63.

[0039] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A welding robot with automatic welding slag cleaning function, characterized in that: The invention comprises a base (1), the top of the base (1) is fixedly connected to a workbench (2), the top of the workbench (2) is provided with a mechanical arm (3), the end of the mechanical arm (3) away from the workbench (2) is provided with a welding gun (8), the top of the workbench (2) is fixedly connected to a baffle (4), and the top of the base (1) is provided with a movable cleaning mechanism (5) and a collecting and ejecting mechanism (6); The movable cleaning mechanism (5) comprises a fixed seat (51) and a transmission belt A (511); the fixed seat (51) is fixedly connected to the top of the base (1); a rotating rod (59) is rotatably connected to the inner side of the fixed seat (51); a first connecting plate (52) is fixedly connected to the surface of the rotating rod (59); one end of the first connecting plate (52) is hingedly connected to a second connecting plate (53); the other end of the first connecting plate (52) is rotatably connected to a fixed plate (58); an end of the second connecting plate (53) away from the first connecting plate (52) is hingedly connected to a third connecting plate (54); a suction fan (55) is provided at the bottom of the third connecting plate (54); a discharge pipe (56) is provided at the rear end of the suction fan (55); a movable motor (510) is fixedly installed on the inner side of the fixed seat (51); the movable motor (510) is fixedly connected to a rotating shaft (57) via its output shaft; and the rotating rod (59) is transmission-connected to the rotating shaft (57) via the transmission belt A (511).

2. A welding robot with automatic welding slag cleaning function according to claim 1, characterized in that: One end of the rotating shaft (57) away from the moving motor (510) is rotatably connected to the fixed plate (58), and one end of the fixed plate (58) away from the rotating shaft (57) is fixedly connected to the inner side wall of the base (1).

3. A welding robot with automatic welding slag cleaning function according to claim 2, characterized in that: In an initial state, the suction fan (55) is located above the workbench (2).

4. A welding robot with automatic welding slag cleaning function according to claim 3, characterized in that: The collecting and pushing mechanism (6) comprises a collecting box (61), the bottom of the collecting box (61) is fixedly connected to the top of the base (1), the top of the collecting box (61) is fixedly connected to a mounting plate (62), the interior of the collecting box (61) is slidably connected to a guide plate (63), a rear end of the collecting box (61) is provided with a discharge port (64), the interior of the collecting box (61) is rotatably connected to a threaded rod (65), the interior of the collecting box (61) is fixedly mounted with a rotating motor (66), the interior of the collecting box (61) is slidably connected to a pushing plate (67), and a shaking mechanism (7) is provided inside the collecting box (61).

5. The welding robot with automatic welding slag cleaning function according to claim 4, characterized in that: The push plate (67) is threadedly connected to the threaded rod (65) via an internal thread, and the output shaft of the rotary motor (66) is fixedly connected to the threaded rod (65).

6. The welding robot with automatic welding slag cleaning function according to claim 5, characterized in that: One end of the discharge pipe (56) away from the suction fan (55) penetrates and is fixedly connected to the mounting plate (62); the guide plate (63) is arranged at an angle; and the bottom of the push plate (67) fits into the inner bottom of the collection box (61).

7. The welding robot with automatic welding slag cleaning function according to claim 6, characterized in that: The shaking mechanism (7) comprises a rotating shaft (71) and an electric push rod (75); the rotating shaft (71) is rotatably connected to the inner wall of the collection box (61); and a transmission belt B (72) is provided on the surface of the rotating shaft (71).

8. The welding robot with automatic welding slag cleaning function according to claim 7, characterized in that: A fixing ring (73) is fixedly connected to the surface of the rotating shaft (71); an end of the fixing ring (73) away from the rotating shaft (71) is hingedly connected to a collision plate (74); and the electric push rod (75) is fixedly connected to the inner wall of the collection box (61).

9. The welding robot with automatic welding slag cleaning function according to claim 8, characterized in that: The rotating shaft (71) is transmission-connected to the threaded rod (65) via a transmission belt B (72).

10. A welding robot with automatic welding slag cleaning function according to claim 9, characterized in that: One end of the collision plate (74) away from the fixing ring (73) is close to the bottom of the guide plate (63), and the output end of the electric push rod (75) is fixedly connected to the bottom of the guide plate (63).

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