A truss robot welding equipment and method

Abstract

This invention relates to the field of welding equipment and discloses a truss robot welding device and method. The truss robot welding device includes a truss, a welding robot, a semi-ring tube, a semi-ring body, a linear actuator, a drive component, a pressing mechanism, a pressure supply mechanism, and a striking mechanism. The welding robot is mounted on the truss. Two semi-ring tubes form a ring body, with one end rotatably connected to allow relative rotation between the two semi-ring tubes, and the other end detachably connected to adjust the opening and closing size. The ring body slides on the semi-ring tubes and is connected to the linear actuator, which drives the ring body to slide on the semi-ring tubes. This invention stabilizes the workpiece using electromagnetic force and magnetorheological fluid, solving the problem of welding displacement of irregularly shaped workpieces and improving welding accuracy. The striking mechanism densifies the weld metal, reduces defects, removes stress, and improves strength and toughness. The semi-ring tubes can be flexibly adjusted to adapt to different workpiece sizes, making operation convenient, improving production efficiency, and meeting diverse welding needs.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and more specifically, to a truss robot welding device and method. Background Technology

[0002] The gantry robot welding equipment is a type of welding equipment that integrates automation, precision, and efficiency. It is widely used in welding tasks in industrial production, especially in the case of large-scale production, complex parts, and high precision requirements. By combining the gantry structure with the movement of the robotic arm, the gantry robot can achieve precise positioning and efficient operation in three-dimensional space.

[0003] Existing gantry robot welding equipment faces the problem of poor clamping stability when performing welding operations on irregularly shaped workpieces. The surface of irregularly shaped workpieces is often not flat, and conventional clamping devices are difficult to provide effective support and limitation. During the welding operation of rotating around the workpiece, this lack of support and limitation is further amplified. During the welding process, the workpiece may shift or shake, which not only reduces the welding accuracy but may also lead to welding defects, seriously affecting product quality and production efficiency. Summary of the Invention

[0004] This invention provides a truss robot welding equipment and method, solving the technical problem in related technologies that make it inconvenient to provide stable support for irregularly shaped workpieces.

[0005] This invention provides a truss robot welding device, including a truss, a welding robot, a semi-ring pipe, a semi-ring body, a linear actuator, a drive component, a pressing mechanism, a pressure supply mechanism, and a striking mechanism;

[0006] The welding robot is mounted on the truss;

[0007] The two semi-ring tubes form a ring body, with one end rotatably connected so that the two semi-ring tubes can rotate relative to each other, and the other end detachably connected to adjust the opening and closing size. The ring body is slidably sleeved on the semi-ring tubes and connected to a linear actuator, which drives the ring body to slide on the semi-ring tubes.

[0008] The pressing mechanism and the striking mechanism are installed on the semi-circular tube. The pressing mechanism operates through the pressure supply mechanism to achieve pressing or releasing the pressing action on the workpiece. The pressing mechanism includes an electromagnetic ring to complete the pressing action and apply magnetic force to the weld joint.

[0009] When the driving component drives the semi-circular tube to rotate, the striking mechanism impacts the welded workpiece under the combined action of gravity and the magnetic attraction of the electromagnetic ring.

[0010] As a further optimization of the present invention, the linear actuator includes a support base, a rodless cylinder, and a guide rail. The rodless cylinder and the guide rail are both mounted on the support base, and the output end of the rodless cylinder is connected to the slide of the guide rail.

[0011] As a further optimization of the present invention, the driving component includes a driving motor, a driving disk, and a mounting bracket. The driving motor is mounted on the mounting bracket. One mounting bracket is fixedly connected to a support base, and the other mounting bracket is fixedly connected to a slide of the guide rail. The mounting bracket is fixedly connected to a semi-annular body. The driving disk is fixedly mounted on the driving shaft of the driving motor and engages with the semi-annular tube in a transmission cooperation.

[0012] As a further optimization of the present invention, the pressing mechanism includes a sleeve, a moving rod, a torsion spring, a rotating shaft, a connecting block, and a bladder. The connecting block is mounted on the semi-ring tube. The sleeve is rotatably connected to the connecting block via the rotating shaft and communicates with the semi-ring tube via a connecting pipe. The torsion spring is movably sleeved on the outer circumference of the rotating shaft. One end of the torsion spring is fixedly connected to the connecting block, and the other end is fixedly connected to the sleeve. One end of the moving rod slides into the interior of the sleeve, and the other end is fixedly connected to the bladder. The interior of the bladder contains magnetorheological fluid. The electromagnetic ring is assembled on the moving rod to act on the magnetorheological fluid. The semi-ring tube is provided with a positioning element, and the positioning element releases the positioning of the sleeve when the semi-ring tube rotates away.

[0013] As a further optimization of the present invention, the positioning component includes a T-shaped positioning rod, a spring, and a pull rope. The insertion end of the T-shaped positioning rod is inclined and slides through the connecting block and extends into the outer wall of the sleeve. The connecting block is connected to the T-shaped end of the T-shaped positioning rod through the spring. One end of the pull rope is fixedly connected to the adjacent semi-ring tube. The pull rope is connected to the T-shaped positioning rod through a branch rope. A guide for guiding the pull rope is installed on the semi-ring tube.

[0014] As a further optimization of the present invention, the pressure supply mechanism includes a housing, a driver, and a push plate. The housing is mounted on a semi-circular pipe and communicates with the inside of the semi-circular pipe. The housing and the inside of the semi-circular pipe contain liquid. The push plate is slidably sleeved inside the housing. The driver is mounted on the housing, and the driving end of the driver is fixedly connected to the push plate.

[0015] As a further optimization of the present invention, the striking mechanism includes a guide block and a striking rod, the guide block is mounted on a semi-circular body, and the striking rod is slidably sleeved on the guide block.

[0016] As a further optimization of the present invention, one end of the two semi-circular tubes is rotatably connected by a hinge, and the other end is connected by a snap lock.

[0017] As a further optimization of the present invention, a support rod is installed on one of the semi-annular bodies, and a roller is fitted on the support rod.

[0018] A truss robot welding method, using the aforementioned truss robot welding equipment, includes the following steps:

[0019] Step 1: Install the workpiece:

[0020] The workpiece is positioned in the middle of the semi-circular pipe. The rodless cylinder adjusts the clamping position, flips the pressure mechanism, the pressure supply mechanism squeezes the liquid, and the pressure mechanism presses against the workpiece.

[0021] Step 2, Welding and Hammering:

[0022] The welding robot welds the upper part of the workpiece. Then, the drive unit drives the semi-circular tube to rotate 180 degrees. During the rotation, the striking mechanism strikes the workpiece under the influence of gravity and the magnetism of the electromagnetic ring. Then, the flipped area is welded.

[0023] Step 3: Release the limit switch:

[0024] After welding is completed, the drive unit rotates the semi-circular tube 180 degrees, the pressure supply mechanism releases the limit, opens the latch lock, and rotates one semi-circular tube with the hinge to form an opening, and removes the workpiece.

[0025] The beneficial effects of this invention are as follows:

[0026] 1. The truss robot welding equipment of the present invention, through the cooperation of the pressing mechanism and the pressure supply mechanism, uses electromagnetic force and magnetorheological fluid to firmly press the workpiece, effectively solving the problem of displacement and shaking of irregular workpieces during the welding process, greatly improving welding accuracy, reducing welding defects, and improving product quality.

[0027] 2. The truss robot welding equipment described in this invention uses a hammering mechanism to impact the workpiece during the welding process, making the weld metal denser, reducing internal porosity and other defects, while also removing welding stress and improving the strength and toughness of the weld joint.

[0028] 3. The truss robot welding equipment and method described in this invention, through the setting of one end of the semi-ring tube being rotatably connected and the other end being detachably connected, facilitates the release of positioning, allows for flexible adjustment of the opening and closing size of the ring body, adapts to workpieces of different sizes and shapes, the entire operation process is simple and convenient, improves production efficiency, can quickly position different workpieces, and meets diverse welding needs. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of a truss robot welding device proposed in this invention.

[0030] Figure 2 This is a schematic diagram of the semi-circular tube structure in a truss robot welding device proposed in this invention.

[0031] Figure 3 This is a schematic diagram of the sleeve structure in a truss robot welding device proposed in this invention.

[0032] Figure 4 This is a schematic diagram of the internal structure of the box in a truss robot welding device proposed in this invention.

[0033] Figure 5 This is a side sectional view of the semi-circular pipe in a truss robot welding device proposed in this invention.

[0034] Figure 6 This is a schematic diagram of the semi-circular structure in a truss robot welding device proposed in this invention.

[0035] Figure 7 This is a schematic diagram of the connecting block in a truss robot welding device proposed in this invention.

[0036] Figure 8 This is a side sectional view of the sleeve structure in a truss robot welding equipment proposed in this invention.

[0037] In the picture:

[0038] 1. Truss;

[0039] 2. Welding robot;

[0040] 3. Semi-circular pipe;

[0041] 4. Semi-circular body;

[0042] 5. Linear actuator; 51. Support base; 52. Rodless cylinder; 53. Guide rail;

[0043] 6. Driving components; 61. Drive motor; 62. Drive disk; 63. Mounting bracket;

[0044] 7. Pressing mechanism; 71. Electromagnetic ring; 72. Sleeve; 73. Moving rod; 74. Torsion spring; 75. Rotating shaft; 76. Connecting block; 77. Bag; 78. Connecting pipe; 79. T-shaped positioning rod; 710. Spring; 711. Pull rope; 712. Dividing rope; 713. Guide component;

[0045] 8. Pressure supply mechanism; 81. Housing; 82. Driver; 83. Push plate;

[0046] 9. Striking mechanism; 91. Guide block; 92. Striking rod;

[0047] 10. Hinge;

[0048] 11. Hook and latch lock;

[0049] 12. Support rod;

[0050] 13. Rollers;

[0051] 14. Arc-shaped pipe;

[0052] 15. Arc-shaped conduit. Detailed Implementation

[0053] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0054] like Figures 1 to 2 As shown in the figure, a truss robot welding equipment according to an embodiment of the present invention includes a truss 1, a welding robot 2, a semi-ring pipe 3, a semi-ring body 4, a linear actuator 5, a drive component 6, a pressing mechanism 7, a pressure supply mechanism 8, and a striking mechanism 9.

[0055] Welding robot 2 is mounted on truss 1;

[0056] Two semi-ring tubes 3 form a ring body. One end is rotatably connected so that the two semi-ring tubes 3 can rotate relative to each other. The other end is detachably connected to adjust the opening and closing size. The semi-ring body 4 is slidably sleeved on the semi-ring tube 3 and connected to the linear actuator 5. The linear actuator 5 drives the semi-ring body 4 to slide on the semi-ring tube 3.

[0057] The pressing mechanism 7 and the striking mechanism 9 are installed on the semi-circular tube 3. The pressing mechanism 7 operates through the pressure supply mechanism 8 to achieve pressing or releasing the pressing action on the workpiece. The pressing mechanism 7 includes an electromagnetic ring 71 to complete the pressing action and the magnetic action on the welding joint by means of electromagnetic force.

[0058] When the driving component 6 drives the semi-ring tube 3 to rotate, the striking mechanism 9 impacts the welded workpiece under the combined action of gravity and the magnetic adsorption of the electromagnetic ring 71.

[0059] Truss 1 provides a supportive and stable frame structure. Welding robot 2 is mounted on truss 1, enabling precise welding positioning and welding operations with its support. Two semi-ring tubes 3 are rotatably connected at one end, allowing relative rotation, and are detachably connected at the other end. This configuration allows for flexible adjustment of the ring's opening and closing size according to the workpiece's dimensions and shape, facilitating placement of the workpiece in a suitable position. Semi-ring body 4 slides onto semi-ring tube 3 and is connected to linear actuator 5. After activation, linear actuator 5 allows for approaching and manipulating different positions of the workpiece. Pressing mechanism 7 and striking mechanism 9 are mounted on semi-ring tube 3. Pressing mechanism 7 operates via pressure supply mechanism 8. When pressure supply mechanism 8 is working, it provides pressure to the pressing mechanism. 7 provides power so that the pressing mechanism 7 can press and fix the workpiece to prevent displacement during welding. The electromagnetic ring 71 in the pressing mechanism 7 can not only complete the pressing action with the help of electromagnetic force, but also use magnetism to affect the magnetic field of the welding area during welding, thereby improving the welding effect. The driving component 6 drives the semi-ring tube 3 to rotate. During the rotation, the striking mechanism 9 impacts the workpiece under the combined action of gravity and the magnetic adsorption of the electromagnetic ring 71. Gravity causes the striking mechanism 9 to tend to move downward, while the magnetic adsorption of the electromagnetic ring 71 enhances the impact force of the striking mechanism 9. This impact can make the metal at the weld more dense, reduce welding defects, remove stress, and improve welding quality.

[0060] Reference Figure 2 The linear actuator 5 includes a support base 51, a rodless cylinder 52, and a guide rail 53. Both the rodless cylinder 52 and the guide rail 53 are mounted on the support base 51, and the output end of the rodless cylinder 52 is connected to the slide of the guide rail 53.

[0061] In the linear actuator 5, the support base 51 carries and fixes the rodless cylinder 52 and the guide rail 53. The rodless cylinder 52 serves as a power source, pushing the slide of the guide rail 53 connected to its output end to slide. The guide rail 53 provides guidance for the slide, allowing the slide to move smoothly in a predetermined direction. Since the semi-annular body 4 is connected to the slide of the guide rail 53, it is convenient to limit the position of a semi-annular body 4 while adjusting its horizontal position.

[0062] Reference Figure 2 The drive component 6 includes a drive motor 61, a drive disc 62, and a mounting bracket 63. The drive motor 61 is mounted on the mounting bracket 63. One mounting bracket 63 is fixedly connected to the support base 51, and the other mounting bracket 63 is fixedly connected to the slide of the guide rail 53. The mounting bracket 63 is fixedly connected to the semi-annular body 4. The drive disc 62 is fixedly mounted on the drive shaft of the drive motor 61 and is in transmission cooperation with the semi-annular tube 3.

[0063] It should be noted that the drive motor 61 is mounted on the mounting bracket 63. After the drive motor 61 is started, its drive shaft rotates, which drives the drive disc 62, which is fixedly mounted on the shaft, to rotate. One mounting bracket 63 is fixedly connected to the support base 51, and the other mounting bracket 63 is fixedly connected to the slide of the guide rail 53. The mounting bracket 63 is also fixedly connected to the semi-annular body 4. In this way, when the drive disc 62 rotates, it can drive the semi-annular tube 3 to rotate through the transmission cooperation with the semi-annular tube 3. Since the semi-annular tube 3 is equipped with the pressing mechanism 7, the striking mechanism 9, and the workpiece, the rotation of the semi-annular tube 3 can realize the welding operation of the workpiece at different angles. At the same time, it can also make the striking mechanism 9 strike the workpiece when rotating.

[0064] Reference Figure 2 , Figure 3 , Figure 7 and Figure 8 The pressing mechanism 7 includes a sleeve 72, a moving rod 73, a torsion spring 74, a rotating shaft 75, a connecting block 76, and a bladder 77. The connecting block 76 is mounted on the semi-ring tube 3. The sleeve 72 is rotatably connected to the connecting block 76 via the rotating shaft 75 and is connected to the semi-ring tube 3 via a connecting pipe 78. The torsion spring 74 is movably sleeved on the outer circumference of the rotating shaft 75. One end of the torsion spring 74 is fixedly connected to the connecting block 76, and the other end is fixedly connected to the sleeve 72. One end of the moving rod 73 slides into the interior of the sleeve 72, and the other end is fixedly connected to the bladder 77. The interior of the bladder 77 contains magnetorheological fluid. An electromagnetic ring 71 is mounted on the moving rod 73 to act on the magnetorheological fluid. The semi-ring tube 3 is provided with a positioning element, and the positioning element releases the positioning of the sleeve 72 when the semi-ring tube 3 is rotated away.

[0065] It should be noted that in the pressing mechanism 7, the connecting block 76 is installed on the semi-ring tube 3, serving a fixing and supporting function. The sleeve 72 is rotatably connected to the connecting block 76 via the rotating shaft 75 and is connected to the semi-ring tube 3 via the connecting pipe 78. The torsion spring 74 is movably sleeved on the outer circumference of the rotating shaft 75, with one end fixedly connected to the connecting block 76 and the other end fixedly connected to the sleeve 72. The function of the torsion spring 74 is to keep the sleeve 72 in an initial position when no external force is applied. The initial position is parallel to the central axis of the semi-ring tube 3. One end of the moving rod 73 slides into the interior of the sleeve 72, and the other end is fixedly connected to the capsule 77. The capsule 77 contains magnetorheological fluid. When supplied with... When the pressing mechanism 8 is working, the pressure inside the semi-ring tube 3 changes and is transmitted to the sleeve 72 through the connecting pipe 78, pushing the moving rod 73 to slide inside the sleeve 72, thereby driving the capsule 77 and the electromagnetic ring 71 to approach the workpiece and realize the pressing action. The capsule 77 is a rubber capsule to adapt to the shape of the workpiece being pressed. When the electromagnetic ring 71 is energized, it generates magnetism, which acts on the magnetorheological fluid, causing the viscosity of the magnetorheological fluid to change. This makes the position of the capsule 77 stable after it adapts to the workpiece, further enhancing the pressing effect. The positioning component positions the sleeve 72 to prevent it from rotating arbitrarily. When the semi-ring tube 3 is rotated away, the positioning component releases the positioning of the sleeve 72, making it convenient to adjust the pressing mechanism 7.

[0066] Reference Figure 3 , Figure 7 and Figure 8 The positioning components include a T-shaped positioning rod 79, a spring 710, and a pull rope 711. The insertion end of the T-shaped positioning rod 79 is inclined and slides through the connecting block 76, extending into the outer wall of the sleeve 72. The connecting block 76 is connected to the T-shaped end of the T-shaped positioning rod 79 through the spring 710. One end of the pull rope 711 is fixedly connected to the adjacent semi-ring tube 3. The pull rope 711 is connected to the T-shaped positioning rod 79 through a branch rope 712. A guide 713 for guiding the pull rope 711 is installed on the semi-ring tube 3.

[0067] Specifically, the guide 713 is a guide wheel or a ball. When a ball is selected, the pull rope 711 slides through the ball.

[0068] It should be noted that the T-shaped positioning rod 79 in the positioning component is inclined at the insertion end, slides through the connecting block 76 and extends into the outer wall of the sleeve 72. The connecting block 76 is connected to the T-shaped end of the T-shaped positioning rod 79 through the spring 710. The spring 710 always exerts a force on the T-shaped positioning rod 79 in the direction of the sleeve 72, so that the T-shaped positioning rod 79 can be tightly inserted into the outer wall of the sleeve 72 to achieve the positioning of the sleeve 72. One end of the pull rope 711 is fixedly connected to the adjacent semi-ring tube 3 and is connected to the T-shaped positioning rod 79 through the branch rope 712. When the ring formed by the semi-ring tube 3 forms an opening, that is, when the semi-ring tube 3 is rotated out, the pull rope 711 is pulled, and the T-shaped positioning rod 79 is driven to move outward against the tension of the spring 710 through the branch rope 712, thereby releasing the positioning of the sleeve 72. The guide 713 installed on the semi-ring tube 3 is used to guide the pull rope 711.

[0069] Reference Figure 2 and Figure 4 The pressure supply mechanism 8 includes a housing 81, a driver 82, and a push plate 83. The housing 81 is mounted on a semi-circular pipe 3 and communicates with the inside of the semi-circular pipe 3. The housing 81 and the inside of the semi-circular pipe 3 contain liquid. The push plate 83 is slidably sleeved inside the housing 81. The driver 82 is mounted on the housing 81, and the driving end of the driver 82 is fixedly connected to the push plate 83. The driver 82 is a hydraulic cylinder or an electric push rod.

[0070] The housing 81 in the pressure supply mechanism 8 is mounted on a semi-circular pipe 3 and communicates with the inside of the semi-circular pipe 3. The housing 81 and the inside of the semi-circular pipe 3 contain liquid, which can be water or hydraulic oil. The push plate 83 is slidably sleeved inside the housing 81. The driver 82 is mounted on the housing 81, and its driving end is fixedly connected to the push plate 83. When the driver 82 works, it drives the push plate 83 to slide inside the housing 81. The sliding of the push plate 83 will squeeze the liquid inside the housing 81. Due to the incompressibility of the liquid, the pressure will be transmitted to the pressing mechanism 7 through the connected semi-circular pipe 3, which will push the moving rod 73 component in the pressing mechanism 7 to move. The housing 77 achieves pressing against the workpiece. When it is necessary to release the pressing, the driver 82 drives the push plate 83 to move in the opposite direction, closes the electromagnetic ring 71, and releases the pressing.

[0071] Reference Figure 2 The striking mechanism 9 includes a guide block 91 and a striking rod 92. The guide block 91 is mounted on the semi-annular body 4, and the striking rod 92 is slidably sleeved on the guide block 91. The two ends of the striking rod 92 form shielding parts, and the weight of the striking rod 92 is greater than the attraction force of the electromagnetic ring 71 on it.

[0072] It should be noted that the guide block 91 in the striking mechanism 9 is installed on the semi-annular body 4 to provide sliding guidance for the striking rod 92. The striking rod 92 is slidably sleeved on the guide block 91. When the driving component 6 drives the semi-annular tube 3 to rotate, the striking rod 92 tends to move downward under the action of gravity during the rotation. At the same time, the magnetism generated by the electromagnetic ring 71 will attract the striking rod 92, enhancing its downward impact force. Due to the guiding effect of the guide block 91, the striking rod 92 can only slide along the predetermined direction, thereby impacting the welded workpiece in a regular manner and improving the metal structure at the weld.

[0073] After welding, the material will vibrate when subjected to impact, and this will have the following effects:

[0074] Improve welding quality:

[0075] Grain refinement: The impact applied during welding generates vibration, which can produce additional new crystal nuclei in the weld and heat-affected zone, and break up the growing dendrites and Widmanstätten structure, resulting in uniform grain size and refined grains. The refined grains can improve the mechanical properties of the material.

[0076] Reduced defects: Vibration makes it easier for gases and inclusions in the molten pool to escape from the weld surface, reducing internal defects and microcrack initiation. At the same time, vibration helps impurities such as bubbles to float to the surface during crystallization, making hydrogen easier to remove and resulting in a smooth and uniform transition between the welding material and the base material, reducing stress concentration.

[0077] Optimizing residual stress distribution: Vibration can alter the thermal stress field, causing the weld to adjust its strain under thermal conditions, releasing constrained strain, and reducing the stress field gradient, thereby reducing or homogenizing the final welding residual stress. The distribution width of residual longitudinal stress can be reduced, and the average tensile stress of residual transverse stress can be significantly decreased.

[0078] Reduced post-weld processing: Since vibration welding can effectively reduce residual welding stress and welding deformation, the preheating process can be eliminated or the preheating temperature can be reduced. Post-weld heat aging or vibration aging treatment can also be eliminated.

[0079] Enhanced fracture toughness: Due to the refinement of grains and the reduction of residual stress, the crack resistance of the weld material is greatly improved.

[0080] Reference Figure 2 , Figure 5 and Figure 6 The contents are as follows: one end of the two semi-circular tubes 3 is rotatably connected by a hinge 10, and the other end is connected by a snap lock 11. An arc-shaped tube 14 is connected to one semi-circular tube 3, and an arc-shaped through tube 15 is connected to the other semi-circular tube 3. One end of the arc-shaped through tube 15 slides into the interior of the arc-shaped tube 14.

[0081] Two semi-ring tubes 3 are rotatably connected at one end by a hinge 10, allowing the two semi-ring tubes 3 to rotate relative to each other, facilitating the opening and closing of the ring body for placing and removing workpieces. The other end is connected by a latch lock 11, which can securely lock the two semi-ring tubes 3 together, ensuring the structural stability of the ring body during welding. When it is necessary to open the ring body, simply open the latch lock 11, and one semi-ring tube 3 can be rotated around the hinge 10 as an axis to form an opening, which facilitates the removal of the workpiece.

[0082] Reference Figure 2 The contents include a semi-circular body 4 on which a support rod 12 is installed, and a roller 13 is mounted on the support rod 12.

[0083] A support rod 12 installed on a semi-circular body 4 serves as an auxiliary support.

[0084] A truss robot welding method, using the aforementioned truss robot welding equipment, includes the following steps:

[0085] Step 1: Install the workpiece:

[0086] The workpiece is positioned in the middle of the semi-circular pipe 3. The rodless cylinder 52 adjusts the clamping position, flips the pressure mechanism 7, the pressure supply mechanism 8 squeezes the liquid, and the pressure mechanism 7 presses against the workpiece.

[0087] Step 2, Welding and Hammering:

[0088] Welding robot 2 welds the upper part of the workpiece. Then, drive component 6 drives semi-circular tube 3 to rotate 180 degrees. During the rotation, the striking mechanism 9 is subjected to gravity and the magnetism of electromagnetic ring 71 to strike the workpiece. Then, the flipped area is welded.

[0089] Step 3: Release the limit switch:

[0090] After welding is completed, the drive unit 6 drives the semi-circular tube 3 to rotate 180 degrees, the pressure supply mechanism 8 releases the limit, opens the latch lock 11, and rotates one semi-circular tube 3 with the hinge 10 to form an opening and remove the workpiece.

[0091] Working principle:

[0092] Installing the workpiece: Open the latch lock 11, rotate a semi-ring tube 3 around the hinge 10, place the workpiece in the middle of the semi-ring tube 3, start the rodless cylinder 52 in the linear actuator 5, the rodless cylinder 52 pushes the slide of the guide rail 53 to move, adjust to a suitable clamping position, flip the pressing mechanism 7 to be perpendicular to the central axis of the semi-ring tube 3, start the pressure supply mechanism 8, the driver 82 drives the push plate 83 to squeeze the liquid in the box 81, the liquid pressure is transmitted to the sleeve 72 of the pressing mechanism 7 through the semi-ring tube 3 and the connecting pipe 78, push the moving rod 73 to slide, so that the capsule 77 and the electromagnetic ring 71 are close to the workpiece, the electromagnetic ring 71 is energized to generate magnetism, which acts on the magnetorheological fluid in the capsule 77, causing its viscosity to change, enhancing the pressing effect, thereby firmly pressing the workpiece. At this time, the T-shaped positioning rod 79 in the positioning component is inserted into the outer wall of the sleeve 72 under the action of the spring 710, and the pressing mechanism 7 is stably positioned.

[0093] Welding and hammering: Under the support of the truss 1, the welding robot 2 welds the upper part of the workpiece. After welding, the drive unit 6 is started, and the drive motor 61 drives the drive disk 62 to rotate. Through the mounting frame 63, the semi-annular tube 3 rotates 180 degrees. During the rotation, the hammering rod 92 of the hammering mechanism 9 tends to move downward under the action of gravity. At the same time, the magnetism of the electromagnetic ring 71 generates an attraction force on it, which enhances the impact force. Due to the guiding effect of the guide block 91, the hammering rod 92 slides along the predetermined direction to hammer the workpiece and improve the metal structure at the weld. After the semi-annular tube 3 rotates 180 degrees, the welding robot 2 welds the flipped area.

[0094] Release of limit: After welding is completed, the drive component 6 drives the semi-ring tube 3 to rotate 180 degrees, the driver 82 of the pressure supply mechanism 8 drives the push plate 83 in the opposite direction to reduce the pressure inside the box 81, and at the same time closes the electromagnetic ring 71. The pressing mechanism 7 releases the pressure on the workpiece, opens the latch lock 11, rotates a semi-ring tube 3 around the hinge 10 as the axis to form an opening, and removes the workpiece. In the whole process, the support rod 12 and roller 13 installed on a semi-ring body 4 play an auxiliary support role.

[0095] The embodiments of the present invention have been described above, but the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the embodiments described above, all of which are within the protection scope of the embodiments described above.

Claims

1. A truss robot welding device, characterized in that, It includes a truss (1), a welding robot (2), a semi-circular pipe (3), a semi-circular body (4), a linear actuator (5), a drive component (6), a pressing mechanism (7), a pressure supply mechanism (8), and a striking mechanism (9); The welding robot (2) is mounted on the truss (1); The two semi-ring tubes (3) form a ring body, with one end rotatably connected so that the two semi-ring tubes (3) can rotate relative to each other, and the other end is detachably connected to adjust the opening and closing size. The semi-ring body (4) is slidably sleeved on the semi-ring tube (3) and connected to the linear actuator (5). The linear actuator (5) drives the semi-ring body (4) to slide on the semi-ring tube (3). The pressing mechanism (7) and the striking mechanism (9) are set on the semi-circular tube (3). The pressing mechanism (7) operates through the pressure supply mechanism (8) to achieve pressing or releasing the pressing action on the workpiece. The pressing mechanism (7) includes an electromagnetic ring (71) to complete the pressing action and the magnetic action on the welding joint by means of electromagnetic force. When the driving component (6) drives the semi-ring tube (3) to rotate, the striking mechanism (9) impacts the welded workpiece under the combined action of gravity and the magnetic adsorption of the electromagnetic ring (71). The pressing mechanism (7) includes a sleeve (72), a moving rod (73), a torsion spring (74), a rotating shaft (75), a connecting block (76), and a bladder (77). The connecting block (76) is mounted on the semi-ring pipe (3). The sleeve (72) is rotatably connected to the connecting block (76) via the rotating shaft (75) and is connected to the semi-ring pipe (3) via a connecting pipe (78). The torsion spring (74) is movably sleeved on the outer circumference of the rotating shaft (75). One end of the torsion spring (74) is connected to the... The connecting block (76) is fixedly connected, and the other end is fixedly connected to the sleeve (72). One end of the moving rod (73) slides into the inside of the sleeve (72), and the other end is fixedly connected to the capsule (77). The capsule (77) contains magnetorheological fluid. The electromagnetic ring (71) is mounted on the moving rod (73) to act on the magnetorheological fluid. The semi-ring tube (3) is provided with a positioning element, and the positioning element is released from positioning of the sleeve (72) by the rotation of the semi-ring tube (3). The pressure supply mechanism (8) includes a box (81), a driver (82) and a push plate (83). The box (81) is mounted on a semi-circular pipe (3) and communicates with the inside of the semi-circular pipe (3). The box (81) and the inside of the semi-circular pipe (3) are filled with liquid. The push plate (83) is slidably sleeved inside the box (81). The driver (82) is mounted on the box (81), and the driving end of the driver (82) is fixedly connected to the push plate (83). The striking mechanism (9) includes a guide block (91) and a striking rod (92). The guide block (91) is mounted on a semi-circular body (4), and the striking rod (92) is slidably sleeved on the guide block (91).

2. The truss robot welding equipment according to claim 1, characterized in that: The linear actuator (5) includes a support base (51), a rodless cylinder (52) and a guide rail (53). The rodless cylinder (52) and the guide rail (53) are both mounted on the support base (51), and the output end of the rodless cylinder (52) is connected to the slide of the guide rail (53).

3. The truss robot welding equipment according to claim 1, characterized in that: The driving component (6) includes a drive motor (61), a drive disk (62), and a mounting bracket (63). The drive motor (61) is mounted on the mounting bracket (63). One mounting bracket (63) is fixedly connected to the support base (51), and the other mounting bracket (63) is fixedly connected to the slide of the guide rail (53). The mounting bracket (63) is fixedly connected to the semi-annular body (4). The drive disk (62) is fixedly mounted on the drive shaft of the drive motor (61) and is in transmission cooperation with the semi-annular tube (3).

4. The truss robot welding equipment according to claim 1, characterized in that: The positioning component includes a T-shaped positioning rod (79), a spring (710), and a pull rope (711). The insertion end of the T-shaped positioning rod (79) is inclined and slides through the connecting block (76) and extends into the outer wall of the sleeve (72). The connecting block (76) is connected to the T-shaped end of the T-shaped positioning rod (79) through the spring (710). One end of the pull rope (711) is fixedly connected to the adjacent semi-ring tube (3). The pull rope (711) is connected to the T-shaped positioning rod (79) through the branch rope (712). A guide (713) for guiding the pull rope (711) is installed on the semi-ring tube (3).

5. The truss robot welding equipment according to claim 1, characterized in that: One end of the two semi-circular tubes (3) is rotatably connected by a hinge (10), and the other end is connected by a snap lock (11).

6. The truss robot welding equipment according to claim 1, characterized in that: A support rod (12) is mounted on one of the semi-circular bodies (4), and a roller (13) is mounted on the support rod (12).

7. A truss robot welding method, employing a truss robot welding device as described in any one of claims 2 to 6, characterized in that: Includes the following steps: Step 1: Install the workpiece: The workpiece is positioned in the middle of the semi-circular pipe (3), the rodless cylinder (52) adjusts the clamping position, the pressure mechanism (7) is flipped, the pressure supply mechanism (8) squeezes the liquid, and the pressure mechanism (7) presses the workpiece. Step 2, Welding and Hammering: The welding robot (2) welds the upper part of the workpiece, and then the drive (6) drives the semi-circular tube (3) to rotate 180 degrees. During the rotation, the striking mechanism (9) is subjected to gravity and the magnetism of the electromagnetic ring (71) to strike the workpiece, and then the flipped area is welded. Step 3: Release the limit switch: After welding is completed, the drive unit (6) drives the semi-circular tube (3) to rotate 180 degrees, the pressure supply mechanism (8) releases the limit, opens the latch lock (11), and rotates one semi-circular tube (3) with the hinge (10) to form an opening and remove the workpiece.

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