Welding robot with self-adaptive function

Abstract

The invention discloses a welding robot with a self-adaptive function, and relates to the technical field of welding. The welding robot with the self-adaption function comprises a rack, an adjusting mechanism and a machining mechanism, the adjusting mechanism comprises a dovetail guide rail and a hydraulic cylinder, a strip-shaped hole is formed in the middle of the top of the dovetail guide rail, a curved surface supporting sliding plate is slidably mounted at the top of the dovetail guide rail, and a connecting column is fixedly connected to the middle of the top of an inner cavity of the curved surface supporting sliding plate; the machining mechanism comprises a controller and a large arm, a small arm is hinged to the top end of the large arm, an air cylinder is hinged between the bottom of the large arm and the surface of the large arm, a welding gun is fixedly installed at the end, away from the large arm, of the small arm, and a welding main machine is installed at the end, away from the welding gun, of the top of the small arm. A camera is fixedly installed in the middle of the surface of the welding gun, the purpose of high adaptability is achieved, adjustment can be conducted, deviation is not prone to occurring, and welding accuracy and quality are high.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and particularly to a welding robot with an adaptive function. Background Art

[0002] Welding is a necessary processing method in modern mechanical manufacturing. With the continuous development of technology and the rapid progress of society, the mechanical production industry has also made continuous progress, and the application of welding technology has become more and more extensive. A welding robot is an industrial robot engaged in welding. A welding robot mainly includes two parts: a robot and welding equipment. It is applied in many industries such as general machinery and metal structures in addition to the automotive industry. Through a welding robot system, product quality can be improved, flexibility can be enhanced, transfer time can be shortened, the working environment can be improved, the innovation image and labor productivity of an enterprise can be enhanced, and production costs can be reduced. In order to improve production efficiency and reduce labor costs, more and more welding robots are put into use.

[0003] At present, when a traditional welding robot performs welding processing, as the equipment runs, the weld seam will shift, resulting in the deviation of the welding gun from the weld seam, which is not convenient for adjustment, has poor adaptability, has great limitations, affects the welding quality, and is particularly inconvenient for welding the gap of some large-diameter cylindrical blanks. Summary of the Invention

[0004] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0005] A welding robot with an adaptive function, comprising:

[0006] A frame, and an adjustment mechanism installed on the top of the frame;

[0007] The adjustment mechanism includes a dovetail guide rail and a hydraulic cylinder. The bottom of the dovetail guide rail is fixedly installed at the middle of the top of the frame. The hydraulic cylinder is installed at the middle of the inner side of the dovetail guide rail. A strip-shaped hole is opened at the middle of the top of the dovetail guide rail. A curved surface support slide plate is slidably installed on the top of the dovetail guide rail. A connecting column is fixedly connected to the middle of the inner cavity top of the curved surface support slide plate. The connecting column passes through the center of the strip-shaped hole. The telescopic end of the hydraulic cylinder is fixedly connected to the surface of the connecting column. Rollers are rotatably installed at the arc concave surface of the inner wall of the curved surface support slide plate;

[0008] A processing mechanism, which is used for welding and processing a to-be-processed blank, and the processing mechanism is installed on the top of the curved surface support slide plate;

[0009] Among them, the processing mechanism includes a controller and a large arm. The controller is fixedly installed on the side of the top of the curved surface support slide plate. The large arm is installed on the side of the surface of the controller. The top end of the large arm is hinged with a small arm. A cylinder is hinged between the bottom of the large arm and the surface of the large arm. The end of the small arm away from the large arm is fixedly installed with a welding gun. A welding main machine is installed at the end of the small arm away from the welding gun. The welding gun is electrically connected to the welding main machine. A camera is fixedly installed at the middle of the surface of the welding gun. By using the controller to control the large arm, the large arm can be rotated to adjust the angle. And with the connection of the small arm, the position of the welding gun can be adjusted, and the cylinder is started to work. By using the extension and contraction of the telescopic end of the cylinder, the small arm can be driven to rotate and adjust the angle, and then the welding gun can be driven to move, so as to finely adjust the position of the welding gun, and thus adjust the bottom end of the welding gun to an appropriate distance from the weld of the to-be-processed cylindrical blank.

[0010] Preferably, the connecting column is installed vertically, and the surface of the connecting column fits with the inner side surface of the strip-shaped hole. By using the controller to process the information transmitted by the camera and combining the controller to control the flow direction of the hydraulic oil in the hydraulic cylinder through the solenoid valve, the telescopic end of the hydraulic cylinder can be extended and contracted, so that the connecting column is subjected to a pushing force and a pulling force, and thus the curved surface support slide plate will be driven to move. And under the connection of the controller and combined with the support of the large arm and the small arm, the welding gun can be moved, so as to adjust the position of the welding gun and make the bottom end of the welding gun coincide with the weld again, which has an adaptive function.

[0011] Preferably, the rollers are evenly distributed at the arc-shaped concave surface of the inner wall of the curved surface support slide plate. The groove in the middle of the surface of the roller fits with the edge of the top of the dovetail guide rail. By extending and contracting the telescopic end of the hydraulic cylinder to push and pull the connecting column, and using the groove in the middle of the surface of the roller to fit with the edge of the top of the dovetail guide rail to make the roller roll, the rolling friction between the roller and the dovetail guide rail can be utilized to make the curved surface support slide plate drive the whole processing mechanism to move smoothly and not easily get stuck.

[0012] Preferably, the cylinder is installed obliquely, and the cylinder is installed directly below the small arm, and the welding main machine is installed directly above the small arm.

[0013] When the welding gun welds the weld, the camera is used to take pictures of the position of the weld. As the bottom end of the welding gun deviates from the weld, the camera timely takes pictures of the position of the bottom end of the welding gun and the weld. And combined with the electrical connection between the camera and the controller, the camera transmits the signal collected after shooting to the controller, and through the processing of the information by the controller, it is convenient to adjust the position of the welding gun later, with strong adaptability and helpful for accurate welding.

[0014] Preferably, the welding gun is installed obliquely, the shooting port of the camera corresponds to the bottom end of the welding gun, and the camera is electrically connected to the controller.

[0015] Preferably, an auxiliary mechanism is installed between the controller and the welding host. The auxiliary mechanism includes a first connecting sleeve, a second connecting sleeve and a suction fan. The first connecting sleeve is installed at the side of the top of the controller, the second connecting sleeve is installed in the middle of the top of the welding host, the suction fan is fixedly installed at the side of the surface of the controller. A sleeve is communicated between the top of the first connecting sleeve and the top of the second connecting sleeve. An air duct is communicated at the position of the air inlet of the surface of the sleeve. The bottom end of the air duct is installed with a dust suction component. The dust suction component is installed at the bottom of the small arm and at the end far from the large arm. By passing the wire connecting the controller and the welding host through the first connecting sleeve into the inside of the sleeve and then into the inside of the welding host through the second connecting sleeve, the wire can be completely hidden inside the sleeve to protect the wire and the wire is not likely to be disordered.

[0016] Preferably, the air inlet at the bottom of the suction fan penetrates through the surface of the controller and extends into its interior. Both the sleeve and the air duct are flexible hoses. The air inside the controller is sucked out by the air inlet at the bottom end of the suction fan, and the sleeve is used to connect the controller and the welding host, so that the air inside the welding host is also sucked out, and air circulation can be carried out to accelerate the heat dissipation of the interior of the controller and the interior of the welding host, and the situation of high temperature is not likely to occur, which helps to extend the service life of the equipment.

[0017] Preferably, the dust suction component includes a supporting elastic strip and a cylindrical shell. The top end of the supporting elastic strip is fixedly connected to the bottom of the small arm and far from the large arm. The cylindrical shell is fixedly connected to the bottom end of the supporting elastic strip. The bottom end of the air duct extends into the inside of the cylindrical shell. A dust suction square pipe is communicated at the bottom of the outer cylindrical surface of the cylindrical shell. A steel wire brush is fixedly connected to the surface of the dust suction square pipe, and the steel wire brush is installed at the position of the air suction port at the bottom end of the dust suction square pipe. A sealing cover is fixedly installed at the bottom of the outer cylindrical surface of the cylindrical shell through screws, and the position of the sealing cover corresponds to the position of the dust suction square pipe. A herringbone frame is fixedly connected to the middle of the inner cavity of the cylindrical shell. A dust filter screen is fixedly connected to the middle of the top of the herringbone frame. By supporting the steel wire brush through the dust suction square pipe, the steel wire brush evenly distributed at the bottom of the dust suction square pipe can be located at the weld position of the cylindrical blank to be welded and processed, and the bottom end of the steel wire brush extends into the weld of the cylindrical blank. As the cylindrical blank rotates during welding and using the elasticity of the steel wire brush itself, the granular debris in the weld of the cylindrical blank can be removed.

[0018] Preferably, the supporting spring strip is arc-shaped. There are two supporting spring strips, and the two supporting spring strips are symmetrically installed along the central axis at the middle of the small arm.

[0019] As the casing sucks out the air in the welding main machine, the air in the air delivery channel flows along with the flow of the gas, so that the air in the cylindrical shell can be sucked. The dust suction square pipe is connected to the cylindrical shell, so that the outside air carries the dust and impurities in the weld of the cylindrical blank into the inside of the cylindrical shell, and the dust and impurities are filtered by the dust filter net, so that the dust and impurities in the weld of the cylindrical blank can be cleaned, and the dust and impurities are collected inside the cylindrical shell, reducing the influence of dust and impurities on welding.

[0020] Preferably, the wire brush is evenly distributed on the surface of the dust suction square pipe and close to the bottom. The dust suction square pipe is arc-shaped, and the dust suction square pipe is installed directly below the dust filter net.

[0021] The present invention provides a welding robot with an adaptive function, which has the following beneficial effects:

[0022] First, for the welding robot with an adaptive function, the controller is used to control the large arm, so that the large arm can rotate to adjust the angle. And with the connection of the small arm, the position of the welding gun is adjusted, and the air cylinder is started to work. The extension and contraction of the telescopic end of the air cylinder can drive the small arm to rotate and adjust the angle, so as to drive the welding gun to move, and the position of the welding gun can be finely adjusted, so that the bottom end of the welding gun is adjusted to an appropriate distance from the weld of the cylindrical blank to be processed.

[0023] Second, for the welding robot with an adaptive function, when the welding gun welds the weld, the camera is used to take pictures of the position of the weld. As the bottom end of the welding gun deviates from the weld, the camera timely takes pictures of the position of the bottom end of the welding gun and the weld, and combined with the electrical connection between the camera and the controller, the camera transmits the signal collected after shooting to the controller, and through the processing of the information by the controller, it is convenient to adjust the position of the welding gun later, with strong adaptability and helpful for accurate welding.

[0024] Third, for the welding robot with an adaptive function, the controller processes the information transmitted by the camera, and combined with the controller controlling the flow direction of the hydraulic oil in the hydraulic cylinder through the solenoid valve, the telescopic end of the hydraulic cylinder can be extended and contracted, so that the connecting column receives the driving force and the pulling force, which will drive the curved surface support slide plate to move, and under the connection of the controller, combined with the support of the large arm and the small arm, the welding gun can be moved, so as to adjust the position of the welding gun and make the bottom end of the welding gun coincide with the weld again, having an adaptive function.

[0025] IV. The welding robot with adaptive function extends and contracts through the telescopic end of the hydraulic cylinder to push and pull the connecting column. By making the groove in the middle of the roller surface fit with the edge at the top of the dovetail guide rail, the roller can roll. Then, the rolling friction between the roller and the dovetail guide rail can be utilized to make the curved surface support slide plate drive the whole processing mechanism to move smoothly without jamming.

[0026] V. For the welding robot with adaptive function, the wire connecting the controller and the welding host is inserted into the inside of the sleeve through the first connecting sleeve and then into the inside of the welding host through the second connecting sleeve. In this way, the wire can be completely hidden inside the sleeve to protect the wire and prevent the wire from getting disordered.

[0027] VI. The welding robot with adaptive function sucks out the air inside the controller through the air inlet at the bottom of the suction fan. And by connecting the controller and the welding host with the sleeve, the air inside the welding host is also sucked out, so that air circulation can be carried out to accelerate the heat dissipation inside the controller and the welding host, preventing high temperature and helping to extend the service life of the equipment.

[0028] VII. For the welding robot with adaptive function, by supporting the wire brush through the dust suction square pipe, the wire brushes evenly distributed at the bottom of the dust suction square pipe can be located at the weld position of the cylindrical blank to be welded. And the bottom end of the wire brush extends into the weld of the cylindrical blank. With the rotation of the cylindrical blank during welding and the elasticity of the wire brush itself, the particulate impurities in the weld of the cylindrical blank can be removed.

[0029] VIII. The welding robot with adaptive function makes the gas in the air delivery channel flow along with the flow of the gas, so as to suck the air inside the cylindrical shell. By connecting the dust suction square pipe and the cylindrical shell, the outside air can carry the dust and impurities in the weld of the cylindrical blank into the inside of the cylindrical shell, and the dust and impurities are filtered by the dust filter net. Thus, the dust and impurities in the weld of the cylindrical blank can be cleaned and collected inside the cylindrical shell, reducing the influence of dust and impurities on welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic structural diagram of the whole welding robot with adaptive function of the present invention;

[0031] Figure 2 is a schematic bottom view structural diagram of the welding robot with adaptive function of the present invention;

[0032] Figure 3Schematic diagram of the connection structure between the adjustment mechanism and the frame of the present invention;

[0033] Figure 4 Schematic diagram of the overall structure of the adjustment mechanism of the present invention;

[0034] Figure 5 Schematic diagram of the connection structure between the processing mechanism and the curved surface support skateboard of the present invention;

[0035] Figure 6 Schematic diagram of the overall structure of the processing mechanism of the present invention;

[0036] Figure 7 Schematic diagram of the overall structure of the auxiliary mechanism of the present invention;

[0037] Figure 8 Schematic diagram of the connection structure between the dust suction component and the small arm of the present invention;

[0038] Figure 9 Schematic diagram of the overall structure of the dust suction component of the present invention.

[0039] In the figure: 1. Frame; 2. Adjustment mechanism; 3. Processing mechanism; 4. Auxiliary mechanism; 21. Dovetail guide rail; 22. Hydraulic cylinder; 23. Strip hole; 24. Curved surface support skateboard; 25. Connecting column; 26. Roller; 31. Controller; 32. Big arm; 33. Small arm; 34. Air cylinder; 35. Welding gun; 36. Welding host; 37. Camera; 41. First connecting sleeve; 42. Second connecting sleeve; 43. Suction fan; 44. Sleeve; 45. Air delivery duct; 46. Dust suction component; 461. Support spring strip; 462. Cylindrical shell; 463. Dust suction square pipe; 464. Steel wire brush; 465. Sealing cover; 466. Herringbone frame; 467. Dust filter net. Detailed implementation manners

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0041] The first embodiment is as Figures 1 to 4 shown. The present invention provides a technical solution:

[0042] A welding robot with an adaptive function, comprising:

[0043] A frame 1 and an adjustment mechanism 2 installed on the top of the frame 1;

[0044] The processing mechanism 3 is used to perform welding processing on the blank to be processed, and the processing mechanism 3 is installed on the top of the curved surface support slide plate 24;

[0045] Among them, the processing mechanism 3 includes a controller 31 and a large arm 32. The controller 31 is fixedly installed on the side of the top of the curved surface support slide plate 24. The large arm 32 is installed on the side of the surface of the controller 31. The top end of the large arm 32 is hinged with a small arm 33. A cylinder 34 is hinged between the bottom of the large arm 32 and the surface of the large arm 32. One end of the small arm 33 away from the large arm 32 is fixedly installed with a welding gun 35. A welding main machine 36 is installed at one end of the top of the small arm 33 away from the welding gun 35. The welding gun 35 is electrically connected to the welding main machine 36. A camera 37 is fixedly installed at the middle of the surface of the welding gun 35. The staff can control the large arm 32 by using the controller 31, so that the large arm 32 can rotate to adjust the angle. And under the connection of the small arm 33, the position of the welding gun 35 can be adjusted, and the cylinder 34 is started to work. By using the extension and contraction of the telescopic end of the cylinder 34, the small arm 33 can be driven to rotate and adjust the angle, and the welding gun 35 can be driven to move, so that the position of the welding gun 35 can be finely adjusted, so as to adjust the bottom end of the welding gun 35 to an appropriate distance from the weld of the cylindrical blank to be processed.

[0046] The cylinder 34 is installed obliquely, and the cylinder 34 is installed directly below the small arm 33. The welding main machine 36 is installed directly above the small arm 33.

[0047] When the welding gun 35 welds the weld, the camera 37 is used to take pictures of the position of the weld. As the bottom end of the welding gun 35 deviates from the weld, the camera 37 timely takes pictures of the position of the bottom end of the welding gun 35 and the weld. And in combination with the electrical connection between the camera 37 and the controller 31, the camera 37 transmits the signal collected after shooting to the controller 31, and through the processing of the information by the controller 31, it is convenient to adjust the position of the welding gun 35 subsequently.

[0048] The welding gun 35 is installed obliquely. The shooting port of the camera 37 corresponds to the bottom end of the welding gun 35. The camera 37 is electrically connected to the controller 31.

[0049] Second embodiment, on the basis of the first embodiment, please refer to Figures 1 to 6 as shown:

[0050] The adjustment mechanism 2 includes a dovetail guide rail 21 and a hydraulic cylinder 22. The bottom of the dovetail guide rail 21 is fixedly installed at the middle of the top of the frame 1. The hydraulic cylinder 22 is installed at the middle of the inner side of the dovetail guide rail 21. A strip-shaped hole 23 is provided at the middle of the top of the dovetail guide rail 21. A curved surface support slide plate 24 is slidably installed on the top of the dovetail guide rail 21. A connecting column 25 is fixedly connected to the middle of the inner cavity top of the curved surface support slide plate 24. The connecting column 25 passes through the center of the strip-shaped hole 23. The telescopic end of the hydraulic cylinder 22 is fixedly connected to the surface of the connecting column 25. A roller 26 is rotatably installed at the arc concave surface of the inner wall of the curved surface support slide plate 24. By using the controller 31 to process the information transmitted by the camera 37 and combining the controller 31 to control the flow direction of the hydraulic oil in the hydraulic cylinder 22 through the solenoid valve, the telescopic end of the hydraulic cylinder 22 can be extended and contracted, so that the connecting column 25 is subjected to a pushing force and a pulling force, which will drive the curved surface support slide plate 24 to move. Under the connection of the controller 31 and combined with the support of the boom 32 and the forearm 33, the welding torch 35 can be moved, so as to adjust the position of the welding torch 35 and make the bottom end of the welding torch 35 coincide with the weld again.

[0051] The connecting column 25 is vertically installed, and the surface of the connecting column 25 is attached to the inner side surface of the strip-shaped hole 23.

[0052] By extending and contracting the telescopic end of the hydraulic cylinder 22, pushing and pulling the connecting column 25, and using the groove at the middle of the surface of the roller 26 to fit with the edge of the top of the dovetail guide rail 21 to make the roller 26 roll, the rolling friction between the roller 26 and the dovetail guide rail 21 can be utilized to make the curved surface support slide plate 24 drive the whole processing mechanism 3 to move smoothly.

[0053] The rollers 26 are evenly distributed at the arc concave surface of the inner wall of the curved surface support slide plate 24, and the groove at the middle of the surface of the roller 26 is attached to the edge of the top of the dovetail guide rail 21.

[0054] The third embodiment, on the basis of the first and second embodiments, please refer to Figures 1 to 9 as shown:

[0055] An auxiliary mechanism 4 is installed between the controller 31 and the welding mainframe 36. The auxiliary mechanism 4 includes a first connecting sleeve 41, a second connecting sleeve 42 and a suction fan 43. The first connecting sleeve 41 is installed at the side of the top of the controller 31, the second connecting sleeve 42 is installed in the middle of the top of the welding mainframe 36, the suction fan 43 is fixedly installed at the side of the surface of the controller 31. A sleeve 44 is communicated between the top of the first connecting sleeve 41 and the top of the second connecting sleeve 42. An air duct 45 is communicated at the position of the air inlet of the surface of the sleeve 44. The bottom end of the air duct 45 is installed with a dust suction component 46. The dust suction component 46 is installed at the bottom of the small arm 33 and at one end far from the large arm 32. By the staff threading the wire connecting the controller 31 and the welding mainframe 36 through the first connecting sleeve 41 into the inside of the sleeve 44 and through the second connecting sleeve 42 into the inside of the welding mainframe 36, the wire can be completely hidden inside the sleeve 44.

[0056] The air inlet at the bottom of the suction fan 43 penetrates the surface of the controller 31 and extends to its inside. Both the sleeve 44 and the air duct 45 are flexible hoses.

[0057] The staff turns on the suction fan 43 to work, uses the air inlet at the bottom end of the suction fan 43 to suck out the air inside the controller 31, and uses the sleeve 44 to communicate between the controller 31 and the welding mainframe 36, so that the air inside the welding mainframe 36 is also sucked out, then air circulation can be carried out to accelerate the heat dissipation inside the controller 31 and the inside of the welding mainframe 36.

[0058] The dust suction component 46 includes a support elastic strip 461 and a cylindrical shell 462. The top end of the support elastic strip 461 is fixedly connected to the bottom of the small arm 33 and at one end far from the large arm 32. The cylindrical shell 462 is fixedly connected to the bottom end of the support elastic strip 461. The bottom end of the air duct 45 extends into the inside of the cylindrical shell 462. A dust suction square pipe 463 is communicated at the bottom of the outer circular surface of the cylindrical shell 462. A wire brush 464 is fixedly connected to the surface of the dust suction square pipe 463, and the wire brush 464 is installed at the position of the air suction port at the bottom end of the dust suction square pipe 463. A sealing cover 465 is fixedly installed at the bottom of the outer circular surface of the cylindrical shell 462 by screws, and the position of the sealing cover 465 corresponds to the position of the dust suction square pipe 463. A herringbone frame 466 is fixedly connected to the middle of the inner cavity of the cylindrical shell 462. A dust filter net 467 is fixedly connected to the middle of the top of the herringbone frame 466. By the support of the dust suction square pipe 463 for the wire brush 464, the wire brush 464 evenly distributed at the bottom of the dust suction square pipe 463 can be at the weld position of the cylindrical blank to be welded and processed, and the bottom end of the wire brush 464 extends into the weld of the cylindrical blank. Along with the rotation of the cylindrical blank during welding and using the self-elastic force of the wire brush 464, the particulate debris in the weld of the cylindrical blank can be removed.

[0059] The supporting spring strip 461 is arc-shaped. There are two supporting spring strips 461, and the two supporting spring strips 461 are symmetrically installed along the central axis at the middle of the small arm 33.

[0060] As the sleeve 44 sucks out the air inside the welding main body 36, by utilizing the flow of the gas, the gas inside the air delivery channel 45 also flows along with it, so that the air inside the cylindrical housing 462 can be sucked out. And by virtue of the connection between the dust suction square pipe 463 and the cylindrical housing 462, the outside air can carry the dust and impurities inside the weld of the cylindrical blank into the interior of the cylindrical housing 462, and the dust and impurities are filtered out by the dust filter net 467, thus the dust and impurities inside the weld of the cylindrical blank can be cleaned and collected inside the cylindrical housing 462.

[0061] The wire brush 464 is evenly distributed on the surface of the dust suction square pipe 463 and near the bottom position. The dust suction square pipe 463 is arc-shaped, and the dust suction square pipe 463 is installed directly below the dust filter net 467.

[0062] During use, first, the staff passes the wire connecting the controller 31 and the welding main body 36 through the inside of the sleeve 44 from the first connecting sleeve 41 and then through the inside of the welding main body 36 from the second connecting sleeve 42, so that the wire is completely hidden inside the sleeve 44 and the electrical connection of the equipment components is achieved.

[0063] When welding the cylindrical material, the staff controls the large arm 32 by using the controller 31, so that the large arm 32 can rotate to adjust the angle. And under the connection of the small arm 33, the position of the welding gun 35 is adjusted, and the cylinder 34 is started to work. By virtue of the extension and contraction of the telescopic end of the cylinder 34, the small arm 33 can be driven to rotate and adjust the angle, so that the welding gun 35 can be driven to move, and the position of the welding gun 35 can be finely adjusted, thereby adjusting the bottom end of the welding gun 35 to an appropriate distance from the weld of the cylindrical blank to be processed.

[0064] And when the welding gun 35 welds the weld, the camera 37 takes pictures of the position of the weld. As the bottom end of the welding gun 35 deviates from the weld, the camera 37 timely takes pictures of the position of the bottom end of the welding gun 35 and the weld. And combined with the electrical connection between the camera 37 and the controller 31, the camera 37 transmits the signal collected after shooting to the controller 31, and the information is processed by the controller 31.

[0065] And the controller 31 processes the information transmitted by the camera 37, and combines with the controller 31 to control the flow direction of the hydraulic oil in the hydraulic cylinder 22 through the solenoid valve, so that the telescopic end of the hydraulic cylinder 22 can extend and contract, so that the connecting column 25 can be subjected to a driving force and a pulling force, which will drive the curved surface support slide plate 24 to move. And under the connection of the controller 31 and combined with the support of the boom 32 and the forearm 33, the welding torch 35 can be moved, so that the position of the welding torch 35 can be adjusted, so that the bottom end of the welding torch 35 coincides with the weld again;

[0066] And through the extension and contraction of the telescopic end of the hydraulic cylinder 22, the connecting column 25 is pushed and pulled, and the groove in the middle of the surface of the roller 26 is fitted with the edge at the top of the dovetail guide rail 21, so that the roller 26 rolls. Then, by using the rolling friction between the roller 26 and the dovetail guide rail 21, the curved surface support slide plate 24 can drive the whole processing mechanism 3 to move smoothly;

[0067] Moreover, through the support of the dust suction square pipe 463 for the wire brush 464, the wire brush 464 evenly distributed at the bottom of the dust suction square pipe 463 can be located at the weld position of the cylindrical blank to be welded and processed. And the bottom end of the wire brush 464 extends into the weld of the cylindrical blank. Along with the rotation of the cylindrical blank during welding, and by using the elasticity of the wire brush 464 itself, the particulate impurities in the weld of the cylindrical blank can be removed;

[0068] As the sleeve 44 sucks out the air in the welding main body 36, by using the flow of the gas, the gas in the air delivery channel 45 flows along with it, so that the air in the cylindrical shell 462 can be sucked. And by using the connection between the dust suction square pipe 463 and the cylindrical shell 462, the outside air carries the dust and impurities in the weld of the cylindrical blank into the inside of the cylindrical shell 462 together, and the dust and impurities are filtered by the dust filter net 467, so that the dust and impurities in the weld of the cylindrical blank can be cleaned, and the dust and impurities are collected inside the cylindrical shell 462, so that the impurities can be removed.

[0069] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0070] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A welding robot with adaptive function, characterized in that: include: A frame (1), and an adjustment mechanism (2) mounted on the top of the frame (1); The adjustment mechanism (2) comprises a dovetail guide rail (21) and a hydraulic cylinder (22), wherein the bottom of the dovetail guide rail (21) is fixedly mounted to the middle of the top of the frame (1), the hydraulic cylinder (22) is mounted to the middle of the inner side of the dovetail guide rail (21), a strip hole (23) is provided in the middle of the top of the dovetail guide rail (21), a curved surface support slide plate (24) is slidably mounted on the top of the dovetail guide rail (21), a connecting column (25) is fixedly connected to the middle of the top of the inner cavity of the curved surface support slide plate (24), the connecting column (25) passes through the center of the strip hole (23), the telescopic end of the hydraulic cylinder (22) is fixedly connected to the surface of the connecting column (25), and a roller (26) is rollingly mounted on the arc-shaped concave surface of the inner wall of the curved surface support slide plate (24); A processing mechanism (3), the processing mechanism (3) being used to perform welding processing on a blank to be processed, the processing mechanism (3) being mounted on top of a curved surface supporting slide plate (24); The processing mechanism (3) comprises a controller (31) and an upper arm (32), wherein the controller (31) is fixedly mounted on the side of the top of a curved support slide (24), the upper arm (32) is mounted on the side of the surface of the controller (31), the upper end of the upper arm (32) is hingedly connected to a lower arm (33), a cylinder (34) is hingedly connected between the bottom of the upper arm (32) and the surface of the upper arm (32), a welding gun (35) is fixedly mounted on one end of the lower arm (33) away from the upper arm (32), a welding main machine (36) is mounted on the top of the lower arm (33) and away from the welding gun (35), the welding gun (35) is electrically connected to the welding main machine (36), and a camera (37) is fixedly mounted in the middle of the surface of the welding gun (35).

2. A welding robot with adaptive function according to claim 1, characterized in that: The connecting column (25) is installed vertically, and the surface of the connecting column (25) is in contact with the inner side surface of the strip-shaped hole (23).

3. The welding robot with adaptive function according to claim 1, characterized in that: The rollers (26) are evenly distributed on the arc-shaped concave surface of the inner wall of the curved support slide plate (24), and the groove in the middle of the surface of the rollers (26) fits with the edge of the top of the dovetail guide rail (21).

4. The welding robot with adaptive function according to claim 1, characterized in that: The cylinder (34) is installed at an angle, and the cylinder (34) is installed directly below the small arm (33), and the welding host (36) is installed directly above the small arm (33).

5. The welding robot with adaptive function according to claim 1, characterized in that: The welding gun (35) is installed at an angle, a shooting port of the camera (37) corresponds to the bottom end of the welding gun (35), and the camera (37) is electrically connected to the controller (31).

6. The welding robot with adaptive function according to claim 1, characterized in that: An auxiliary mechanism (4) is installed between the controller (31) and the welding main machine (36). The auxiliary mechanism (4) comprises a first connecting sleeve (41), a second connecting sleeve (42) and a suction fan (43). The first connecting sleeve (41) is installed at the side of the top of the controller (31), the second connecting sleeve (42) is installed in the middle of the top of the welding main machine (36), and the suction fan (43) is fixedly installed at the side of the surface of the controller (31). A sleeve (44) is connected between the top of the first connecting sleeve (41) and the top of the second connecting sleeve (42). The position of the air inlet on the surface of the sleeve (44) is connected to an air supply channel (45). A dust suction component (46) is installed at the bottom of the small arm (33) and away from the end of the big arm (32).

7. The welding robot with adaptive function according to claim 6, characterized in that: The air inlet at the bottom of the suction fan (43) penetrates the surface of the controller (31) and extends into the interior thereof, and the sleeve (44) and the air delivery channel (45) are both hoses.

8. The welding robot with adaptive function according to claim 6, characterized in that: The dust collection assembly (46) comprises a supporting spring bar (461) and a cylindrical shell (462); the top end of the supporting spring bar (461) is fixedly connected to the bottom of the small arm (33) and away from the large arm (32); the cylindrical shell (462) is fixedly connected to the bottom end of the supporting spring bar (461); the bottom end of the air delivery channel (45) extends to the interior of the cylindrical shell (462); the bottom of the outer circumference of the cylindrical shell (462) is connected to a dust collection square tube (463); the surface of the dust collection square tube (463) is fixedly A wire brush (464) is connected, and the wire brush (464) is installed at the position of the air inlet at the bottom end of the dust collection square tube (463); a blocking cover (465) is fixedly installed at the bottom of the outer circumferential surface of the cylindrical shell (462) by means of screws, and the position of the blocking cover (465) corresponds to the position of the dust collection square tube (463); a herringbone frame (466) is fixedly connected to the middle of the inner cavity of the cylindrical shell (462), and a dust filter (467) is fixedly connected to the middle of the top of the herringbone frame (466).

9. The welding robot with adaptive function according to claim 8, characterized in that: The supporting elastic bars (461) are arc-shaped, there are two supporting elastic bars (461), and the two supporting elastic bars (461) are symmetrically installed along the central axis in the middle of the small arm (33).

10. The welding robot with adaptive function according to claim 8, characterized in that: The wire brushes (464) are evenly distributed on the surface of the dust collecting square tube (463) and close to the bottom. The dust collecting square tube (463) is arc-shaped and is installed directly below the dust filter (467).

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