A welding robot

Abstract

The present invention relates to a welding robot, and is related to the field of welding equipment. The robot comprises a robotic arm, a mounting base, and an end effector, wherein the end effector comprises a sleeve assembly and a welding assembly, wherein the sleeve assembly comprises a first sleeve, a second sleeve, and a rotating connector, wherein one end of the first sleeve is connected to the mounting base, and the second sleeve is connected to the other end of the first sleeve via the rotating connector; the welding assembly is fixedly mounted on the second sleeve, and the rotating connector is transmission-connected to a drive assembly, which is used to adjust the angle between the rotating connector and the first sleeve. The present invention can drive the second sleeve to rotate via the rotating connector to adjust the angle between the weld and the weld without moving the robotic arm and the first sleeve, thereby reducing the probability of interference with the workpiece and enabling the welding robot to adjust the angle of the weld to perform welding operations in a narrow working space.

Description

Technical Field

[0001] The present invention relates to the field of welding equipment, in particular to a welding robot. Background Art

[0002] A welding robot is an industrial robot used for welding. According to the International Organization for Standardization's standard definition of an industrial robot, it is a multi-purpose, reprogrammable, automatically controlled manipulator with three or more programmable axes, used in industrial automation. Existing welding robots typically have a relatively long welding gun with an angled, curved structure to minimize interference between the robot arm and the workpiece during the welding process.

[0003] At present, a Chinese patent application with publication number CN 118342190 A and publication date July 16, 2024 proposes a pin welding robot, including a welding robot body, the welding robot body including a base, a rotating seat, a first driving arm, a transmission seat and a second driving arm; an adjustment component is provided on the second driving arm; a mounting seat is provided at the lower front end of the second driving arm, and a welding gun is set on the mounting seat.

[0004] When in use, the welding gun on the rotating seat, the first driving arm, the transmission seat, the second driving arm and the control mounting seat is moved.

[0005] Regarding the above-mentioned related technologies, when welding the weld seam, it is necessary to control the angle and direction of the welding gun through the cooperation of the rotating seat, the first driving arm, the transmission seat, and the second driving arm. During this process, the welding gun and the mounting seat need to be continuously rotated to adjust the welding angle. When the weld seam is located between two or more workpieces, the moving space around the weld seam is small. When adjusting the position of the welding gun, it may interfere with the workpiece, resulting in the weld seam in the narrow space being unable to be welded. Summary of the Invention

[0006] In order to enable a welding robot to weld seams in a narrow space and to adapt to more complex welding environments, the present invention provides a welding robot.

[0007] The present invention provides a welding robot, which adopts the following technical solution:

[0008] A welding robot comprises a robotic arm, a mounting seat and an end effector, wherein the mounting seat is arranged at the end of the robotic arm, the end effector is arranged on the mounting seat, and the end effector comprises a sleeve assembly and a welding assembly; the sleeve assembly comprises a first sleeve, a second sleeve and a rotating connection piece, one end of the first sleeve is connected to the mounting seat, and the second sleeve is connected to the other end of the first sleeve through the rotating connection piece; the welding assembly comprises a welding piece and a wire feeding guide tube, the wire feeding guide tube is flexibly arranged, the wire feeding guide tube is passed through the first sleeve, the rotating connection piece and the second sleeve, and the welding piece is arranged at the end of the second sleeve away from the first sleeve; a driving assembly is transmission-connected to the rotating connection piece, and the driving assembly is used to adjust the angle between the rotating connection piece and the first sleeve.

[0009] By adopting the above technical solution, the robotic arm and the mounting seat can drive the end effector to move within a large range. When the robotic arm and the mounting seat move the end effector to a position near the weld, the driving assembly drives the rotating connection in the end effector to rotate, causing the second sleeve to rotate relative to the first sleeve, and adjusting the angle between the second sleeve and the first sleeve. The welding assembly is arranged on the second sleeve. When the angle between the second sleeve and the first sleeve rotates relative to each other, the second sleeve drives the weldment to rotate. The wire feeding guide tube is passed through the sleeve assembly to transport the welding wire to the position of the weldment for welding.

[0010] In this way, when the welding robot is performing welding operations, it can drive the second sleeve to rotate by rotating the connecting piece to adjust the angle between the weld part and the weld. Especially when adjusting the angle of the weld part in a narrow space, there is no need to move the robotic arm and the first sleeve, which can effectively reduce the probability of interference between the first sleeve and the workpiece, so that the welding robot can adjust the angle of the weld part in a narrow working space to perform welding operations; at the same time, when adjusting the angle of the weld part, only the rotating connecting piece and the second sleeve are moved to drive the weld part to move, which reduces the mass of the parts that need to be moved, thereby reducing the influence of inertia on the movement accuracy of the weld part, and enabling the angle of the weld part to be adjusted more accurately when it moves.

[0011] Optionally, the driving assembly includes a winch, a cable, a guide structure arranged on the outside of the first sleeve, and a pull ring fixedly arranged on the outer peripheral surface of the rotating connection member. The guide structure and the pull ring are arranged correspondingly, the cable is slidably arranged in the guide structure, one end of the cable is fixedly arranged on the pull ring, and the other end of the cable is connected to the winch; the driving assembly is provided with two groups, and the two pull rings are arranged opposite to each other on the outer peripheral surface of the rotating connection member; the two winches are cooperatively arranged to drive the rotating connection member to rotate, and the cable is used for transmission.

[0012] By adopting the above technical solution, when the winch rotates forward, the cable is retracted and coiled on the winch, causing the cable to shrink. When the winch rotates backward, the cable on the winch is released, causing the cable to extend. When one of the two capstans arranged opposite to each other rotates forward, the other capstan rotates backward, and one of the corresponding cables extends while the other shortens. One end of the cable is fixed to the pull ring of the connector, so that when one cable shrinks, the rotating connector rotates in the direction of cable shrinkage, and the cable on the other side is released accordingly. In this way, by adjusting the rotation of the winches in the two sets of drive assemblies, the different lengths of cable extension can be controlled, and the rotation angle of the rotating connector can be controlled, so that the rotating connector can drive the welding part to adjust the welding angle. At the same time, the guide structure provided on the outside of the first conduit can also change the transmission direction of the cable, making the installation position of the winch more flexible. There is no need to install the winch near the welding part, which can further reduce the number of structures installed near the welding part, allowing the welding part to adapt to a smaller welding operation space.

[0013] Optionally, an adjusting component is also provided on the mounting seat, and the adjusting component includes a screw nut, a limiting ring and an adjusting sleeve, the screw nut is rotatably set on the mounting seat, and the adjusting sleeve is passed through the screw nut and the limiting ring; a threaded groove and a sliding groove are provided on the outer circumference of the adjusting sleeve, and the adjusting sleeve is threadedly connected to the screw nut through the threaded groove; the sliding groove is arranged along the axial direction of the adjusting sleeve, and a slider is provided on the inner circumference of the limiting ring to cooperate with the sliding groove, and the slider and the sliding groove cooperate to perform circumferential limitation of the adjusting sleeve; the screw nut is connected to a driving part, the screw nut rotates and the limiting ring is fixed to drive the adjusting sleeve to extend and retract; the first sleeve is fixedly provided on the adjusting sleeve.

[0014] By adopting the above technical solution, when the limit ring is fixed and the lead screw nut rotates, the lead screw nut cooperates with the adjusting sleeve to drive the adjusting sleeve to drive the sleeve assembly and the welding part to expand and contract along the axial direction of the adjusting sleeve, so that the welding robot can control the welding part to move along the axial direction of the adjusting sleeve when the robotic arm and the mounting seat are stationary; when welding straight welds, it is only necessary to control the robotic arm and the mounting seat to set the axial direction of the adjusting sleeve to be parallel to the weld, and adjust the driving assembly to adjust the angle between the welding part and the weld, and then fix the angle of the welding part and the angle of the robotic arm and the mounting seat, and finally control the expansion and contraction of the adjusting sleeve to weld the straight weld. In this way, the welding part can be driven to move in a straight line by adjusting the sleeve during welding, which simplifies the complex joint movement process of the robot arm during welding, especially when welding vertical welds in a narrow space, it is only necessary to set the adjusting sleeve to the vertical direction and adjust the angle of the welding part, and then control the adjusting sleeve to drive the welding part to move vertically upward, so that the weld in the vertical direction can be welded without the need for the robot arm and the mounting base to move together. On the one hand, it can simplify the movement algorithm of the robot arm during welding, and on the other hand, there is no need for the robot arm to move during welding, which can also reduce the risk of interference between the robot arm and the workpiece or other surrounding structures. It is suitable for use in environments with small welding operation scenes.

[0015] Optionally, the limiting ring is rotatably arranged on the mounting seat, and the limiting ring is connected to a driving member; the screw nut and the limiting ring rotate synchronously to drive the adjusting sleeve to rotate.

[0016] During the operation of the welding robot, since the welding gun needs to form a certain angle with the weld, the angle of the welding gun needs to be adjusted by adjusting the direction of the robotic arm or the mounting seat. In the smaller space of the welding operation environment, rotating the robotic arm or the mounting seat is likely to interfere with other structures of the workpiece, making it impossible for the welding robot to adjust the angle of the welding gun to operate in the narrow welding environment. By adopting the above technical solution, after the angle between the weldment and the first sleeve is adjusted, the adjusting sleeve can be driven to rotate through the limit ring, so that the adjusting sleeve can drive the second sleeve and the weldment to rotate.

[0017] In an environment with a narrow working space, the weldment is first inserted into the narrow welding space along with the first sleeve. Secondly, the second sleeve and the weldment are rotated by adjusting the sleeve so that the second sleeve can drive the weldment to rotate toward or away from the weld. Finally, the angle of the second sleeve and the weldment is adjusted by the cable in the drive assembly so that the weldment is aligned with the weld and welding can be carried out.

[0018] In this way, the angle between the welding part and the first sleeve can be adjusted by driving the rotating connecting part through the driving component. The adjusting sleeve is driven to rotate by the limiting ring, and the welding part can be driven to rotate in a circle through the first sleeve, so that the driving component and the limiting ring can drive the welding part to rotate in a universal direction, so that the welding part can be rotated arbitrarily in a narrow welding working space, so that the welding part can be aligned with the welds in all directions for welding, so that the welding robot can adapt to more welding conditions; and in the process of adjusting the welding angle and direction of the welding part, there is no need for the robot arm and the mounting seat to move, thereby reducing the probability of interference with the workpiece.

[0019] Optionally, a turntable is rotatably provided on the mounting seat; the turntable is transmission-connected to the limiting ring; or the turntable and the limiting ring are integrally provided; the turntable is used to rotate synchronously with the adjusting sleeve, and the winch is installed on the turntable.

[0020] Because the rotating connector uses a cable for transmission, and the cable is a flexible structure, the cable is prone to shaking during the rotation of the adjustment sleeve and the rotating connector, affecting the rotation accuracy. Moreover, the distance between the capstan and the pull ring will change at any time during the rotation of the adjustment sleeve and the cable, causing the capstan to adjust the tension of the cable accordingly, making the capstan drive algorithm more complicated. By adopting the above technical solution, the capstan is fixed on a turntable, and the turntable rotates synchronously with the adjustment sleeve. The capstan is only driven when the angle of the rotating connector needs to be adjusted, or when the adjustment sleeve is extended and retracted under the drive of the screw nut, the capstan is synchronously controlled to drive the cable to extend and retract, maintaining the tension of the cable and keeping the angle of the welded part fixed relative to the second sleeve. The capstan is thus arranged on the turntable, so that the capstan and the cable can rotate with the adjustment sleeve. On the one hand, it can simplify the capstan drive algorithm and optimize the driver of the drive component. On the other hand, it can also reduce the probability of cable shaking or entanglement between the adjustment sleeve and the cable when the adjustment sleeve rotates.

[0021] Optionally, the adjusting sleeve is sleeved on the outside of the first sleeve, and the guide structure is fixedly arranged on the end of the adjusting sleeve close to the second sleeve; a slide is provided on the guide structure, one end of the slide is opened on the end surface of the adjusting sleeve facing the second sleeve, the slide is arranged corresponding to the pull ring, the cable is slidably arranged in the slide, and the slide is used to radially limit the cable; two slides are provided, and the two slides are respectively arranged corresponding to the two groups of the drive components.

[0022] By adopting the above technical solution, the adjusting sleeve is sleeved on the outside of the first sleeve, and a slide is set on the guide structure arranged on the outside of the first sleeve. The slide corresponds to the position of the pull ring, and the cable is passed through the slide and slides, so that the cable can be restricted inside the slide when sliding, which can effectively increase the stability of the cable, reduce the probability of interference between the cable and the workpiece, and improve the rotation accuracy of the rotating connector.

[0023] Optionally, an angular displacement sensor is further provided on the rotating connection member, and the angular displacement sensor is used to measure the angle between the first sleeve and the rotating connection member.

[0024] By adopting the above technical solution, when the rotating connector rotates, the angular displacement sensor can measure the angle between the first sleeve and the rotating connector in real time, and the adjusting sleeve is sleeved outside the first sleeve so that the axis of the adjusting sleeve coincides with the axis of the first sleeve, and the welding part is set in the second sleeve fixed to the rotating connector so that the angle between the first sleeve and the rotating connector is the angle between the welding part and the adjusting sleeve. When adjusting the angle of the welding part, it is only necessary to adjust the coordinate data of the adjusting sleeve through the mechanical arm and the mounting seat, and the coordinate data of the adjusting sleeve is converted according to the angle of the angular displacement sensor to obtain the coordinate data of the welding part. In this way, by setting the angular displacement sensor, the angle between the welding part and the adjusting sleeve can be measured. When adjusting the angle of the welding part, the coordinate data of the adjusting sleeve is converted according to the data of the angular displacement sensor, the coordinate data of the welding part can be directly obtained, and the angle of the welding part is adjusted in sequence, so that the angle adjustment of the welding part can be digitized and visualized, thereby improving the accuracy of the angle adjustment of the welding part.

[0025] Optionally, the rotating connector is further provided with an angle locking mechanism, and the angle locking mechanism is used to lock the rotation angle of the rotating connector.

[0026] In the present application, the rotating connector is driven by a winch and a cable. When the angle of the rotating connector is adjusted by the winch and the cable, the mechanical arm and the mounting base of the welding robot are in a stationary state. Therefore, when the winch drives the rotating connector to rotate through the cable, the state of the cable is relatively stable, and the rotation angle of the rotating connector can be accurately adjusted so that the weld can be adjusted to a suitable angle with the weld. However, when the mechanical arm or the mounting base moves, the vibration generated by the motor rotation or the vibration generated during the movement will cause the cable to shake, affecting the accuracy of the rotating connector, and further causing the accuracy of the weld to be affected. By adopting the above technical solution, after the winch and the cable cooperate to adjust the rotating connector to a suitable angle, the angle locking mechanism will lock the angle of the rotating connector, so that the angle between the weld and the adjustment sleeve is locked. After the angle locking mechanism locks the angle of the rotating connector, the angle of the weld is fixed at the current position, which can effectively reduce the influence of the flexible cable swing on the angle of the weld when the mechanical arm and the mounting base move or click and vibrate, thereby improving the welding accuracy.

[0027] Optionally, the angle locking mechanism is a non-powered oil cylinder, the cylinder body of the non-powered oil cylinder is rotatably connected to the first sleeve, the piston rod of the non-powered oil cylinder is rotatably connected to the second sleeve or the rotating connecting member, and an electromagnetic valve is provided on the oil pipe of the non-powered oil cylinder, which is used to control the on-off of the oil circuit.

[0028] By adopting the above technical solution, when the winch and the cable cooperate to drive the rotating connector to rotate, the solenoid valve controls the oil circuit to be connected, and the unpowered source oil cylinder rotates and retracts as the rotating connector and the first sleeve rotate. After the winch and the cable cooperate to rotate the rotating connector to the set angle, the solenoid valve controls the oil circuit to be interrupted, and the unpowered source oil cylinder is locked in the current position. At this time, the length of the unpowered source oil cylinder is fixed, and together with the first sleeve and the rotating connector, it forms a triangular stabilizing mechanism, so that the angle of the rotating connector and the first sleeve is locked, that is, the angle of the welded part and the adjusting sleeve is locked, thereby realizing the angle locking function. In this way, the angle locking of the rotating connection can be achieved through the cooperation of the unpowered oil cylinder and the solenoid valve. At the same time, since the oil circuit can be transmitted through a flexible pipe, the unpowered oil cylinder only needs to be installed on the first sleeve and the rotating connection during installation. The solenoid valve can be fixedly installed on the robotic arm through the oil circuit, and the volume of the unpowered oil cylinder can be customized to be relatively small, reducing the space occupied by the end effector, so that the welding robot can perform welding operations in a small space; at the same time, when the unpowered oil cylinder locks the rotating connection, the unpowered oil cylinder, the first sleeve and the rotating connection together form a triangular support structure, which can stably lock the welding part at the current angle, reduce the influence of motor vibration and robotic arm movement on the welding part, and improve the welding accuracy of the welding robot.

[0029] In summary, the present invention includes at least one of the following beneficial technical effects:

[0030] The end effector of the welding robot is set to a rotatable structure, so that when the welding robot performs welding operations in a narrow welding space, the welding angle of the welded workpiece can be adjusted by adjusting the end effector, without adjusting the robotic arm and mounting base of the welding robot, thereby reducing the efficiency of interference between the robotic arm and the surrounding workpieces during movement, and enabling the welding robot to perform welding operations in a smaller space.

[0031] An adjustment component is set on the mounting seat to control the rotation of the end effector, so that when the welding angle is adjusted by the end effector, the end effector can be adjusted to rotate by the adjustment component, and then the welding angle of the end effector can be adjusted in any direction, so that the welding robot can perform welding operations in any direction in a narrow space. In the process of adjusting the welding direction and welding angle, there is no need for the movement of the robotic arm and the mounting seat, which reduces the probability of interference between the welding robot and the surrounding workpieces, and further improves the application scenarios of the welding robot in welding operations in a narrow space.

[0032] The adjustment component is set to a structure that can control the extension and retraction of the end effector. When welding numerical welds, the end effector is adjusted to the appropriate direction and angle through the adjustment component and the rotating connector. By controlling the movement of the end effector through the extension and retraction of the adjustment component, welding operations can be performed on straight welds. There is no need to move the robotic arm and the mounting base, which reduces the probability of interference with the workpiece and is conducive to the welding robot performing welding operations in a small space.

[0033] By setting a cable to drive the welding angle of the end effector and setting an angle locking mechanism to lock the welding angle of the end effector, the flexibly set cable can arbitrarily change the transmission path of the driving part, so that the driving part for adjusting the angle of the end effector can be installed at a position far away from the end effector, reducing the space occupied by the end effector, and enabling the welding robot to perform welding operations in a smaller space, and the angle locking mechanism can lock the angle of the end effector, reduce the swing of the end effector angle during the welding process, and improve the welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of the installation structure of the end effector according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the installation structure of the adjustment component according to an embodiment of the present invention;

[0037] Figure 4 2 is a schematic structural diagram of a sleeve assembly according to an embodiment of the present invention.

[0038] Explanation of the accompanying drawings: 100, robotic arm; 200, mounting base; 300, end effector; 400, sleeve assembly; 410, first sleeve; 420, second sleeve; 430, rotating connector; 440, angular displacement sensor; 500, welding assembly; 510, welding part; 520, wire feed guide tube; 600, drive assembly; 610, capstan; 620, cable; 630, guide structure; 640, pull ring; 700, adjustment assembly; 710, screw nut; 720, limiting ring; 721, slider; 730, adjustment sleeve; 731, threaded groove; 732, slide groove; 733, slideway; 740, turntable; 800, angle locking mechanism. DETAILED DESCRIPTION

[0039] Most of the welding robots currently used in production are six-axis welding robots. In order to balance welding accuracy and universality, enable welding robots to operate in a variety of welding environments, and ensure welding quality, the welding gun is usually fixed on the mounting seat at the end of the robotic arm, and the welding end is set as a curved structure so that the nozzle of the welding gun has a certain angle. In subsequent welding operations, the angle of the welding gun nozzle is adjusted by adjusting the angle of the robotic arm and the mounting seat.

[0040] Due to the limited angle of the welding gun nozzle, when the angle of the welding gun nozzle is adjusted by the robotic arm and the mounting base, the section connecting the welding gun and the mounting base will swing with the robotic arm, which is easy to interfere with the workpiece, making it difficult for the welding robot to perform welding operations in a narrow space. Especially when the structure and welding depth inside the welding cavity are large and there are vertical welds with obstacles nearby, adjusting the welding angle by adjusting the robotic arm to drive the welding gun to move will greatly increase the probability of interference between the welding gun and the workpiece, making it impossible for the welding robot to perform welding operations in a narrow space.

[0041] The following combination Figure 1 The present invention is described in further detail.

[0042] The embodiment of the present invention discloses a welding robot. Figure 1A welding robot mainly includes a robotic arm 100, a mounting base 200 arranged on the robotic arm 100, and an end effector 300 arranged on the mounting base 200, wherein the end effector 300 includes a sleeve assembly 400 that plays a fixing role and a welding assembly 500 for performing welding, the welding assembly 500 is fixed on the sleeve assembly 400, and the mounting base 200 is also provided with a driving assembly 600 and an adjusting assembly 700 for adjusting the position and angle of the sleeve assembly 400; when the welding robot performs welding operation, the robotic arm 100 and the mounting base 200 cooperate to move the end effector 300 to the vicinity of the welding operation position, and then the driving assembly 600 and the adjusting assembly 700 adjust the sleeve assembly 400 in the end effector 300 according to the position and angle of the weld, so that the welding assembly 500 installed on the sleeve assembly 400 can align with the weld and continue welding.

[0043] In this way, when performing welding operations, the robot arm 100 and the mounting seat 200 cooperate to move the end effector 300 to the vicinity of the weld, or when the area around the weld is relatively open, the robot arm 100 and the mounting seat 200 are directly controlled to move in coordination, and the welding assembly 500 is controlled to weld the weld; when the weld is located in a narrow working space, the robot arm 100 and the mounting seat 200 cooperate to move the end effector 300 to a position near the weld, and then the driving assembly 600 and the adjustment assembly 700 cooperate to adjust the direction and angle of the welding assembly 500, so that the welding robot can perform welding operations in a narrow space.

[0044] Reference Figure 1 The robotic arm 100 in this embodiment is a six-axis welding robot robotic arm 100 commonly used in welding robots. The mounting base 200 is a connecting rod set at the end of the welding robot. The mounting base 200 is driven to rotate by a stepper motor set on the robotic arm 100, and the end effector 300 is set at the end of the mounting base 200 away from the robotic arm 100. When the mounting base 200 rotates, it can drive the end effector 300 to rotate around the robotic arm 100.

[0045] Reference Figure 2 and Figure 3, an adjustment assembly 700 is provided between the mounting base 200 and the end effector 300, and the end effector 300 is mounted on the mounting base 200 through the adjustment assembly 700. Specifically, the adjustment assembly 700 includes a screw nut 710, a limiting ring 720 and an adjusting sleeve 730. A circular hole is provided at one end of the mounting base 200 away from the robotic arm 100. The screw nut 710 and the limiting ring 720 are both rotatably arranged in the circular hole of the robotic arm 100 through a bearing, and the adjusting sleeve 730 is passed through the screw nut In the mother 710 and the limiting ring 720, the inner circumference of the screw nut 710 is provided with a threaded protrusion, the inner circumference of the limiting ring 720 is provided with a slider 721 arranged along the axial direction of the limiting ring 720, and the outer circumference of the adjusting sleeve 730 is provided with a threaded groove 731 and a slide groove 732. The threaded groove 731 is matched with the threaded protrusion on the inner circumference of the screw nut 710, the slide groove 732 is arranged along the axial direction of the screw sleeve, and the slide groove 732 is matched with the slider 721 arranged on the inner circumference of the limiting ring 720.

[0046] In this embodiment, two stepper motors are also provided on the mounting base 200, and bevel gears are fixedly provided on the lead screw nut 710 and the limiting ring 720. Bevel gears are also provided on the two stepper motors. The lead screw nut 710 and the limiting ring 720 are respectively connected to the two stepper motors through bevel gears; when the limiting ring 720 is fixed and does not rotate and the lead screw nut 710 rotates, the limiting ring 720 limits the rotation of the adjusting sleeve 730, and the adjusting sleeve 730 can be extended and retracted along the axis of the adjusting sleeve 730 under the threaded drive of the lead screw nut 710; the angle and distance between the slider 721 and the threaded protrusion are fixed. When the limiting ring 720 and the lead screw nut 710 rotate synchronously, the adjusting sleeve 730 can be driven to rotate when the telescopic position is fixed.

[0047] Reference Figure 4 The end effector 300 includes a sleeve assembly 400 and a welding assembly 500, wherein the sleeve assembly 400 includes a first sleeve 410, a second sleeve 420 and a rotating connector 430, wherein the first sleeve 410 is fixedly inserted into the adjusting sleeve 730, and the setting of the first sleeve 410 can extend the welding distance of the welding assembly 500, and the rotating connector 430 is connected to the end of the first sleeve 410 away from the sleeve assembly 400 through a rotating shaft, and the rotating connector 430 can rotate around the rotating shaft, and the second sleeve 420 is fixedly set on the rotating connector 430, so that when the rotating connector 430 rotates around the rotating shaft, the angle between the second sleeve 420 and the first sleeve 410 changes.

[0048] Reference Figure 3 and Figure 4The welding assembly 500 includes a welding part 510 and a wire feeding guide tube 520, wherein the interiors of the adjusting sleeve 730, the first sleeve 410, the rotating connection part 430 and the second sleeve 420 are all hollow. The end of the wire feeding guide tube 520 passes through the adjusting sleeve 730, the first sleeve 410, the rotating connection part 430 in sequence and is fixedly arranged inside the second sleeve. The welding part 510 is fixedly arranged at the end of the second sleeve 420 away from the rotating connection part 430. The welding wire is transported to the welding part 510 through the wire feeding guide tube 520. When the angle between the second sleeve 420 and the first sleeve 410 changes, the welding angle of the welding part 510 changes accordingly.

[0049] In this embodiment, two opposite rotating shafts are provided at the end of the first sleeve 410 away from the adjusting sleeve 730, and an extended connecting plate is provided at the position corresponding to the rotating shaft of the rotating connecting member 430, and a bearing seat is provided on the connecting plate. The rotating shaft and the bearing seat are connected by a bearing so that the first sleeve 410 and the rotating connecting member 430 can rotate; in this embodiment, the welding part 510 refers to the nozzle and conductive nozzle provided at the end of the welding gun or other structures for heating the welding wire and launching the welding wire to a specific position.

[0050] Reference Figures 2 to 4 The rotating connecting member 430 is adjusted by the driving assembly 600. The driving assembly 600 includes a capstan 610, a cable 620, a guide structure 630 and a pull ring 640, wherein the limiting ring 720 is arranged at one end of the mounting seat 200 close to the end effector 300, and a turntable 740 is fixedly provided on the limiting ring 720. The turntable 740 and the limiting ring 720 are integrally formed and rotatably arranged on the mounting seat 200 through the bearing seat. The capstan 610 is fixedly provided on the turntable 740 so that the capstan 610 can rotate synchronously with the limiting ring 720. The cable 620 is wound around the capstan 610, and the end of the cable 620 passes through the guide structure 630 and is connected to the pull ring 640, wherein the guide structure 630 is sleeved on the end of the adjusting sleeve 730 close to the second sleeve 420. The annular tube has a certain thickness. A through hole is opened on the tube wall of the annular tube to form a slide 733. The through hole opened on the tube wall of the annular tube is inclined so that one end of the slide 733 is connected to the outer wall of the annular tube, and the other end is connected to the end of the annular tube close to the rotating connection 430. The pull ring 640 is fixedly set on the outer peripheral surface of the rotating connection 430, and the position of the pull ring 640 corresponds to the position of the slide 733. When the winch 610 rotates forward, the cable 620 is wound around the winch 610. At this time, the end of the cable 620 is fixedly set on one end of the pull ring 640, and the pull ring 640 is pulled toward the direction close to the slide 733, so that the rotating connection 430 rotates toward the direction of the winch 610; when the winch 610 reverses, the cable 620 wound around the capstan 610 is loosened.

[0051] In order to enable the driving assembly 600 to drive the rotating connection 430 to rotate in both directions, the driving assembly 600 in the present application is provided with two groups, and the corresponding two groups of driving assemblies 600 are relatively arranged on both sides of the adjusting sleeve 730. Specifically, there are also two slides 733 and they are respectively arranged on opposite sides of the adjusting sleeve 730. The pull ring 640 corresponds to the slide 7332, and the two pull rings 640 are relatively arranged on both sides of the outer wall of the rotating connection 430; when the capstan 610 on one side rotates forward, the capstan 610 on the other side rotates reversely, so that the cable 620 on one side pulls the pull ring 640 toward the capstan 610 by a certain length, and drives the rotating connection 430 to rotate toward the capstan 610 that rotates forward, and the cable 620 on the other side is correspondingly loosened by a certain length. When the cables 620 in the two groups of driving assemblies 600 are both taut, the rotating connection 430 can be controlled to rotate to a corresponding angle, that is, the angle of the welding part 510 can be adjusted.

[0052] In this embodiment, the cable 620 adopts a steel wire rope lock with low elasticity to reduce the deformation and jitter of the cable 620 during movement, and the slide 733 is provided with smooth rounded corners at the openings at both ends to reduce stumbling; when two cables 620 are used to drive the rotating connection 430, the relative direction of the two pull rings 640 is consistent with the rotation direction of the rotating connection 430; at the same time, the driving component 600 can also use the coordinated transmission of the motor and the transmission belt or the screw rod or the gear to drive the rotating connection 430 to rotate. This embodiment is a preferred solution, which can reduce the structure set near the welding part 510, thereby reducing the volume of the second sleeve 420, and the welding robot can operate in a smaller welding space.

[0053] Reference Figure 4 Since the robot arm 100 and the motor will vibrate when they move, the cable 620 will shake under the vibration, thereby affecting the accuracy of the rotation angle of the rotating connection 430. In order to reduce the influence of the vibration on the accuracy of the rotation angle, an angle locking mechanism 800 is further provided on the rotating connection 430. In this embodiment, the angle locking mechanism 800 adopts a non-powered oil cylinder. The cylinder body of the non-powered oil cylinder is rotatably connected to the first sleeve 410, and the piston rod of the non-powered oil cylinder is rotatably connected to the rotating connection 430. The oil pipe of the non-powered oil cylinder is provided with There is a solenoid valve. When the winch 610 and the cable 620 cooperate to drive the rotating connection 430 to rotate, the solenoid valve controls the oil circuit to be connected, and the unpowered source cylinder passively rotates and retracts as the rotating connection 430 rotates; after the winch 610 and the cable 620 cooperate to rotate the rotating connection 430 to the set angle, the solenoid valve controls the oil circuit to be interrupted, and the unpowered source cylinder is locked in the current position. At this time, the length of the unpowered source cylinder is fixed, and together with the first sleeve 410 and the second sleeve 420, it forms a triangular stabilizing mechanism to lock the angle of the rotating connection 430.

[0054] Reference Figure 4 In order to accurately measure the angle between the rotating connector 430 and the first sleeve 410, an angular displacement sensor 440 is further provided on the rotating connector 430. In this embodiment, the rotating shaft of the angle sensor is fixedly connected to the rotating shaft of the first sleeve 410 and the rotating connector 430, and the body of the angular displacement sensor 440 is fixedly set on the bearing seat of the rotating connector 430; when the rotating connector 430 and the first sleeve 410 rotate relative to each other, the angular displacement sensor 440 can detect the angle change in real time, and then can perform coordinate conversion on the coordinate data of the adjustment sleeve 730 according to the angle of the angular displacement sensor, obtain the coordinate data of the weldment 510 in real time, and detect the welding angle of the weldment 510.

[0055] The implementation principle of a welding robot according to an embodiment of the present invention is as follows: when performing welding operations, firstly, the robot arm 100 and the mounting seat 200 are controlled to cooperate to move the end effector 300 to the vicinity of the weld seam; secondly, the welding assembly 500 is extended to a position close to the weld seam through the adjustment assembly 700. During this process, the winch 610 in the drive assembly 600 cooperates to loosen the cable 620 to release the moving space; then, the angle locking mechanism 800 releases the angle lock, and the winches 610 in the two sets of drive assemblies 600 cooperate to rotate, and the rotation angle of the rotating connector 430 is adjusted. During the process of changing the angle, the angular displacement sensor 440 will perform real-time detection and calculate the welding angle of the welding part 510; finally, the angle locking mechanism 800 controls the rotation angle of the rotating connection part 430 to lock, so that the welding angle of the welding part 510 is fixed, and controls the movement of the machine, the mounting seat 200 and the adjustment component 700 to make the welding part 510 welded along the weld seam. When the operating space of the welding machine is small, the welding angle, welding direction and the extension length of the adjustment sleeve 730 can be adjusted in real time without controlling the movement of the robot arm 100 and the mounting seat 200 to weld along the weld seam.

[0056] In summary, the end effector 300 is set to a rotatable structure, so that when the welding robot performs welding operations in a narrow welding space, the welding angle of the welding workpiece 510 can be adjusted by adjusting the end effector 300; the adjustment component 700 is set on the mounting base 200 to control the rotation of the end effector 300, and cooperates with the angle adjustment of the end effector 300 to adjust the welding angle of the end effector 300 in any direction. When operating in a narrow welding space, there is no need for the robot arm 100 and the mounting base 200 to move, which reduces the probability of interference between the welding robot and the surrounding workpieces; by setting the cable 62 0 drives the welding angle of the end effector 300, and an angle locking mechanism 800 is provided to lock the welding angle of the end effector 300. The flexibly provided cable 620 can arbitrarily change the transmission path of the driving member, so that the driving member for adjusting the angle of the end effector 300 can be installed at a position away from the end effector 300, reducing the occupied space of the end effector 300 and enabling the welding robot to perform welding operations in a smaller space. The angle locking mechanism 800 can lock the angle of the end effector 300, reducing the swing of the welding angle of the end effector 300 during the welding process and improving the welding accuracy.

[0057] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A welding robot capable of welding welds in a narrow space, comprising a robotic arm (100), a mounting base (200), and an end effector (300), wherein the mounting base (200) is arranged at the end of the robotic arm (100), and the end effector (300) is arranged on the mounting base (200), and is characterized in that: The end effector (300) includes a sleeve assembly (400) and a welding assembly (500); The sleeve assembly (400) comprises a first sleeve (410), a second sleeve (420) and a rotating connector (430), wherein one end of the first sleeve (410) is connected to the mounting seat (200), and the second sleeve (420) is connected to the other end of the first sleeve (410) via the rotating connector (430); The welding assembly (500) comprises a welding part (510) and a wire feeding duct (520), wherein the wire feeding duct (520) is flexibly arranged, and the wire feeding duct (520) is passed through the first sleeve (410), the rotating connecting part (430) and the second sleeve (420), and the welding part (510) is arranged at the end of the second sleeve (420) away from the first sleeve (410); A driving assembly (600) is transmission-connected to the rotating connecting member (430), and the driving assembly (600) is used to adjust the angle between the rotating connecting member (430) and the first sleeve (410); The driving assembly (600) comprises a winch (610), a cable (620), a guide structure (630) arranged outside the first sleeve (410), and a pull ring (640) fixedly arranged on the outer peripheral surface of the rotating connecting member (430), the guide structure (630) and the pull ring (640) being arranged correspondingly, the cable (620) being slidably arranged in the guide structure (630), one end of the cable (620) being fixedly arranged on the pull ring (640), and the other end of the cable (620) being connected to the winch (610); The driving assembly (600) is provided in two groups, and the two pull rings (640) are arranged opposite to each other on the outer peripheral surface of the rotating connecting member (430); The two winches (610) are cooperatively arranged to drive the rotating connection member (430) to rotate, and the cable (620) is used for transmission; The mounting seat (200) is further provided with an adjustment assembly (700), the adjustment assembly (700) comprising a screw nut (710), a limiting ring (720) and an adjustment sleeve (730), the screw nut (710) being rotatably disposed on the mounting seat (200), and the adjustment sleeve (730) being inserted into the screw nut (710) and the limiting ring (720); The outer circumferential surface of the adjusting sleeve (730) is provided with a threaded groove (731) and a sliding groove (732), and the adjusting sleeve (730) is threadedly connected to the screw nut (710) via the threaded groove (731); The sliding groove (732) is arranged along the axial direction of the adjusting sleeve (730); the inner circumferential surface of the limiting ring (720) is provided with a slider (721) in cooperation with the sliding groove (732); the slider (721) and the sliding groove (732) cooperate to limit the circumferential position of the adjusting sleeve (730); The screw nut (710) is connected to a driving member, and the screw nut (710) rotates and the limiting ring (720) is fixed to drive the adjusting sleeve (730) to extend and retract; The first sleeve (410) is fixedly arranged on the adjustment sleeve (730); The limiting ring (720) is rotatably arranged on the mounting seat (200), and the limiting ring (720) is connected to a driving member; the screw nut (710) and the limiting ring (720) rotate synchronously to drive the adjusting sleeve (730) to rotate.

2. A welding robot according to claim 1, characterized in that: A turntable (740) is also rotatably provided on the mounting seat (200); The rotating disk (740) is in transmission connection with the limiting ring (720); Or the rotating disk (740) and the limiting ring (720) are integrally provided; The rotating disk (740) is used to rotate synchronously with the adjusting sleeve (730), and the capstan (610) is mounted on the rotating disk (740).

3. The welding robot according to claim 1, characterized in that: The adjusting sleeve (730) is sleeved on the outside of the first sleeve (410), and the guiding structure (630) is fixedly arranged at the end of the adjusting sleeve (730) close to the second sleeve (420); A slideway (733) is provided on the guide structure (630), one end of the slideway (733) is opened on the end surface of the adjusting sleeve (730) facing the second sleeve (420), the slideway (733) is correspondingly provided with the pull ring (640), the cable (620) is slidably provided in the slideway (733), and the slideway (733) is used to limit the radial position of the cable (620); Two slideways (733) are provided, and the two slideways (733) are respectively provided corresponding to the two groups of drive assemblies (600).

4. A welding robot according to any one of claims 1 to 3, characterized in that: An angular displacement sensor (440) is also provided on the rotating connection member (430), and the angular displacement sensor (440) is used to measure the angle between the first sleeve (410) and the rotating connection member (430).

5. A welding robot according to any one of claims 1 to 3, characterized in that: The rotating connecting member (430) is also provided with an angle locking mechanism (800), and the angle locking mechanism (800) is used to lock the rotation angle of the rotating connecting member (430).

6. The welding robot according to claim 5, characterized in that: The angle locking mechanism (800) is a non-powered oil cylinder, the cylinder body of the non-powered oil cylinder is rotatably connected to the first sleeve (410), the piston rod of the non-powered oil cylinder is rotatably connected to the second sleeve (420) or the rotating connection member (430), and an electromagnetic valve is provided on the oil pipe of the non-powered oil cylinder, and the electromagnetic valve is used to control the on-off of the oil circuit.

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