An intelligent welding robot

Abstract

The present invention relates to the technical field of welding, specifically to an intelligent welding robot, and a special-shaped workpiece placed on the top of a base plate frame. It further includes an annular flexible conveyor belt, which is arranged above the base plate frame and used to support a welding manipulator. Grooves are provided on the outer surface of the annular flexible conveyor belt. A plurality of driving wheels for driving the annular flexible conveyor belt to move are arranged inside the base plate frame. An adjusting assembly for changing the position of the driving wheels is arranged inside the base plate frame. An adjusting seat, a plurality of which are constructed and slidably connected inside the base plate frame, and a plurality of pressing wheels for pressing the annular flexible conveyor belt are arranged on one side thereof. Two pressing shells are arranged on one side of the adjusting seat. A transmission assembly for driving the plurality of pressing wheels to move is arranged inside the pressing shell. The annular flexible conveyor belt cooperates with the welding manipulator. The non-standard coding only needs to edit the planar trajectory of the manipulator, and combined with the operation of the conveyor belt, three-dimensional welding can be achieved, greatly reducing the coding complexity.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and particularly to an intelligent welding robot. Background Art

[0002] During the traditional welding process of special-shaped parts, the welding quality highly depends on the skill level and experience of welders. Due to the complexity and high-intensity labor of special-shaped part welding operations, welders are prone to fatigue, resulting in fluctuations in welding parameters (such as current, voltage, welding speed, etc.), which in turn affect the weld quality. Operational differences among different welders also lead to uneven welding quality of products in the same batch, increasing the difficulty of product quality control. In addition, environmental factors such as temperature, humidity, and wind speed also have an adverse impact on traditional welding quality, and it is difficult for traditional welding methods to compensate for and adjust these factors in real time and effectively, further reducing the stability of welding quality. With the intensification of market competition, the manufacturing industry has increasingly strict requirements for production efficiency and cost control. The traditional welding method for special-shaped parts is difficult to meet the needs of large-scale production due to its complex operation and low efficiency. Manual welding is not only slow, but also requires long-term training of welders, increasing labor costs and management difficulties. At the same time, when traditional welding equipment is dealing with the diversified production of special-shaped parts, it often needs to frequently adjust and replace tooling fixtures, resulting in long production preparation time and low equipment utilization rate, further increasing production costs.

[0003] For example, in the patent document with the prior art publication number CN218983699U, this patent document relates to the field of welding, and particularly to a multi-degree-of-freedom welding robot for special-shaped curved surfaces. It includes a mounting base, the top end of the mounting base is rotatably connected with a mounting column, a driving mechanism for driving the mounting column is arranged on the mounting base, one end of the mounting column far away from the mounting base is rotatably connected with a plurality of connected adjusting arms, the rotating shaft of each adjusting arm is connected with a rotating motor, one end of the adjusting arm far away from the mounting base is rotatably connected with a rotating block, and a welding torch is arranged at one end of the rotating block far away from the mounting base. This patent document has the effect of adjusting the position of the welding torch at multiple angles.

[0004] Although the prior art has achieved flexible adaptation of the welding torch position through a multi-degree-of-freedom adjustment mechanism, its technical architecture has revealed fundamental defects in complex industrial scenarios: First, the cumulative error of multi-dimensional adjustment has led to a significant attenuation of the welding trajectory planning accuracy. Especially in the processing scenarios of special-shaped curved surfaces and composite plane workpieces, the welding qualification rate has long been limited by the dynamic response lag of the mechanical system. Second, the adaptation process of non-standard workpieces highly depends on the development of customized kinematic algorithms. Each product model change requires reconstructing the underlying control logic, resulting in an exponential increase in software development workload. Finally, there is a structural contradiction between the rigid mechanical structure and the flexible manufacturing requirements. The equipment model change and debugging require several hours for parameter calibration, directly restricting the efficient operation of the production line. This technical path that exchanges high-intensity customized development for limited scenario adaptation essentially violates the underlying logic of modern manufacturing for cost reduction and efficiency improvement. In the multi-variety, small-batch production mode, its comprehensive efficiency bottleneck becomes increasingly prominent. Therefore, this application proposes an intelligent welding robot. Summary of the Invention

[0005] An object of the present invention is to provide an intelligent welding robot to solve the problems proposed in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: An intelligent welding robot includes a base plate frame and a welding robotic arm, as well as a special-shaped workpiece placed on the top of the base plate frame. It further includes:

[0007] A circular flexible conveyor belt, which is arranged above the base plate frame and used to support the welding robotic arm. Grooves are provided on the outer surface of the circular flexible conveyor belt. A plurality of driving wheels for driving the circular flexible conveyor belt to move are arranged inside the base plate frame, and an adjustment component for changing the position of the driving wheels is arranged inside the base plate frame.

[0008] Adjusting seats, a plurality of which are constructed and slidably connected inside the base plate frame. A plurality of pressing wheels for pressing the circular flexible conveyor belt are arranged on one side of the adjusting seats. Two pressure application shells are arranged on one side of the adjusting seats, and a transmission component for driving the plurality of pressing wheels to move is arranged inside the pressure application shells.

[0009] Preferably, the adjustment component includes a driving cylinder fixedly connected inside the base plate frame. The output end of the driving cylinder is fixedly connected with a sliding seat for supporting the driving wheel. A driving motor for driving the driving wheel to rotate is fixedly connected to the bottom of the sliding seat, and the sliding seat is slidably connected inside the base plate frame.

[0010] Preferably, the transmission assembly includes a slide bar slidably connected to one end of the pressure application housing, and a receiving seat for supporting the pressure wheel is fixedly connected to the end of the slide bar away from the pressure application housing. A piston displacement cylinder is slidably connected inside the pressure application housing, and one end of the piston displacement cylinder is fixedly connected to the slide bar through a connecting spring. A sleeve spring for resetting the slide bar itself is sleeved on the outer surface of the slide bar. A power mechanism for supplying air into the pressure application housing to drive the piston displacement cylinder to move is provided on one side of the adjustment seat.

[0011] Preferably, the power mechanism includes an air delivery pipe fixedly connected to one side of the adjustment seat, and an air pipe is commonly connected between the air delivery pipe and the pressure application housing. A positioning piston rod slidably connected to one end of the air delivery pipe is fixedly connected to the base plate frame at the end away from its piston end, and a tension spring fixedly connected to the adjustment seat is fixedly connected at the piston end of the positioning piston rod.

[0012] Preferably, an expansion ring is constructed inside the piston displacement cylinder. A plug piece rod is fixedly connected to the end of the slide bar close to the piston displacement cylinder, and the piston end of the plug piece rod extends into the interior of the expansion ring. A plurality of seesaws are rotatably connected to the outer surface of the piston displacement cylinder. One end of the seesaw is fixedly connected to a resistance spring fixedly connected to the piston displacement cylinder, and the other end of the seesaw abuts against the outer surface of the expansion ring.

[0013] Preferably, a through cone groove is formed inside the piston displacement cylinder, and the through cone groove is constructed in a conical shape to communicate the interior of the pressure application housing with the expansion ring.

[0014] Preferably, a screw rod is threadedly connected inside the adjustment seat, and one end of the screw rod is rotatably connected inside the base plate frame, and a handle is fixedly connected to the other end of the screw rod.

[0015] Preferably, a plurality of sliding grooves are formed at the top of the base plate frame, and a plurality of connecting seats are slidably connected in the plurality of sliding grooves. A reinforcing wheel is rotatably connected to the top of the connecting seat, and the reinforcing wheel is placed inside the groove. A spring fixedly connected to the sliding groove is fixedly connected to one side of the connecting seat.

[0016] Preferably, it further includes a ventilation ring which is arranged above the base plate frame. A plurality of flexible bending pieces constructed to be flexible are rotatably connected inside the ventilation ring, and an exhaust groove is formed on one side of the flexible bending piece. A positioning frame is fixedly connected to the top of the adjustment seat, and the positioning frame is placed on the outer surface of the flexible bending piece. An air pump for supplying air into the ventilation ring is fixedly connected to the top of the base plate frame.

[0017] Preferably, a plurality of sliding beads are rotatably connected to the inner wall of the annular flexible conveyor belt, and a flexible telescopic protective net is fixedly connected to the top of the annular flexible conveyor belt.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. The annular flexible conveyor belt is made of elastic material, can be stretched and bent, and can closely fit special-shaped workpieces of different standards. For example, when welding aerospace components with irregular shapes, it can adaptively deform according to the complex curves and surfaces on the surface of the components, providing a stable support foundation for the welding robotic arm, ensuring that the welding robotic arm can accurately reach the welding position, improving the adaptability and accuracy of welding. Four driving wheels are set at the four corners of the annular flexible conveyor belt and are continuously driven to rotate by a driving motor, which can stably drive the annular flexible conveyor belt to rotate, thereby changing the position of the welding robotic arm. The driving cylinder in the adjusting assembly can adjust the position of the sliding seat, thereby changing the position of the driving wheel, so that it can effectively drive the rotation in cooperation with the bending state of the annular flexible conveyor belt. This design enables the welding robotic arm to flexibly adjust its position to meet the welding requirements of different parts of special-shaped workpieces, improving welding efficiency and quality. The reinforcing wheel is slidably connected to the chute of the base plate frame through a connecting seat, and one side of the connecting seat is pushed by a spring, so that the reinforcing wheel always fits the groove on the outer surface of the annular flexible conveyor belt. During the movement of the annular flexible conveyor belt, the reinforcing wheel plays a further role in supporting and guiding, ensuring the stable operation of the annular flexible conveyor belt, reducing the shaking and deviation during operation. A plurality of sliding beads on the inner wall of the annular flexible conveyor belt are in contact with the special-shaped workpiece, which can reduce the friction force, improve the smoothness of the movement of the annular flexible conveyor belt, reduce energy consumption, and extend the service life of the equipment.

[0020] 2. Multiple pressure wheels on one side of the adjustment seat can squeeze the annular flexible conveyor belt to deform it, closely fit the surface of the irregular special-shaped workpiece, and at the same time effectively change the traveling path of the welding robot arm, so that the welding robot arm continuously approaches the edge of the special-shaped workpiece during movement. In the transmission component, the sliding rod is slidably connected to one end of the pressure shell and is connected to the piston displacement cylinder through a connecting spring, and the sleeve spring is used for the sliding rod to reset. When the adjustment seat moves, the power mechanism supplies gas into the pressure shell, the piston displacement cylinder is forced to move and push the sliding rod, thereby driving the pressure wheel to move. This movement path is synchronized with the movement of the adjustment seat, improving the movement efficiency of the pressure wheel, enabling the annular flexible conveyor belt to quickly fit the special-shaped workpiece, shortening the production preparation time. The expansion ring inside the piston displacement cylinder cooperates with the plug piece rod at one end of the sliding rod. When the gas enters the pressure shell, it first pushes the piston displacement cylinder to move so that the pressure wheel abuts against the groove, and then the gas passes through the through conical groove and enters the expansion ring to push the plug piece rod, making the pressure wheel tightly fit inside the groove and applying a stronger abutting force. The cooperation between the expansion ring and the plug piece rod has a damping force. When the pressure wheel is affected by resonance, it resets and squeezes the gas inside the expansion ring. The gas in the pressure shell and the expansion ring are difficult to be compressed, and the gas pushes the expansion ring to expand and release space, abutting one end of the seesaw and squeezing the resistance spring, buffering and absorbing the resonance force received by the pressure wheel, achieving the damping effect, ensuring the stable operation of the equipment, improving the welding quality. The annular flexible conveyor belt cooperates with the welding robot arm. The non-standard coding only needs to edit the planar trajectory of the robot arm, and combined with the operation of the conveyor belt, three-dimensional welding can be achieved, greatly reducing the coding complexity and improving the production efficiency.

[0021] 3. The air pump continuously supplies gas to the ventilation ring, and the gas is discharged through the exhaust groove and directly blows to the surface of the special-shaped workpiece through the flexible telescopic protective net. Before welding, it can effectively remove impurities such as oil stains, dust, and metal chips on the workpiece surface, avoiding impurities from mixing into the weld seam and causing defects such as pores and slag inclusions. As the adjustment seat moves, the positioning frame drives the flexible bending piece to bend, gradually approaching the outer surface of the special-shaped workpiece. This flexible bending characteristic enables the ventilation ring to adapt to workpieces of various complex shapes. Whether it is a convex, concave or irregular curved surface, it can ensure that the gas can accurately blow to the workpiece surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0023] Figure 2 is a structural schematic diagram of the present invention with the special-shaped workpiece removed;

[0024] Figure 3 is an exploded structural schematic diagram of the present invention;

[0025] Figure 4 is a structural schematic diagram of the base plate frame in the present invention;

[0026] Figure 5 of the present inventionFigure 4 Schematic enlarged view of the structure at A in

[0027] Figure 6 Schematic cross-sectional view of the base plate frame in the present invention;

[0028] Figure 7 In the present invention Figure 6 Schematic enlarged view of the structure at B in

[0029] Figure 8 Schematic cross-sectional view of the ventilation ring in the present invention;

[0030] Figure 9 Schematic cross-sectional view of the adjusting seat in the present invention;

[0031] Figure 10 In the present invention Figure 9 Schematic enlarged view of the structure at C in

[0032] Figure 11 Schematic cross-sectional view of the piston displacement cylinder in the present invention.

[0033] In the figure: 100, base plate frame; 101, special-shaped workpiece; 102, welding robotic arm; 200, annular flexible conveyor belt; 201, flexible telescopic protective net; 202, sliding beads; 203, sliding seat; 204, driving wheel; 205, driving motor; 206, driving cylinder; 207, reinforcing wheel; 208, chute; 209, connecting seat; 210, spring; 211, groove; 300, adjusting seat; 301, screw; 302, handle; 303, pressure shell; 304, sliding rod; 305, receiving seat; 306, pressing wheel; 307, air delivery pipe; 308, positioning piston rod; 309, tension spring; 310, air pipe; 311, piston displacement cylinder; 312, connecting spring; 313, seesaw; 314, resistance spring; 315, expansion ring; 316, sleeve spring; 317, plug piece rod; 318, through conical groove; 400, ventilation ring; 401, flexible bending piece; 402, positioning frame; 403, exhaust groove; 404, air pump. Specific embodiments

[0034] 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] Embodiment 1: Please refer to Figure 1 , Figure 2 and Figure 3, the present invention provides a technical solution: an intelligent welding robot, including a base plate frame 100 and a welding manipulator 102, as well as a special-shaped workpiece 101 placed on the top of the base plate frame 100. It also includes an annular flexible conveyor belt 200, which is arranged above the base plate frame 100 and used to support the welding manipulator 102. A groove 211 is opened on the outer surface of the annular flexible conveyor belt 200. A plurality of driving wheels 204 for driving the annular flexible conveyor belt 200 to move are arranged inside the base plate frame 100. An adjusting component for changing the position of the driving wheels 204 is arranged inside the base plate frame 100. By setting the annular flexible conveyor belt 200, it can be used to support the welding manipulator 102. At the same time, its structure is made of elastic material and can be stretched and bent, so as to be easily attached to special-shaped workpieces 101 of different standards. And setting the driving wheels 204 at the four corners of the annular flexible conveyor belt 200 can effectively drive the annular flexible conveyor belt 200 to rotate and change the position of the welding manipulator 102. At the same time, the adjusting component can adjust the position of the driving wheels 204 following the bending state of the annular flexible conveyor belt 200, so as to effectively drive its rotation in cooperation with the bending of the annular flexible conveyor belt 200.

[0036] Please refer to Figure 4 , Figure 5 and Figure 6 , further, the adjusting component includes a driving cylinder 206 fixedly connected to the inside of the base plate frame 100. The output end of the driving cylinder 206 is fixedly connected with a sliding seat 203 for supporting the driving wheel 204. A driving motor 205 for driving the driving wheel 204 to rotate is fixedly connected to the bottom of the sliding seat 203. The sliding seat 203 is slidably connected to the inside of the base plate frame 100. By setting the driving motor 205, the driving wheel 204 can be continuously driven to rotate, and the driving cylinder 206 can change the position of the sliding seat 203 to adjust the position of the driving wheel 204.

[0037] Please refer to Figure 5 , Figure 6 and Figure 7, a plurality of sliding grooves 208 are formed in the top of the base plate frame 100, and a plurality of connecting seats 209 are slidably connected in the plurality of sliding grooves 208. A reinforcing wheel 207 is rotatably connected to the top of the connecting seat 209, and the reinforcing wheel 207 is placed inside the groove 211. A spring 210 fixedly connected to one side of the connecting seat 209 and fixedly connected to the sliding groove 208. A plurality of sliding beads 202 are rotatably connected to the inner wall of the annular flexible conveyor belt 200. A flexible telescopic protective net 201 is fixedly connected to the top of the annular flexible conveyor belt 200. The flexible telescopic protective net 201 can protect the special-shaped workpiece 101. At the same time, its structure is made of flexible material and can move with the movement of the annular flexible conveyor belt 200. The contact between the sliding bead 202 and the special-shaped workpiece 101 can reduce the friction force and improve the smoothness of the movement of the annular flexible conveyor belt 200. By setting the reinforcing wheel 207 to fit the outer surface of the annular flexible conveyor belt 200, it can further support and guide it. The spring 210 can push the connecting seat 209 to continuously approach the annular flexible conveyor belt 200, so that the reinforcing wheel 207 still fits the annular flexible conveyor belt 200 when the annular flexible conveyor belt 200 changes its angular position.

[0038] Specifically, by turning on the driving cylinder 206 to adjust the position of the driving wheel 204, the annular flexible conveyor belt 200 is tightly attached to the sliding seat 203. Then, the driving motor 205 is turned on to drive the driving wheel 204 to rotate, so that the annular flexible conveyor belt 200 is conveyed and the position of the welding robot arm 102 is changed. At this time, the welding robot arm 102 will move along the irregular outer surface of the special-shaped workpiece 101 to perform welding work on its edge and top. At the same time, the position where the reinforcing wheel 207 abuts against the groove 211 further guides it.

[0039] In summary, the annular flexible conveyor belt 200 is made of an elastic material, can be stretched and bent, and can closely fit the special-shaped workpieces 101 of different standards. For example, when welding aerospace components with irregular shapes, it can adaptively deform according to the complex curves and surfaces on the surface of the components, providing a stable support foundation for the welding robot arm 102, ensuring that the welding robot arm 102 can accurately reach the welding position, improving the adaptability and accuracy of welding. Four driving wheels 204 are arranged at the four corners of the annular flexible conveyor belt 200 and are continuously driven to rotate by the driving motor 205, which can stably drive the annular flexible conveyor belt 200 to rotate, thereby changing the position of the welding robot arm 102. The driving cylinder 206 in the adjusting assembly can adjust the position of the sliding seat 203, thereby changing the position of the driving wheel 204, so that it can effectively drive the rotation in cooperation with the bending state of the annular flexible conveyor belt 200. This design enables the welding robot arm 102 to flexibly adjust its position to meet the welding requirements of different parts of the special-shaped workpiece 101, improving the welding efficiency and quality. The reinforcing wheel 207 is slidably connected to the chute 208 of the base plate frame 100 through the connecting seat 209, and one side of the connecting seat 209 is pushed by a spring 210, so that the reinforcing wheel 207 always fits the groove 211 on the outer surface of the annular flexible conveyor belt 200. During the movement of the annular flexible conveyor belt 200, the reinforcing wheel 207 plays a further role in supporting and guiding, ensuring the stable operation of the annular flexible conveyor belt 200, reducing the shaking and deviation during operation. A plurality of sliding beads 202 on the inner wall of the annular flexible conveyor belt 200 are in contact with the special-shaped workpiece 101, which can reduce the friction force, improve the smoothness of the movement of the annular flexible conveyor belt 200, reduce the energy loss, and extend the service life of the equipment.

[0040] Please refer to Figure 2 、 Figure 8 and Figure 9 , further including an adjusting seat 300, which is configured with a plurality of parts that are all slidably connected to the inside of the base plate frame 100, and a plurality of pressing wheels 306 for pressing the annular flexible conveyor belt 200 are arranged on one side thereof. Two pressing shells 303 are arranged on one side of the adjusting seat 300, and a transmission assembly for driving the plurality of pressing wheels 306 to move is arranged inside the pressing shell 303. By arranging the pressing wheels 306, the annular flexible conveyor belt 200 can be pressed to deform and fit the surface of the irregular special-shaped workpiece 101. At the same time, the traveling path of the welding robot arm 102 can be effectively changed, so that the welding robot arm 102 continuously approaches the edge of the special-shaped workpiece 101 during movement. By setting the transmission assembly to operate independently, the positions of the plurality of adjusting seats 300 can be adjusted separately to adapt to special-shaped workpieces 101 of different specifications.

[0041] Further, the transmission assembly includes a slide bar 304 slidably connected to one end of the pressure application housing 303, and a receiving seat 305 for supporting the pressure wheel 306 is fixedly connected to the end of the slide bar 304 away from the pressure application housing 303. A piston displacement cylinder 311 is slidably connected inside the pressure application housing 303, and one end of the piston displacement cylinder 311 is fixedly connected to the slide bar 304 through a connecting spring 312. A sleeve spring 316 for resetting the slide bar 304 itself is sleeved on the outer surface of the slide bar 304. A power mechanism for supplying gas into the pressure application housing 303 to drive the piston displacement cylinder 311 to move is arranged on one side of the adjustment seat 300. By arranging the piston displacement cylinder 311, it can be forced to move when the gas in the pressure application housing 303 expands, so as to push the slide bar 304 to move, thereby driving the pressure wheel 306 to move. This movement path runs synchronously with the movement of the adjustment seat 300, thus improving the movement efficiency of the pressure wheel 306.

[0042] Please refer to Figure 9 、 Figure 10 and Figure 11 , the power mechanism includes an air delivery pipe 307 fixedly connected to one side of the adjustment seat 300, and an air pipe 310 is commonly connected between the air delivery pipe 307 and the pressure application housing 303. A positioning piston rod 308 adapted to it is slidably connected to one end of the air delivery pipe 307, and the end of the positioning piston rod 308 away from its piston end is fixedly connected to the base plate frame 100, and a tension spring 309 fixedly connected to the adjustment seat 300 is fixedly connected to the piston end of the positioning piston rod 308. By arranging the power mechanism, when the adjustment seat 300 moves, it drives the air delivery pipe 307 to move, so that the gas in the air delivery pipe 307 is squeezed at the piston end of the positioning piston rod 308 and delivered into the pressure application housing 303 to push the piston displacement cylinder 311 to move. And the pressure wheel 306 itself is arranged on the adjustment seat 300, so that when the adjustment seat 300 moves, it drives the pressure wheel 306 to move, realizing high-efficiency movement.

[0043] Among them, the internal structure of the piston displacement cylinder 311 has an expansion ring 315. One end of the sliding rod 304 close to the piston displacement cylinder 311 is fixedly connected to a plug piece rod 317, and the piston end of the plug piece rod 317 extends into the interior of the expansion ring 315. The outer surface of the piston displacement cylinder 311 is rotatably connected with a plurality of seesaws 313. One end of the seesaw 313 is fixedly connected to a resistance spring 314 fixedly connected to the piston displacement cylinder 311, and the other end of the seesaw 313 abuts against the outer surface of the expansion ring 315. A through cone groove 318 is formed inside the piston displacement cylinder 311, and the through cone groove 318 is configured in a conical shape for the interior of the pressure application shell 303 to communicate with the expansion ring 315. At the same time, when gas enters the pressure application shell 303, it will first push the piston displacement cylinder 311 to move and drive the pressure wheel 306 to abut against the groove 211. Subsequently, the gas will pass through the through cone groove 318 and enter the interior of the expansion ring 315, thereby pushing the plug piece rod 317 to move so that the pressure wheel 306 closely adheres to the inside of the groove 211, applying a stronger abutting force. There is a certain damping force in the cooperation between the expansion ring 315 and the plug piece rod 317. This causes when the pressure wheel 306 is affected by resonance, it will reset and squeeze the gas inside the expansion ring 315. At this time, the gas inside the pressure application shell 303 and the expansion are difficult to be compressed. The gas will push the expansion ring 315 to expand and release more space, thereby abutting one end of the seesaw 313 to squeeze the resistance spring 314, so as to buffer and absorb the resonance force received by the pressure wheel 306, thereby achieving the damping effect.

[0044] Furthermore, a screw rod 301 is threadedly connected inside the adjusting seat 300. One end of the screw rod 301 is rotatably connected to the inside of the base plate frame 100, and the other end of the screw rod 301 is fixedly connected to a handle 302. By setting the screw rod 301, the adjusting seat 300 can be driven to move, and at the same time, a motor can be used instead of the handle 302 to reduce the operation.

[0045] It is worth mentioning that the two pressure application shells 303 on one side of the same adjusting seat 300 can communicate with each other. This enables the pressure wheel 306 to adapt to more irregular shaped workpieces 101, thereby improving the accuracy of the movement of the welding robotic arm 102. With the cooperation of the annular flexible conveyor belt 200 and the welding robotic arm 102, during the non-standard coding process, only the movement trajectory of the welding robotic arm 102 in the plane direction needs to be edited, and it can cooperate with the operation of the annular flexible conveyor belt 200 to achieve welding work in the three-dimensional direction, greatly reducing the complexity of the coding.

[0046] Specifically, first place the special-shaped workpiece 101 on the top of the base plate frame 100 and inside the annular flexible conveyor belt 200. Subsequently, rotate the handle 302 to drive the screw 301 to rotate, causing the adjusting seat 300 to move. At this time, the piston end of the positioning piston rod 308 will move within the air pipe 307, thereby pushing the gas in the air pipe 307 to be conveyed through the air pipe 310 into the inside of the pressure shell 303. As the gas in the pressure shell 303 increases, it will push the piston displacement cylinder 311 to move, and then push the sliding rod 304 to move, thereby pushing multiple pressure wheels 306 into the grooves 211 to squeeze the annular flexible conveyor belt 200, so as to change the shape of the annular flexible conveyor belt 200 to make it fit the outer surface of the special-shaped workpiece 101 for fixing. When the pressure wheel 306 abuts against the groove 211, the gas will no longer be able to push the piston displacement cylinder 311 to move, and thus enter the inside of the expansion ring 315 through the through cone groove 318 for storage. When the special-shaped workpiece 101 vibrates, it will drive the pressure wheel 306 to vibrate and feedback to the plug piece rod 317 to cause its displacement, and then squeeze the gas in the expansion ring 315 to make it expand, thereby pushing multiple seesaws 313 to be pried and squeezing the resistance spring 314, so as to suppress the vibration of the special-shaped workpiece 101.

[0047] In summary, multiple pressing wheels 306 on one side of the adjusting seat 300 can squeeze the annular flexible conveyor belt 200 to deform it, closely fitting the surface of the irregular shaped workpiece 101. At the same time, it effectively changes the traveling path of the welding robot arm 102, enabling the welding robot arm 102 to continuously move close to the edge of the shaped workpiece 101 during movement. In the transmission assembly, the slide rod 304 is slidably connected to one end of the pressure application housing 303 and is connected to the piston displacement cylinder 311 through a connecting spring 312. The sleeve spring 316 is used for the slide rod 304 to reset. When the adjusting seat 300 moves, the power mechanism supplies air into the pressure application housing 303. The piston displacement cylinder 311 is forced to move and push the slide rod 304, thereby driving the pressing wheel 306 to move. This moving path is synchronized with the movement of the adjusting seat 300, improving the moving efficiency of the pressing wheel 306, enabling the annular flexible conveyor belt 200 to quickly fit the shaped workpiece 101, shortening the production preparation time. The expansion ring 315 inside the piston displacement cylinder 311 cooperates with the plug piece rod 317 at one end of the slide rod 304. When gas enters the pressure application housing 303, it first pushes the piston displacement cylinder 311 to move so that the pressing wheel 306 abuts against the groove 211. Subsequently, the gas passes through the through cone groove 318 and enters the expansion ring 315 to push the plug piece rod 317, making the pressing wheel 306 tightly adhere to the inside of the groove 211, applying a stronger abutting force. The cooperation between the expansion ring 315 and the plug piece rod 317 has a damping force. When the pressing wheel 306 is affected by resonance, it resets and squeezes the gas inside the expansion ring 315. The gas in the pressure application housing 303 and the expansion ring 315 are difficult to be compressed. The gas pushes the expansion ring 315 to expand and release space, abutting one end of the toggle plate 313 to squeeze the resistance spring 314, buffering and absorbing the resonance force received by the pressing wheel 306, achieving a shock absorption effect, ensuring the stable operation of the equipment, improving the welding quality. The annular flexible conveyor belt 200 cooperates with the welding robot arm 102. The non-standard coding only needs to edit the planar trajectory of the robot arm, and combined with the operation of the conveyor belt, three-dimensional welding can be achieved, greatly reducing the coding complexity and improving the production efficiency.

[0048] Please refer to Figure 2 、 Figure 3 and Figure 8 and further includes an air vent ring 400, which is arranged above the base plate frame 100. A plurality of flexible bending pieces 401 constructed as flexible are rotatably connected inside the air vent ring 400, and an exhaust groove 403 is provided on one side of the flexible bending piece 401. A positioning frame 402 is fixedly connected to the top of the adjusting seat 300, and the positioning frame 402 is placed on the outer surface of the flexible bending piece 401. An air pump 404 for supplying air into the air vent ring 400 is fixedly connected to the top of the base plate frame 100. By setting the cooperation between the air pump 404 and the air vent ring 400, air can be continuously supplied into the air vent ring 400, and the air is blown out through the exhaust groove 403 towards the shaped workpiece 101. At the same time, by setting the positioning frame 402, the flexible bending piece 401 can be pulled to bend, thereby changing its position.

[0049] Specifically, the air pump 404 is continuously turned on to supply air into the ventilation ring 400. The gas will be discharged through a plurality of exhaust grooves 403. As the moving depth of the adjusting seat 300 continuously increases, the positioning frame 402 will continuously drive the flexible bending piece 401 to bend, so as to gradually approach the outer surface of the special-shaped workpiece 101. Finally, the gas is discharged through the exhaust grooves 403 and passes through the flexible telescopic protective net 201 to clean and cool the special-shaped workpiece 101.

[0050] In summary, the air pump 404 continuously supplies air to the ventilation ring 400, and the gas is discharged through the exhaust grooves 403 and directly blows to the surface of the special-shaped workpiece 101 through the flexible telescopic protective net 201. Before welding, it can effectively remove impurities such as oil stains, dust, and metal chips on the workpiece surface, avoiding defects such as pores and slag inclusions caused by impurities mixing into the weld. As the adjusting seat 300 moves, the positioning frame 402 drives the flexible bending piece 401 to bend, making it gradually approach the outer surface of the special-shaped workpiece 101. This flexible bending characteristic enables the ventilation ring 400 to adapt to workpieces of various complex shapes. Whether it is a convex, concave or irregular curved surface, it can ensure that the gas can accurately blow to the workpiece surface.

[0051] Working principle: When in use, first place the special-shaped workpiece 101 on the top of the base plate frame 100 and inside the annular flexible conveyor belt 200. Then rotate the handle 302 to drive the screw 301 to rotate, so that the adjusting seat 300 moves. At this time, the piston end of the positioning piston rod 308 will move inside the air delivery pipe 307, thereby pushing the gas in the air delivery pipe 307 to be delivered to the inside of the pressure shell 303 through the air pipe 310. As the gas in the pressure shell 303 increases, it will push the piston displacement cylinder 311 to move, and then push the sliding rod 304 to move, so as to push a plurality of pressure wheels 306 into the grooves 211 to squeeze the annular flexible conveyor belt 200, thereby changing the shape of the annular flexible conveyor belt 200 to make it fit the outer surface of the special-shaped workpiece 101 for fixing. When the pressure wheel 306 abuts against the groove 211, the gas will no longer be able to push the piston displacement cylinder 311 to move, so it will enter the inside of the expansion ring 315 through the through cone groove 318 for storage. When the special-shaped workpiece 101 vibrates, it will drive the pressure wheel 306 to shake and feedback to the plug piece rod 317 to make it displace, and then squeeze the gas in the expansion ring 315 to make it expand, so as to push a plurality of seesaws 313 to be pried and squeeze the resistance spring 314, thereby suppressing the vibration of the special-shaped workpiece 101;

[0052] Subsequently, the driving cylinder 206 is activated to adjust the position of the driving wheel 204, so that the annular flexible conveyor belt 200 is closely attached to the sliding seat 203. Subsequently, the driving motor 205 is activated to drive the driving wheel 204 to rotate, so that the annular flexible conveyor belt 200 is conveyed and the position of the welding robotic arm 102 is changed. At this time, the welding robotic arm 102 will move along the irregular outer surface of the special-shaped workpiece 101 to perform welding work on its edge and top. At the same time, the reinforcing wheel 207 abuts against the position of the groove 211 to further guide it;

[0053] At the same time, the air pump 404 is activated to continuously supply air into the ventilation ring 400, and the gas will be discharged through a plurality of exhaust grooves 403. As the moving depth of the adjusting seat 300 continuously increases, the positioning frame 402 will continuously drive the flexible bending piece 401 to bend, so as to gradually approach the outer surface of the special-shaped workpiece 101. Finally, the gas is discharged through the exhaust grooves 403 and passes through the flexible telescopic protective net 201 to clean and cool the special-shaped workpiece 101.

[0054] It should be noted that in this article, 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, so 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 also includes elements inherent to such process, method, article or device.

[0055] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent welding robot, comprising a base plate frame (100) and a welding manipulator (102), as well as a special-shaped workpiece (101) placed on the top of the base plate frame (100), characterized in that, It further includes: An annular flexible conveyor belt (200), which is arranged above the base plate frame (100) and is used to support the welding robotic arm (102). A groove (211) is formed on the outer surface of the annular flexible conveyor belt (200). A plurality of drive wheels (204) for driving the movement of the annular flexible conveyor belt (200) are arranged inside the base plate frame (100), and an adjustment component for changing the position of the drive wheels (204) is arranged inside the base plate frame (100); Adjusting seats (300), a plurality of which are constructed and slidably connected inside the base plate frame (100), and a plurality of pressing wheels (306) for pressing the annular flexible conveyor belt (200) are arranged on one side thereof. Two pressure application shells (303) are arranged on one side of the adjusting seat (300), and a transmission component for driving the movement of the plurality of pressing wheels (306) is arranged inside the pressure application shell (303); The transmission component includes a sliding rod (304) slidably connected to one end of the pressure application shell (303), and a receiving seat (305) for supporting the pressing wheel (306) is fixedly connected to the end of the sliding rod (304) away from the pressure application shell (303). A piston displacement cylinder (311) is slidably connected inside the pressure application shell (303), and one end of the piston displacement cylinder (311) is fixedly connected to the sliding rod (304) through a connecting spring (312). A sleeve spring (316) for resetting itself is sleeved on the outer surface of the sliding rod (304). A power mechanism for supplying air into the pressure application shell (303) to drive the movement of the piston displacement cylinder (311) is arranged on one side of the adjusting seat (300); The power mechanism includes an air delivery pipe (307) fixedly connected to one side of the adjusting seat (300), and an air pipe (310) is commonly connected between the air delivery pipe (307) and the pressure application shell (303). One end of the air delivery pipe (307) is slidably connected with a positioning piston rod (308) adapted thereto, and the end of the positioning piston rod (308) away from its piston end is fixedly connected to the base plate frame (100), and a tension spring (309) fixedly connected to the adjusting seat (300) is fixedly connected to the piston end of the positioning piston rod (308); An expansion ring (315) is constructed inside the piston displacement cylinder (311). A plug piece rod (317) is fixedly connected to the end of the sliding rod (304) close to the piston displacement cylinder (311), and the piston end of the plug piece rod (317) extends into the interior of the expansion ring (315). A plurality of seesaws (313) are rotatably connected to the outer surface of the piston displacement cylinder (311), and a resistance spring (314) fixedly connected to the piston displacement cylinder (311) is fixedly connected to one end of the seesaw (313), and the other end of the seesaw (313) abuts against the outer surface of the expansion ring (315); A through cone groove (318) is formed inside the piston displacement cylinder (311), and the through cone groove (318) is constructed in a conical shape for communicating the interior of the pressure application shell (303) with the expansion ring (315).

2. The intelligent welding robot according to claim 1, characterized in that: The adjustment assembly includes a driving cylinder (206) fixedly connected inside the base plate frame (100). The output end of the driving cylinder (206) is fixedly connected with a sliding seat (203) for supporting the driving wheel (204). The bottom of the sliding seat (203) is fixedly connected with a driving motor (205) for driving the driving wheel (204) to rotate. The sliding seat (203) is slidably connected inside the base plate frame (100).

3. An intelligent welding robot according to claim 1, characterized in that: A screw rod (301) is threadedly connected inside the adjustment seat (300), and one end of the screw rod (301) is rotatably connected inside the base plate frame (100). The other end of the screw rod (301) is fixedly connected with a handle (302).

4. An intelligent welding robot according to claim 1, characterized in that: A plurality of sliding grooves (208) are formed at the top of the base plate frame (100), and a plurality of connecting seats (209) are slidably connected in the plurality of sliding grooves (208). The top of the connecting seat (209) is rotatably connected with a reinforcing wheel (207). The reinforcing wheel (207) is placed inside the groove (211). One side of the connecting seat (209) is fixedly connected with a spring (210) fixedly connected with the sliding groove (208).

5. An intelligent welding robot according to claim 1, characterized in that: It further includes an air vent ring (400) which is arranged above the base plate frame (100). A plurality of flexible bending pieces (401) which are flexible in structure are rotatably connected inside the air vent ring (400). An exhaust groove (403) is formed on one side of the flexible bending piece (401). The top of the adjustment seat (300) is fixedly connected with a positioning frame (402), and the positioning frame (402) is placed on the outer surface of the flexible bending piece (401). The top of the base plate frame (100) is fixedly connected with an air pump (404) for supplying air into the air vent ring (400).

6. An intelligent welding robot according to claim 1, wherein: A plurality of sliding beads (202) are rotatably connected to the inner wall of the annular flexible conveyor belt (200). The top of the annular flexible conveyor belt (200) is fixedly connected with a flexible telescopic protective net (201).

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