A robotic arc welding station

Abstract

The application is suitable for the technical field of welding, and provides a robot electric arc welding station, which comprises a workbench, a welding carrier arranged on the workbench, a rotating mechanism for driving the welding carrier to rotate, a multi-axis manipulator arranged on the workbench and provided with a welding gun at the tail end, a profile piece welding mechanism arranged on one side of the welding carrier and comprising two carrier plates and components for driving the carrier plates to independently move and rotate, a plurality of radially adjustable supporting columns arranged on the carrier plates in a circumferential direction, a cylindrical piece welding mechanism arranged on the other side of the welding carrier and comprising two displacement frames, a transmission pipe, an externally threaded cylinder, a moving ring and a supporting plate, an X-shaped frame for clamping a cylindrical part, and a synchronous rotating component for driving the transmission pipe to synchronously rotate, and a distance regulating component for realizing the approach or departure of the displacement frames.The integration of the multifunctional clamping and displacement system and the automatic welding equipment realizes the efficient and high-precision welding of various workpieces, and greatly improves the production efficiency and operation reliability.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of welding, and particularly relates to a robot electric arc welding workstation. BACKGROUND

[0002] With the rapid development of modern manufacturing industry, welding, as an important process for connecting metal structures, is widely used in many fields such as automobiles, aerospace, ships, heavy machinery and the like. Traditional welding operations mostly rely on manual operation, and have problems such as low efficiency, unstable welding quality, high labor intensity and the like, and are difficult to meet the production demands of large quantities and high precision.

[0003] In recent years, robot electric arc welding technology has gradually become popular, and the precise control of the welding process is realized through automatic equipment, thereby improving the welding quality and production efficiency. However, the existing welding equipment still has certain limitations in clamping adaptability, welding displacement flexibility and multi-type workpiece compatibility, especially when mixed processing of profiled materials and cylindrical parts is faced, different equipment or clamps often need to be replaced, thereby affecting the production rhythm and system integration.

[0004] In addition, most of the current welding workstations lack efficient synchronous adjustment and self-adaptive clamping functions, and are difficult to realize stable positioning and precise docking of complex-shaped workpieces. Especially when welding long profiled materials or large-size cylindrical parts, welding deviation often occurs due to unstable clamping or asynchronous rotation, thereby affecting the quality of finished products. At the same time, the ability of work position switching and automatic collaborative control during the welding process still needs to be improved.

[0005] Therefore, in view of the above status, it is urgent to develop a robot electric arc welding workstation to overcome the deficiencies in current actual applications. SUMMARY

[0006] The purpose of the present application is to provide a robot electric arc welding workstation, which aims to solve the problems mentioned in the background.

[0007] The present application is realized as follows: a robot electric arc welding workstation, comprising a workbench, a welding carrier is arranged on the upper side of the workbench, and a rotating mechanism for controlling the rotation of the welding carrier is installed on the workbench; a multi-axis manipulator is also installed on the workbench, and a welding gun is installed at the end of the multi-axis manipulator, further comprising:

[0008] A profiled part welding mechanism is installed on one side of the welding carrier, and the profiled part welding mechanism comprises two carrier discs, a driving and moving assembly for driving the independent rotation and movement of the two carrier discs is installed on the inner side of the welding carrier, a plurality of fixed columns capable of being adjusted radially along the carrier disc are installed in a circumferential distribution on the carrier disc, and when one of the fixed columns moves, the remaining fixed columns on the same carrier disc simultaneously move.

[0009] The other side of the welding carrier is provided with a sleeve welding mechanism, the sleeve welding mechanism comprises two displacement frames, the welding carrier is further provided with a distance adjusting assembly for driving the two displacement frames to move close to or away from each other, a transmission pipe is rotatably arranged on each displacement frame, one end of each transmission pipe is fixed with a fixed ring, an externally threaded sleeve is arranged on each transmission pipe, one end of the externally threaded sleeve is rotatably connected with the fixed ring, a moving ring is threadedly connected with the externally threaded sleeve, a plurality of fixed plates are circumferentially arranged on the outer side between the moving ring and the fixed ring, the fixed plates are connected with the moving ring and the fixed ring through an X-shaped frame, and the displacement frames are further provided with a synchronous rotating assembly for driving the two transmission pipes to synchronously rotate.

[0010] In a further technical scheme, the multi-axis robot is a six-axis robot, and the multi-axis robot can be adjusted in position on the workbench along the length direction of the welding carrier.

[0011] In a further technical scheme, the rotating mechanism comprises a bracket, a first motor and a support shaft, two brackets are fixed on the workbench, a support shaft is rotatably arranged on each bracket, the welding carrier is fixed between the two support shafts, and a first motor is fixed on one of the brackets and is in transmission connection with the support shaft.

[0012] In a further technical scheme, the driving moving assembly comprises an adjusting telescopic cylinder, a fourth motor and a sliding seat, an adjusting cavity is formed in the inner side of the welding carrier, a second adjusting groove is formed in the surface of the welding carrier and communicates with the adjusting cavity, one adjusting telescopic cylinder is fixed at each end of the adjusting cavity, a sliding seat is fixed at the end of each adjusting telescopic cylinder close to the other, the sliding seat is in sliding connection with the adjusting cavity, a fourth motor is fixed in the inner side of the sliding seat, the output shaft of the fourth motor penetrates out of the second adjusting groove, and the two carrier discs are fixed at the output ends of the two fourth motors.

[0013] In a further technical scheme, a plurality of first adjusting grooves are circumferentially formed in the carrier disc, a sliding block is slidably arranged in each first adjusting groove, a screw rod is rotatably arranged in each first adjusting groove, the screw rod is in threaded connection with the sliding block, a knob is fixed at the outer end of the screw rod, the fixed column has a cylindrical structure, and one end of the fixed column is fixedly connected with the sliding block; a transmission cavity is formed in the inner side of the carrier disc, the inner end of the screw rod extends into the transmission cavity and is fixedly provided with a bevel gear at the end, and the bevel gears at the inner ends of the adjacent two screw rods are in meshing connection.

[0014] Further technical solutions, the distance control assembly includes positive and negative screw rod, guide rib and second motor, the welding carrier is opened with recess on the side away from the profile welding mechanism, the guide rib is fixed in the recess, the positive and negative screw rod is also rotatably installed in the recess, two the displacement frame is threadedly connected with the positive and negative screw rod, two the displacement frame is slidably connected with the guide rib, the welding carrier one end is also fixed with the second motor connected with the positive and negative screw rod transmission, when the positive and negative screw rod rotates, two the displacement frame is close to or away from each other.

[0015] Further technical solutions, the X-shaped frame includes first and second support rods, the middle part of the first and second support rods is rotatably connected, the inner end of the first and second support rods is hingedly connected with the fixed ring and the movable ring respectively, the outer end of the first and second support rods is hingedly connected with the two ends of the abutting plate respectively.

[0016] Further technical solutions, the synchronous rotation assembly includes connecting telescopic cylinder, cylinder bracket, transmission column and third motor, one of the displacement frame is fixed with the third motor connected with the transmission pipe transmission, the other displacement frame is fixed with the connecting telescopic cylinder coaxial with the transmission pipe through the cylinder bracket, the output end of the connecting telescopic cylinder is rotatably installed with the transmission column slidably connected with the movable cavity in the middle of the transmission pipe and the fixed ring.

[0017] Further technical solutions, the end of the positive and negative screw rod away from the second motor and the end of the outer threaded cylinder close to the displacement frame are respectively fixed with a rotating handle.

[0018] Further technical solutions, the cross section of the transmission column adopts a regular polygon shape, and the end of the transmission column away from the connecting telescopic cylinder is rounded; the end of the outer threaded cylinder away from the fixed ring is also rotatably connected with the transmission pipe.

[0019] The robot electric arc welding workstation provided by the application has the following advantages:

[0020] By installing the profile welding mechanism on one side of the welding carrier, the abutting columns on the carrier disc can clamp and fix cylindrical or cylindrical parts; at the same time, through the cooperation between two abutting columns, long strip profiles can also be stably clamped. The driving movement assembly can independently control the rotation and movement of the two carrier discs, which is convenient for adjusting the posture according to the welding requirements; in addition, the assembly can also drive the two carrier discs to approach each other, so that the parts clamped by each carrier disc can be butt jointed, thereby improving the precision and efficiency of butt joint welding. When clamping long profiles, the abutting columns on the two carrier discs can also work together to stably support and clamp the whole profile, which is convenient for welding processing of auxiliary parts.

[0021] On the other side of the welding carrier is a cylindrical welding mechanism. By rotating the externally threaded cylinder, the moving ring moves relative to the fixed ring. Combined with the limiting structure of the X-shaped frame and the design of the abutment plate, reliable clamping of cylindrical parts can be achieved. The clamping components on the two transmission tubes are independent of each other, which can accommodate cylindrical parts with different inner diameters for clamping and abutment welding. During the abutment process, the distance adjustment component controls the two positioner frames to move closer or further apart synchronously, thereby precisely controlling the welding connection state. When synchronous rotation of the clamped parts is required, the synchronous rotation component can drive the two transmission tubes to rotate synchronously, ensuring that the parts clamped by the abutment plates on both sides maintain a consistent rotation angle, further improving the stability and reliability of the welding process.

[0022] In addition, the welding carrier is equipped with a rotating mechanism, enabling it to rotate as a whole, thus flexibly switching the working positions of the shaped component welding mechanism and the cylindrical component welding mechanism to meet the displacement requirements of different welding tasks. The entire system achieves automated operation of the welding process through the coordinated operation of a multi-axis robot and a welding torch, significantly improving production efficiency and welding quality.

[0023] In summary, this invention, through the integration of a welding mechanism for molded and cylindrical parts, a multi-degree-of-freedom clamping and displacement system, and automated welding equipment, achieves efficient and high-precision automatic welding of various types of workpieces, significantly improving welding adaptability, production efficiency, and operational reliability. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the robotic arc welding workstation provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the multi-axis manipulator in the robotic arc welding workstation provided in an embodiment of the present invention;

[0026] Figure 3 This is an enlarged structural diagram of the welding carrier and its mounted components in the robotic arc welding workstation provided in an embodiment of the present invention.

[0027] Figure 4 for Figure 3 Another perspective structural diagram;

[0028] Figure 5 This is an isometric view of the cylindrical welding mechanism in the robotic arc welding workstation provided in an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the main sectional view of the lower part of the welding carrier in the robotic arc welding workstation provided in an embodiment of the present invention;

[0030] Figure 7 for Figure 6 Schematic diagram of the cross-sectional structure along the AA direction.

[0031] In the diagram: 1-Workbench, 2-Frame, 3-First motor, 4-Positioning frame, 5-Cylinder welding mechanism, 6-Multi-axis robot, 7-Forward and reverse lead screws, 8-Guide rib, 9-Second motor, 10-Welding carrier, 11-Support shaft, 12-Shaped part welding mechanism, 13-Groove, 14-Welding torch, 15-Connecting telescopic cylinder, 16-Cylinder bracket, 17-Rotating handle, 18-External threaded cylinder, 19-Moving ring, 20-Fixed ring. 21-First support rod, 22-Second support rod, 23-Fixing plate, 24-Transmission column, 25-Third motor, 26-Carrier plate, 27-Fixing column, 28-Knob, 29-First adjusting groove, 30-Lead screw, 31-Slider, 32-Second adjusting groove, 33-Transmission tube, 34-Moving cavity, 35-Adjusting telescopic cylinder, 36-Fourth motor, 37-Slide seat, 38-Adjusting cavity, 39-Transmission cavity, 40-Bevel gear. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0034] like Figures 1-7 As shown, a robotic arc welding workstation according to an embodiment of the present invention includes a worktable 1, a welding carrier 10 on the upper side of the worktable 1, and a rotating mechanism for controlling the rotation of the welding carrier 10; a multi-axis manipulator 6 is also installed on the worktable 1, and a welding torch 14 is installed at the end of the multi-axis manipulator 6; the workstation also includes:

[0035] The part welding mechanism 12 is installed on one side of the welding carrier 10. The part welding mechanism 12 includes two carrier plates 26. The inner side of the welding carrier 10 is equipped with a drive moving component for driving the two carrier plates 26 to rotate and move independently. The carrier plates 26 are circumferentially distributed with a plurality of abutting posts 27 that can be radially adjusted along the carrier plates 26. When one abutting post 27 moves, the remaining abutting posts 27 on the same carrier plate 26 move simultaneously.

[0036] The other side of the welding carrier 10 is provided with a tubular part welding mechanism 5, the tubular part welding mechanism 5 comprises two displacement frames 4, and the welding carrier 10 is further provided with a distance control assembly for driving the two displacement frames 4 to approach or move away synchronously, the displacement frame 4 is rotatably provided with a transmission pipe 33, the two transmission pipes 33 are fixed with a fixed ring 20 at one end close to each other, the transmission pipe 33 is further sleeved with an external thread cylinder 18, one end of the external thread cylinder 18 is rotatably connected with the fixed ring 20, the external thread cylinder 18 is threadedly connected with a moving ring 19, a plurality of fixed plates 23 are circumferentially arranged outside the moving ring 19 and the fixed ring 20, the fixed plates 23 are connected with the moving ring 19 and the fixed ring 20 through an X-shaped frame, and the displacement frame 4 is further provided with a synchronous rotation assembly for driving the two transmission pipes 33 to rotate synchronously.

[0037] In the embodiment of the present application, the type part welding mechanism 12 is arranged on one side of the welding carrier 10, and the fixed columns 27 on the carrier disc 26 can clamp and fix the cylindrical or tubular parts; meanwhile, the long strip-shaped profiles can also be stably clamped through the cooperation between the fixed columns 27. The driving moving assembly can independently control the rotation and movement of the two carrier discs 26, so as to facilitate the posture adjustment according to the welding requirements; in addition, the assembly can also drive the two carrier discs 26 to approach each other, so that the clamped parts are butted, thereby improving the precision and efficiency of butt welding. When clamping the long profile, the fixed columns 27 on the two carrier discs 26 can also cooperate to stably support and clamp the whole profile, thereby facilitating the welding processing of the accessory parts.

[0038] The tubular part welding mechanism 5 is arranged on the other side of the welding carrier 10, the moving ring 19 is driven to move relative to the fixed ring 20 by rotating the external thread cylinder 18, and the reliable clamping of the tubular part can be realized through the limiting structure of the X-shaped frame and the design of the fixed plate 23. The clamping parts on the two transmission pipes 33 are independent of each other, and can clamp and abut the tubular parts with different inner diameters. During the abutting process, the distance control assembly controls the two displacement frames 4 to approach or move away synchronously, so as to accurately control the butt welding state. When the clamped parts need to be synchronously rotated, the synchronous rotation assembly can drive the two transmission pipes 33 to rotate synchronously, so that the clamped parts on the two sides of the fixed plate 23 maintain the same rotation angle, thereby further improving the stability and reliability of the welding process.

[0039] In addition, the welding carrier 10 is provided with a rotating mechanism, so that the whole welding carrier 10 can be rotated, thereby flexibly switching the working positions of the type part welding mechanism 12 and the tubular part welding mechanism 5, and meeting the displacement requirements of different welding tasks. The whole system realizes the automatic operation of the welding process through the cooperation of the multi-axis mechanical arm 6 and the welding gun 14, thereby significantly improving the production efficiency and the welding quality.

[0040] In summary, the application realizes high-efficiency and high-precision automatic welding of various types of workpieces by the integrated welding mechanism, the multi-degree-of-freedom clamping and displacement system and the automatic welding equipment, and significantly improves the welding adaptability, production efficiency and operation reliability.

[0041] As shown in Figures 1-2 As a preferred embodiment of the application, the multi-axis robot 6 adopts a six-axis robot, and the multi-axis robot 6 can be adjusted in position on the workbench 1 along the length direction of the welding carrier 10, and the specific selection and position adjustment structure are not limited, and can be set as required.

[0042] The rotating mechanism comprises a rack 2, a first motor 3 and a support shaft 11, two racks 2 are fixed on the workbench 1, the support shaft 11 is rotatably installed on each of the two racks 2, the welding carrier 10 is fixed between the two support shafts 11, and the first motor 3 is further fixed on one of the racks 2 and is in transmission connection with the support shaft 11, so that the welding carrier 10 can be driven to rotate stably and reliably.

[0043] As shown in Figure 4 , 6 and 7, as a preferred embodiment of the application, the driving moving assembly comprises an adjusting telescopic cylinder 35, a fourth motor 36 and a sliding seat 37, an adjusting cavity 38 is formed in the inner side of the welding carrier 10, a second adjusting groove 32 is formed in the surface of the welding carrier 10 and communicates with the adjusting cavity 38, one adjusting telescopic cylinder 35 is fixed at each end of the adjusting cavity 38, the sliding seat 37 is fixed at the end of each of the two adjusting telescopic cylinders 35, the sliding seat 37 is further in sliding connection with the adjusting cavity 38, the fourth motor 36 is fixed on the inner side of the sliding seat 37, the output shaft of the fourth motor 36 penetrates out of the second adjusting groove 32, and the two carrier discs 26 are respectively fixed on the output ends of the two fourth motors 36. Among them, the sliding contact surface between the sliding seat 37 and the adjusting cavity 38 is coated with a polytetrafluoroethylene wear-resistant coating with a friction coefficient ≤0.05 to ensure long-term use stability.

[0044] A plurality of first adjusting grooves 29 are circumferentially distributed on the carrier disc 26, a sliding block 31 is slidably arranged in the first adjusting groove 29, and a screw rod 30 is rotatably installed in the first adjusting groove 29. The screw rod 30 is in threaded connection with the sliding block 31, a knob 28 is fixed on the outer end of the screw rod 30, the resisting column 27 adopts a cylindrical structure, and one end of the resisting column 27 is fixedly connected with the sliding block 31. A transmission cavity 39 is further formed in the inner side of the carrier disc 26, the inner end of the screw rod 30 extends into the transmission cavity 39, and a bevel gear 40 is fixed at the end of the screw rod 30. The bevel gears 40 at the inner ends of the two adjacent screw rods 30 are in meshing connection.

[0045] In application, only one knob 28 is rotated, the driving of the bevel gear 40 can drive the plurality of lead screws 30 to rotate simultaneously, the corresponding thread structure of the lead screw 30 can drive the plurality of sliders 31 to gather inward or disperse outward, and the rapid clamping and fixing of the workpiece are realized. The fourth motor 36 can drive the carrier disc 26 to rotate, and the telescopic cylinder 35 can adjust the position of the sliding seat 37, so that the flexible and reliable adaptive adjustment is met.

[0046] As shown in FIGS. Figure 1 、 3 and 5, as a preferred embodiment of the present application, the distance control assembly comprises a reverse lead screw 7, a guide rib 8 and a second motor 9, the welding carrier 10 is provided with a groove 13 on the side away from the profile welding mechanism 12, the guide rib 8 is fixed in the groove 13, and the reverse lead screw 7 is rotatably installed in the groove 13, the two displacement frames 4 are threadedly connected with the reverse lead screw 7, the two displacement frames 4 are slidably connected with the guide rib 8, and the welding carrier 10 is further provided with the second motor 9 at one end and connected with the reverse lead screw 7 in a transmission mode, when the reverse lead screw 7 rotates, the two displacement frames 4 move close to or away from each other.

[0047] The X-shaped frame comprises a first branch rod 21 and a second branch rod 22, the middle parts of the first branch rod 21 and the second branch rod 22 are rotatably connected, the inner ends of the first branch rod 21 and the second branch rod 22 are hingedly connected with the fixed ring 20 and the moving ring 19 respectively, and the outer ends of the first branch rod 21 and the second branch rod 22 are hingedly connected with the two ends of the abutting plate 23, so that when the moving ring 19 moves, the first branch rod 21 and the second branch rod 22 are used to drive the abutting plate 23 to move.

[0048] The synchronous rotation assembly comprises a connecting telescopic cylinder 15, a cylinder bracket 16, a transmission column 24 and a third motor 25, one of the displacement frames 4 is fixed with the third motor 25 connected with the transmission pipe 33 in a transmission mode, the other displacement frame 4 is fixed with the connecting telescopic cylinder 15 coaxial with the transmission pipe 33 through the cylinder bracket 16, the output end of the connecting telescopic cylinder 15 is rotatably installed with the transmission column 24 slidably connected with the movable cavity 34 in the middle part of the fixed ring 20 and the transmission pipe 33, one transmission pipe 33 can be driven to rotate by the third motor 25, after the installation of the part is completed, the transmission column 24 can be driven to extend into the transmission pipe 33 connected with the third motor 25 by the connecting telescopic cylinder 15, so as to realize the transmission connection, so that the two transmission pipes 33 rotate synchronously.

[0049] Preferably, the reverse lead screw 7 away from the second motor 9 and the outer threaded cylinder 18 close to the displacement frame 4 are respectively fixed with a rotating handle 17, the rotating handle 17 is not limited, and the reverse lead screw 7 and the outer threaded cylinder 18 can be rotated, and the manual and electric driving modes of the reverse lead screw 7 are provided, which is flexible and convenient.

[0050] Preferably, the cross section of the transmission column 24 adopts a regular polygon shape to meet reliable transmission, and the end of the transmission column 24 away from the connecting telescopic cylinder 15 is rounded, which is beneficial to the insertion of the transmission column 24 into the transmission pipe 33 connected with the third motor 25. In order to improve the reliability of the external threaded cylinder 18, the end of the external threaded cylinder 18 away from the fixed ring 20 is also rotationally connected with the transmission pipe 33.

[0051] In addition, a laser safety grating (not shown) is installed around the workbench 1, which automatically triggers an emergency stop signal when detecting personnel intrusion into the welding area; the welding gun 14 is equipped with a splash-proof shield (not shown) made of high-temperature resistant ceramic material, which can withstand 2000℃ instantaneous high temperature.

[0052] The robot electric arc welding work station provided in the above embodiment of the application has the following working principle:

[0053] By arranging the profile piece welding mechanism 12 and the cylinder piece welding mechanism 5 on both sides of the welding carrier 10, flexible clamping and welding of different shaped workpieces can be realized.

[0054] In the profile piece welding process, the clamping and fixing of cylindrical, cylindrical and long strip profiles can be realized by using the supporting column 27 on the carrier disc 26. The driving moving assembly includes the adjusting telescopic cylinder 35, the fourth motor 36 and the sliding seat 37, which can independently control the rotation and movement of the two carrier discs 26, facilitating the posture adjustment according to the welding requirements. In addition, this assembly can also drive the two carrier discs 26 to move close to each other, so that the abutted parts clamped by each carrier disc can be abutted, thereby improving the precision and efficiency of the abutted welding. When it is necessary to clamp a long profile, the stable support and clamping of the whole profile can be realized through the cooperative action of the supporting columns 27 on the two carrier discs 26, which is convenient for the welding processing of the auxiliary parts.

[0055] For cylinder piece welding, the cylinder piece welding mechanism 5 moves the moving ring 19 relative to the fixed ring 20 by rotating the external threaded cylinder 18, and in combination with the limiting structure of the X-shaped frame and the design of the supporting plate 23, reliable clamping of the cylindrical parts can be realized. The clamping parts on the two transmission pipes 33 are independent of each other, which can adapt to the clamping and abutting welding of cylindrical parts with different inner diameters. The distance control assembly includes the lead screw 7, the guide rib 8 and the second motor 9, which can accurately control the welding abutted state by controlling the synchronous movement of the two variable position frames 4. The synchronous rotation assembly is composed of the connecting telescopic cylinder 15, the cylinder bracket 16, the transmission column 24 and the third motor 25, which can drive the synchronous rotation of the two transmission pipes 33 when needed, so as to ensure that the parts clamped by the two supporting plates 23 maintain the same rotation angle, thereby improving the stability and reliability of the welding process.

[0056] The welding carrier 10 is equipped with a rotating mechanism, including the rack 2, the first motor 3 and the support shaft 11, and can realize the overall rotation, so as to flexibly switch the working position of the profile piece welding mechanism 12 and the cylinder piece welding mechanism 5, and meet the displacement requirements of different welding tasks. The whole system realizes the automatic operation of the welding process through the cooperation of the multi-axis manipulator 6 and the welding gun 14, and significantly improves the production efficiency and the welding quality.

[0057] In summary, by integrating the profile piece welding mechanism 12, the cylinder piece welding mechanism 5, the multi-degree-of-freedom clamping and displacement system and the automatic welding equipment, the present application realizes the efficient and high-precision automatic welding of various types of workpieces, and improves the welding adaptability, the production efficiency and the operation reliability.

[0058] The control of each component can be realized by using the PLC controller disclosed in the prior art, and the model and circuit connection of each component are not specifically limited and can be flexibly set in actual application. The first motor 3, the second motor 9, the third motor 25 and the fourth motor 36 can be equipped with a speed reducer (not shown) as needed to meet the transmission requirements. The connecting telescopic cylinder 15 and the adjusting telescopic cylinder 35 can be selected as needed.

[0059] The circuits, electronic components and modules involved are all prior art, and those skilled in the art can realize them without further description, and the content protected by the present application does not involve the improvement of software and methods.

[0060] Each technical feature of the above-described embodiments can be combined arbitrarily, and in order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered that it is within the scope of the present application.

[0061] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of protection of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A robot electric arc welding station, comprising a workbench (1), the upper side of the workbench (1) is provided with a welding carrier (10), and the workbench (1) is further provided with a rotating mechanism for controlling the rotation of the welding carrier (10); The workbench (1) is further provided with a multi-axis manipulator (6), and a welding gun (14) is installed at the tail end of the multi-axis manipulator (6), characterized in that, Further comprising: a profile piece welding mechanism (12), the welding carrier (10) is provided with the profile piece welding mechanism (12) on one side, the profile piece welding mechanism (12) comprises two carrier plates (26), and the welding carrier (10) is provided with a driving and moving assembly for driving the independent rotation and movement of the two carrier plates (26); a plurality of fixed columns (27) capable of being adjusted radially along the carrier plate (26) are circumferentially arranged on the carrier plate (26), and when one of the fixed columns (27) moves, the remaining fixed columns (27) on the same carrier plate (26) move at the same time; a cylinder piece welding mechanism (5), the welding carrier (10) is provided with the cylinder piece welding mechanism (5) on the other side, the cylinder piece welding mechanism (5) comprises two displacement frames (4), and the welding carrier (10) is further provided with a distance control assembly for driving the two displacement frames (4) to move close to or away from each other; a transmission pipe (33) is rotatably arranged on the displacement frame (4), the two transmission pipes (33) are fixed with a fixed ring (20) at the close end, an outer threaded cylinder (18) is further arranged on the transmission pipe (33), one end of the outer threaded cylinder (18) is rotatably connected with the fixed ring (20), and a moving ring (19) is threadedly connected with the outer threaded cylinder (18); a plurality of fixed plates (23) are circumferentially arranged on the outer side between the moving ring (19) and the fixed ring (20), and the fixed plates (23) are connected with the moving ring (19) and the fixed ring (20) through an X-shaped frame; the displacement frame (4) is further provided with a synchronous rotating assembly for driving the synchronous rotation of the two transmission pipes (33); the multi-axis robot (6) is a six-axis robot, and the multi-axis robot (6) can be adjusted in position along the length direction of the welding carrier (10) on the workbench (1); the rotating mechanism comprises a gantry (2), a first motor (3) and a support shaft (11); two gantries (2) are fixed on the workbench (1), the support shaft (11) is rotatably arranged on the two gantries (2), the welding carrier (10) is fixed between the two support shafts (11), and the first motor (3) is further fixed on one of the gantries (2) and is in transmission connection with the support shaft (11); the distance control assembly comprises a reversible screw rod (7), a guide rib (8) and a second motor (9); the welding carrier (10) is provided with a groove (13) on the side away from the profile piece welding mechanism (12), the guide rib (8) is fixed in the groove (13), and the reversible screw rod (7) is rotatably arranged in the groove (13); the two displacement frames (4) are in threaded connection with the reversible screw rod (7), and the two displacement frames (4) are in sliding connection with the guide rib (8). The welding carrier (10) is further fixed with a second motor (9) which is in transmission connection with the positive and negative screw rod (7); when the positive and negative screw rod (7) rotates, the two displacement frames (4) are close to or away from each other; The synchronous rotating assembly comprises a connecting telescopic cylinder (15), a cylinder bracket (16), a transmission column (24) and a third motor (25); One of the displacement frames (4) is fixed with the third motor (25) which is in transmission connection with the transmission pipe (33), and the other displacement frame (4) is fixed with the connecting telescopic cylinder (15) which is coaxial with the transmission pipe (33) through the cylinder bracket (16), and the output end of the connecting telescopic cylinder (15) is rotatably installed with the transmission column (24) which is in sliding connection with the transmission pipe (33) and the movable cavity (34) which is formed in the middle of the fixed ring (20).

2. The robotic arc welding station of claim 1, wherein, The driving moving assembly comprises an adjusting telescopic cylinder (35), a fourth motor (36) and a sliding seat (37); The inner side of the welding carrier (10) is provided with an adjusting cavity (38), and the surface of the welding carrier (10) is provided with a second adjusting groove (32) which is in communication with the adjusting cavity (38); The two ends of the adjusting cavity (38) are respectively fixed with one adjusting telescopic cylinder (35), and the close ends of the two adjusting telescopic cylinders (35) are respectively fixed with the sliding seat (37), the sliding seat (37) is further in sliding connection with the adjusting cavity (38), the inner side of the sliding seat (37) is fixed with the fourth motor (36), the output shaft of the fourth motor (36) penetrates out of the second adjusting groove (32), and the two carrier discs (26) are respectively fixed on the output ends of the two fourth motors (36).

3. The robotic arc welding station of claim 1, wherein, A plurality of first adjusting grooves (29) are circumferentially distributed on the carrier disc (26), a sliding block (31) is slidably arranged in the first adjusting groove (29), and a screw rod (30) is rotatably installed in the first adjusting groove (29), the screw rod (30) is in threaded connection with the sliding block (31), and the outer end of the screw rod (30) is fixed with a knob (28); The fixed column (27) adopts a cylindrical structure, and one end of the fixed column (27) is fixedly connected with the sliding block (31); The inner side of the carrier disc (26) is further provided with a transmission cavity (39), the inner end of the screw rod (30) extends into the transmission cavity (39) and is fixed with a bevel gear (40) at the end thereof, and the bevel gears (40) at the inner ends of the two adjacent screw rods (30) are in meshing connection.

4. The robotic arc welding station of claim 1, wherein, The X-shaped frame comprises a first supporting rod (21) and a second supporting rod (22); The middle portions of the first supporting rod (21) and the second supporting rod (22) are rotatably connected, the inner ends of the first supporting rod (21) and the second supporting rod (22) are respectively hingedly connected with the fixed ring (20) and the moving ring (19), and the outer ends of the first supporting rod (21) and the second supporting rod (22) are respectively hingedly connected with the two ends of the fixed plate (23).

5. The robotic electric arc welding station of claim 1, wherein, The outer threaded cylinder (18) is fixed with a rotating handle (17) at the end close to the displacement frame (4).

6. The robotic electric arc welding station of claim 1, wherein, The cross section of the transmission column (24) adopts a regular polygon shape, and the end of the transmission column (24) away from the connecting telescopic cylinder (15) is rounded. The outer thread cylinder (18) is further rotatably connected with the transmission pipe (33) at the end away from the fixing ring (20).

Images