An architectural automated arc welding robot arm

Abstract

The application discloses a kind of building automation electric arc welding robot arms, including mechanical arm, telescopic support column, adjusting assembly and welding mechanism, the output end of the mechanical arm is rotationally arranged with carousel, the telescopic support column is fixedly arranged on the carousel, the welding mechanism is connected with the telescopic support column by the adjusting assembly, the adjusting assembly includes deflection telescopic rod one, two-way telescopic rod, deflection telescopic rod two and drive assembly, wherein the deflection telescopic rod one is rotationally connected with the telescopic support column, and hydraulic telescopic rod is hinged between the two, the deflection telescopic rod one and deflection telescopic rod two are rotationally arranged at the two ends of the two-way telescopic rod respectively, drive assembly is arranged between the two-way telescopic rod and the deflection telescopic rod one and deflection telescopic rod two, and the welding mechanism is rotationally arranged at the output end of the deflection telescopic rod two.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building automatic welding, in particular to a building automatic arc welding robot arm. BACKGROUND

[0002] The building automatic arc welding robot is an intelligent equipment integrating advanced robot technology, automatic control and welding process, aiming to improve the efficiency, quality and safety of welding operation in the construction industry. By mounting laser radar, visual sensor (such as 3D camera) or infrared imaging technology, the welding seam position, geometry and material thickness are scanned in real time, and the welding path is dynamically adjusted. At the same time, a multi-degree-of-freedom robot arm and a mobile platform are equipped to meet the welding requirements of complex spatial structures.

[0003] However, for different workpiece structures, the welding methods required are also different. Generally, some simple joint welding or sheet welding only requires single-sided welding, but for some load-bearing components or thick plate welding, it is generally necessary to perform lap welding or multi-layer multi-pass welding, which makes the welding equipment need to move around the workpiece periphery. The range and position of the traditional robot arm adjusting welding equipment are limited, and it cannot realize lap welding according to the size of the workpiece. At the same time, for some narrow spaces, the traditional robot arm will be limited in adjusting the welding mechanism, and thus cannot meet the welding needs.

[0004] Therefore, it is necessary to provide a building automatic arc welding robot arm to solve the problems raised in the background art. SUMMARY

[0005] To achieve the above purpose, the present application provides the following technical scheme: a building automatic arc welding robot arm, comprising a mechanical arm, a telescopic support column, an adjusting assembly and a welding mechanism, wherein the output end of the mechanical arm is rotationally provided with a turntable, the telescopic support column is fixedly provided on the turntable, and the welding mechanism is connected with the telescopic support column through the adjusting assembly.

[0006] The adjusting assembly comprises a deflection telescopic rod one, a bidirectional telescopic rod, a deflection telescopic rod two and a driving assembly, wherein the deflection telescopic rod one is rotationally connected with the telescopic support column, and a hydraulic telescopic rod is hinged between the two, the deflection telescopic rod one and the deflection telescopic rod two are respectively rotationally provided at the two ends of the bidirectional telescopic rod, the bidirectional telescopic rod is provided with a driving assembly between the deflection telescopic rod one and the deflection telescopic rod two, and the welding mechanism is rotationally provided at the output end of the deflection telescopic rod two.

[0007] Further, as a preferred, the driving assembly comprises a fixed rod, a sliding rod, a driving rod and a hinged rod, wherein the fixed rod is fixedly arranged on the bidirectional telescopic rod, both ends of the fixed rod are slidingly arranged with the sliding rod, the output end of the sliding rod is slidingly arranged with the driving rod through hydraulic drive, the output end of the driving rod is hinged with the hinged rod, and the other ends of the two hinged rods are respectively hinged with the deflection telescopic rod one and the deflection telescopic rod two.

[0008] Further, as a preferred, the bidirectional telescopic rod comprises a main rod body and a branch rod, wherein both ends of the main rod body are provided with two hydraulic cavities, the branch rod is sealingly and slidingly arranged in the hydraulic cavity, and the output end of the branch rod is fixedly arranged with a connecting ring, and the connecting ring is fixedly connected with the output end of the sliding rod.

[0009] Further, as a preferred, the welding mechanism comprises a welding seat and a welding gun, wherein the welding seat is rotatably arranged at the output end of the deflection telescopic rod two, and the welding gun is fixedly arranged on the welding seat.

[0010] Further, as a preferred, the welding seat is rotatably arranged with a gear one, and the welding seat is slidingly arranged with a rack inside, and the rack is engaged with the gear one.

[0011] The deflection telescopic rod two is fixedly arranged with a gear two, and the gear two is engaged with the gear one.

[0012] Further, as a preferred, the welding seat is fixedly arranged with a sealing rod.

[0013] The rack is provided with a sealing cavity, the sealing rod sealingly slides along the sealing cavity, and the sealing cavity is connected with an external hydraulic drive mechanism through a hydraulic pipe.

[0014] Further, as a preferred, the output end of the branch rod is fixedly arranged with a limiting block one, and the limiting block one on the two branch rods can be respectively abutted on the deflection telescopic rod one and the deflection telescopic rod two.

[0015] The output end of the deflection telescopic rod one is fixedly arranged with a limiting block two, and the limiting block two can be abutted on the telescopic supporting column.

[0016] Compared with the prior art, the present application provides a kind of building automation electric arc welding robot arm, with the following beneficial effects:

[0017] In the present application, the welding mechanism can be attached to the surface of the workpiece of different sizes and shapes for welding without moving the whole device by adjusting the multi-degree-of-freedom high-precision adjustment of the adjusting assembly, and the welding work can be carried out when winding, so that the welding efficiency is greatly improved, that is, only a single positioning can complete the welding requirements of the workpiece, and the multi-degree-of-freedom adjustment of the adjusting assembly is mainly realized by relying on the driving assembly, and the driving assembly itself occupies small space, so that the adjusting assembly can be used in a small space, and the welding mechanism can complete the welding work in a small space, further expanding its application range. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0019] Figure 2 It is a schematic diagram of the structure of the adjusting assembly and the welding mechanism in the present application;

[0020] Figure 3 It is a schematic diagram of the structure of the driving assembly in the present application;

[0021] Figure 4 It is a schematic diagram of the internal structure of the welding seat in the present application;

[0022] Figure 5 It is a schematic diagram of the adjusting implementation structure of the adjusting assembly in the present application;

[0023] In the figure: 1, mechanical arm; 11, turntable; 2, telescopic support column; 3, adjusting assembly; 31, deflection telescopic rod one; 311, hydraulic telescopic rod; 312, limit block two; 32, two-way telescopic rod; 321, main rod body; 322, branch rod; 323, connecting ring; 324, limit block one; 33, deflection telescopic rod two; 331, gear two; 34, driving assembly; 341, fixed rod; 342, sliding rod; 343, driving rod; 344, articulated rod; 4, welding mechanism; 41, welding seat; 411, gear one; 412, rack; 413, sealing rod; 42, welding torch. DETAILED DESCRIPTION

[0024] Please refer to Figures 1-5 In the embodiment of the present application, a building automatic electric arc welding robot arm includes a mechanical arm 1, a telescopic support column 2, an adjusting assembly 3 and a welding mechanism 4, wherein the output end of the mechanical arm 1 is rotationally provided with a turntable 11, the telescopic support column 2 is fixedly provided on the turntable 11, and the welding mechanism 4 is connected with the telescopic support column 2 through the adjusting assembly 3;

[0025] The adjusting assembly 3 comprises a deflection telescopic rod one 31, a bidirectional telescopic rod 32, a deflection telescopic rod two 33 and a driving assembly 34, wherein the deflection telescopic rod one 31 is limitingly rotationally connected with the telescopic support column 2, and a hydraulic telescopic rod 311 is hinged between the two; the deflection telescopic rod one 31 and the deflection telescopic rod two 33 are respectively limitingly rotationally arranged at two ends of the bidirectional telescopic rod 32; the driving assembly 34 is arranged between the deflection telescopic rod one 31 and the deflection telescopic rod two 33 and the bidirectional telescopic rod 32; and the welding mechanism 4 is rotationally arranged at an output end of the deflection telescopic rod two 33.

[0026] The bidirectional telescopic rod 32 comprises a main rod body 321 and a branch rod 322, wherein two hydraulic cavities are formed at two ends of the main rod body 321, the branch rod 322 is sealingly and slidably arranged in the hydraulic cavities, and a connecting ring 323 is fixedly arranged at an output end of the branch rod 322 and fixedly connected with an output end of the sliding rod 342.

[0027] The welding mechanism 4 comprises a welding seat 41 and a welding gun 42, wherein the welding seat 41 is rotationally arranged at the output end of the deflection telescopic rod two 33, and the welding gun 42 is fixedly arranged on the welding seat 41.

[0028] A gear one 411 is rotationally arranged on the welding seat 41, and a rack 412 is slidably arranged in the welding seat 41 and engaged with the gear one 411.

[0029] A gear two 331 is fixedly arranged on the deflection telescopic rod two 33 and engaged with the gear one 411.

[0030] A sealing rod 413 is fixedly arranged in the welding seat 41.

[0031] A sealing cavity is formed in the rack 412, the sealing rod 413 sealingly slides along the sealing cavity, and the sealing cavity is connected with an external hydraulic driving mechanism through a hydraulic pipe.

[0032] It should be noted that the design of the gear one 411 and the gear two 331 makes the adjusting precision of the rotation angle of the welding seat 41 higher, that is, the welding mechanism 4 can perfectly fit the surfaces of workpieces of different shapes, thereby improving the welding quality; and the sliding of the rack 412 is used to control the rotation of the gear one 411, further making the rotation adjustment of the welding seat 41 more convenient.

[0033] In the implementation, the mobile vehicle is used to move the mechanical arm 1 and the welding mechanism 4 to the designated position, then the mechanical arm 1 is used to move the adjusting assembly 3 and the welding mechanism 4 to the position to be welded, while observing the body position of the workpiece, i.e. observing whether the workpiece belongs to the vertical body, the horizontal body or the inclined body, and rotating the rotating disc 11 according to the body position, so that the initial placement position of the adjusting assembly 3 and the welding mechanism 4 corresponds to the workpiece, then the welding mechanism 4 is controlled by the adjusting assembly 3 to weld the workpiece, when the workpiece needs to be welded around the circle, first weld the face of the workpiece opposite to the welding mechanism 4, after the welding is completed, the rack 412 is driven to slide, so that the gear one 411 rotates, the rotation of the gear one 411 makes the gear one 411 make a circular motion around the gear two 331, and then the welding seat 41 rotates around the output end of the deflection telescopic rod two 33, and the deflection angle of the welding seat 41 is controlled by adjusting the sliding distance of the rack 412, so that the welding gun 42 can be attached to the outer surface of the workpiece at different angles, when the face of the workpiece opposite to the welding mechanism 4 is welded, at this time, the deflection telescopic rod one 31 and the deflection telescopic rod two 33 are deflected around the two-way telescopic rod 32, and the deflection telescopic rod one 31 is deflected around the telescopic support column 2, so that the adjusting assembly 3 can be arranged in L shape or in the shape of a Chinese character, i.e. the welding mechanism 4 is transported to the top surface or the back surface of the workpiece, so as to realize the around-circle welding of the workpiece, and when the shape of the adjusting assembly 3 is adjusted, the two-way telescopic rod 32, the deflection telescopic rod one 31 and the deflection telescopic rod two 33 can be telescopic, so that when facing workpieces of different sizes, the welding mechanism 4 can be around-circle welded under the action of the adjusting assembly 3, so as to realize the automatic welding of workpieces of different body positions, different sizes and different shapes, and the around-circle welding or double-face welding can be realized without moving the device as a whole, so as to greatly improve the welding efficiency.

[0034] It should be noted that the adjustment of the adjusting assembly 3 is not fixed in the L shape or the vertical structure of the Chinese character, please refer to the adjustment process diagram of the adjusting assembly 3 in Figure 5 , and refer to Figure 3 , the deflection angles of the deflection telescopic rod one 31 and the deflection telescopic rod two 33 around the two-way telescopic rod 32 can be changed, and the specific adjustment needs to be determined according to the specific shape of the workpiece, for example, when welding a rectangular workpiece, the vertical adjustment is needed, when welding a polygonal workpiece, the different inclination angles need to be adjusted according to the inclination change of the welding surface, so as to adapt to the welding of workpieces of different shapes and further improve the welding quality.

[0035] In the embodiment, as shown in Figure 3The driving assembly 34 includes a fixed rod 341, a sliding rod 342, a driving rod 343 and a hinged rod 344, wherein the fixed rod 341 is fixedly set on the bidirectional telescopic rod 32, and the sliding rods 342 are slidingly set at both ends of the fixed rod 341. The output end of the sliding rod 342 is hydraulically driven to slide with a driving rod 343, and the output end of the driving rod 343 is hinged to a hinged rod 344, and the other ends of the two hinged rods 344 are hinged to the deflection telescopic rod 1 31 and the deflection telescopic rod 2 33 respectively.

[0036] During implementation, when the bidirectional telescopic rod 32 is extended and retracted, the sliding rod 342 will slide along with the sliding of the support rod 322, so that when the driving rod 343 does not slide, the distance between the connecting ring 323 and the deflection telescopic rod 1 31 or the deflection telescopic rod 2 33 does not change, that is, the deflection angle between the deflection telescopic rod 1 31 and the deflection telescopic rod 2 33 and the bidirectional telescopic rod 32 will not be affected by the extension and retraction of the bidirectional telescopic rod 32 itself. At the same time, the setting of the hinged rod 344 is used so that only the sliding of the driving rod 343 is required. The deflection between the two-way telescopic rod 32 and the deflection telescopic rod 1 31 or the deflection telescopic rod 2 33 is achieved, so that the adjustment of the deflection angle of the deflection telescopic rod 1 31 and the deflection telescopic rod 2 33 is more precise, and the fixed rod 341 is arranged close to the two-way telescopic rod 32, that is, the sliding rod 342 and the driving rod 343 are parallel to the two-way telescopic rod 32 when sliding, which makes the overall space occupied by the driving component 34 smaller, further enables the adjustment component 3 to be used in a narrow space, and then enables the welding mechanism 4 to complete the welding work in a complex environment, further improving its convenience.

[0037] In this embodiment, Figure 2 and Figure 3 The output end of the support rod 322 is fixedly provided with a limit block 324, and the limit blocks 324 on the two support rods 322 can be respectively attached to the deflection telescopic rod 1 31 and the deflection telescopic rod 2 33;

[0038] A second limiting block 312 is fixedly provided at the output end of the first deflection telescopic rod 31 , and the second limiting block 312 can be abutted against the telescopic support column 2 .

[0039] In summary, in the implementation of the present application, through the multi-degree-of-freedom high-precision adjustment of the adjusting assembly 3, the welding mechanism 4 can be made to conform to the surfaces of workpieces of different sizes and shapes for welding without moving the entire device, and the welding work around the coil can be performed, so that the welding efficiency is greatly improved, that is, a variety of welding requirements of the workpiece can be completed by only single positioning, and the multi-degree-of-freedom adjustment of the adjusting assembly 3 is mainly realized by the driving assembly 34, the driving assembly 34 itself occupies small space, so that the adjusting assembly 3 can be used in a small space, and the welding mechanism 4 can complete the welding work in a small space, further expanding its application range.

[0040] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A building automation arc welding robot arm, characterized by: The invention comprises a mechanical arm (1), a telescopic support column (2), an adjustment component (3) and a welding mechanism (4); a turntable (11) is rotatably provided at the output end of the mechanical arm (1); the telescopic support column (2) is fixedly provided on the turntable (11); and the welding mechanism (4) is connected to the telescopic support column (2) via the adjustment component (3); The adjustment assembly (3) includes a deflection telescopic rod (31), a bidirectional telescopic rod (32), a deflection telescopic rod (33) and a driving assembly (34); the deflection telescopic rod (31) is connected to the telescopic support column (2) in a limited rotation manner, and a hydraulic telescopic rod (311) is hinged between the two; the deflection telescopic rod (31) and the deflection telescopic rod (33) are respectively arranged at the two ends of the bidirectional telescopic rod (32) in a limited rotation manner; a driving assembly (34) is arranged between the bidirectional telescopic rod (32) and the deflection telescopic rod (31) and the deflection telescopic rod (33); the welding mechanism (4) is rotatably arranged at the output end of the deflection telescopic rod (33); The driving assembly (34) includes a fixed rod (341), a sliding rod (342), a driving rod (343) and a hinged rod (344), wherein the fixed rod (341) is fixedly arranged on the bidirectional telescopic rod (32), sliding rods (342) are slidably arranged at both ends of the fixed rod (341), the output end of the sliding rod (342) is slidably arranged with a driving rod (343) by hydraulic drive, the output end of the driving rod (343) is hingedly connected to a hinged rod (344), and the other ends of the two hinged rods (344) are hingedly connected to the deflection telescopic rod 1 (31) and the deflection telescopic rod 2 (33) respectively; The bidirectional telescopic rod (32) comprises a main rod body (321) and a support rod (322), wherein hydraulic cavities are provided at both ends of the main rod body (321), a support rod (322) is provided in the hydraulic cavity for sealing and sliding, a connecting ring (323) is fixedly provided at the output end of the support rod (322), and the connecting ring (323) is fixedly connected to the output end of the sliding rod (342); The welding mechanism (4) comprises a welding seat (41) and a welding gun (42); the welding seat (41) is rotatably arranged at the output end of the second deflection telescopic rod (33); and the welding gun (42) is fixedly arranged on the welding seat (41); A gear (411) is rotatably provided on the welding seat (41), a rack (412) is slidably provided inside the welding seat (41), and the rack (412) is meshed with the gear (411); A second gear (331) is fixedly provided on the second deflection telescopic rod (33), and the second gear (331) is meshed with the first gear (411); A sealing rod (413) is fixedly arranged in the welding seat (41); A sealing cavity is provided on the rack (412), the sealing rod (413) slides sealingly along the sealing cavity, and the sealing cavity is connected to an external hydraulic drive mechanism via a hydraulic pipe.

2. The construction automation arc welding robot arm according to claim 1, characterized in that: A limiting block 1 (324) is fixedly provided at the output end of the support rod (322), and the limiting blocks 1 (324) on the two support rods (322) can be respectively abutted on the deflection telescopic rod 1 (31) and the deflection telescopic rod 2 (33); A second limiting block (312) is fixedly provided at the output end of the first deflection telescopic rod (31), and the second limiting block (312) can be abutted against the telescopic support column (2).

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