Welding tool for industrial robot manufacturing

Abstract

The invention relates to the technical field of robot welding, in particular to a welding tool for industrial robot manufacturing, which comprises a welding table frame, a welding table, a welding gun base and a control panel, four corners of the welding gun base are connected with a Y-direction moving assembly I, a Y-direction moving assembly II, a Z-direction moving assembly and an X-direction moving assembly, and each assembly comprises an electric driving type moving unit and a swinging unit. The electric drive type moving unit drives a transmission belt and a sliding rod to move cooperatively through a servo motor, and a sliding disc is fixed to the transmission belt through a fastening assembly. And the swing unit adopts a multi-stage swing rod mechanism (such as a longitudinal swing rod I, an L-shaped swing connecting block and the like) to realize space multi-degree-of-freedom adjustment of the welding gun base. According to the tool, the four independent electric control assemblies operate cooperatively, the problem that an existing welding tool is insufficient in flexibility is solved, and the tool is suitable for high-precision welding of a robot of a complex structure.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic welding, and specifically to a welding tooling for the manufacture of industrial robots. Background Art

[0002] With the continuous progress and development of society, robots play an increasingly important role in people's lives. Technicians have manufactured many robots to replace human labor for operations, which not only saves human labor but also effectively improves work efficiency. The manufacturing process of robots requires a large number of welding processes for welding and assembling the robots. During welding, precise positioning is required because even a tiny error can cause the robot to fail to move along the set motion trajectory, resulting in the produced robot being unable to be used normally. This places extremely strict requirements on the positioning of the welding tooling.

[0003] The existing patent with the authorization number: CN215588334U discloses a welding tooling for the manufacture of industrial robots, including a fixed bottom plate. Four corners of the lower surface of the fixed bottom plate are fixedly connected with support legs. Electric push rods are fixedly connected to both the left and right sides of the upper surface of the fixed bottom plate. A driving motor is fixedly connected to the lower surface of the fixed bottom plate, and the output end of the driving motor is fixedly connected with a rotating disk. For this welding tooling for the manufacture of industrial robots, the rotating motor drives the rotating gear and the moving rack plate to drive the second push rod, the first push rod, and the sliding frame to move inward and cooperate with the transmission track to clamp and stabilize the robot components, having a better clamping and stabilizing effect on the robot components, and the clamping operation is simpler and more convenient. After analyzing the above tooling, it can be found that its main function is to clamp and position the workpiece to be welded. Moreover, for the complex structure of the robot, the welding positions are complex and of various types. For the welding device, when controlling the movement of the welding end, extremely high movement requirements are needed. However, the existing welding movement is usually achieved through manual adjustment, electric drive, pneumatic / hydraulic drive, or a track and slide system, etc. There are certain limitations in the operation of the above drive methods, and there is a problem of insufficient flexibility; For example: manual adjustment, the skills of the operator affect the accuracy and consistency, and it is difficult to adapt to high-complexity or high-precision workpieces; electric drive, through the motor driving the ball screw, synchronous belt or gear to achieve high-precision linear or rotational movement, the layout of the track or screw is fixed, and it is difficult for the physical structure of the tooling to be quickly reconstructed, etc.; In view of the above existing problems, the present technical solution proposes a welding tooling for the manufacture of industrial robots. Summary of the Invention

[0004] The purpose of the present invention is to provide a welding tooling for the manufacture of industrial robots to solve the problems raised in the above background art.

[0005] To achieve the above object, the present invention provides the following technical solutions: A welding tooling for manufacturing industrial robots, comprising a welding table frame, a welding table, a control panel, and a welding gun base; the welding table frame is set as a rectangular frame structure with one side being completely open, the welding table is arranged at the middle bottom inside the welding table frame, the welding table is connected outward to a passage for the incoming and outgoing of the robot to be welded towards the completely open side of the welding table frame, the welding gun base is set as a cube structure and is placed above the welding table for automatic multi-directional movement, a welding mechanism is installed on the welding gun base, and four corners of the welding gun base extend outward and are mechanically connected to a Y-direction moving component I, a Y-direction moving component II, a Z-direction moving component, and an X-direction moving component respectively; the Y-direction moving component I, the Y-direction moving component II, the Z-direction moving component, and the X-direction moving component are all controlled by independent electric drives and cooperate with each other to drive the welding gun base to transfer at any angle in multiple directions, so as to control the welding mechanism under the welding gun base to perform covering welding on the workpiece (industrial robot) on the welding table; The Y-direction moving component I, the Y-direction moving component II, the Z-direction moving component, the X-direction moving component, and the welding mechanism are all electrically connected to the control panel, that is, by operating the control panel, the corresponding structures and components can be controlled to start and stop, thereby improving the degree of automatic operation of this welding tooling; Among them, the Y-direction moving component I and the Y-direction moving component II are respectively installed along the Y-direction on the upper parts of the opposite side walls inside the welding table frame, the Z-direction moving component is installed along the Z-direction on the completely open side wall of the welding table frame, the X-direction moving component is installed along the X-direction on the inner bottom wall of the welding table frame far from the completely open side of the welding table frame, the connection ends of the Y-direction moving component I, the Y-direction moving component II, and the X-direction moving component with the welding gun base are connected by longitudinal rotation, the connection end of the Z-direction moving component with the welding gun base is connected by transverse rotation, the Z-direction moving component is used to adjust the Z-direction lifting and rotational operation of the welding gun base, the X-direction moving component is used to adjust the X-direction movement of the welding gun base, and the Y-direction moving component I and the Y-direction moving component II are used to adjust the Y-direction movement of the welding gun base, that is, under the driving cooperation of the Y-direction moving component I, the Y-direction moving component II, the Z-direction moving component, and the X-direction moving component, the welding mechanism on the welding gun base is automatically controlled to perform flexible transfer welding operation.

[0006] Compared with the prior art, the beneficial effects of the present invention are: through the cooperation of four groups of electric drive moving components and the swing unit, the welding gun base can be translated in the X, Y, and Z axes and deflected at any angle in space, meeting the covering welding requirements of complex welds.

[0007] By using the same electric drive moving unit (including servo motor, transmission belt, and sliding rod) for each moving component, the manufacturing and maintenance costs are reduced.

[0008] All components are electrically connected to the control panel, supporting programmable control of the welding path and reducing manual intervention.

[0009] The swing unit adopts multi-stage hinged joints (such as U-shaped connecting shaft frames and connecting blocks) to offset the mechanical stress caused by workpiece positioning errors. Brief Description of the Drawings

[0010] Figure 1 It is a schematic structural view of a perspective one of a welding tooling for industrial robot manufacturing.

[0011] Figure 2 It is a schematic structural view of a perspective two of a welding tooling for industrial robot manufacturing.

[0012] Figure 3 It is a schematic structural view of a perspective three of a welding tooling for industrial robot manufacturing.

[0013] Figure 4 It is a schematic top view structural view of a welding tooling for industrial robot manufacturing.

[0014] Figure 5 It is Figure 3 an enlarged schematic structural view of A in

[0015] Figure 6 It is a partial schematic structural view of the Y-direction moving component I in a welding tooling for industrial robot manufacturing.

[0016] Figure 7 It is Figure 1 an enlarged schematic structural view of B in

[0017] Figure 8 It is a schematic structural view of the fastening component in a welding tooling for industrial robot manufacturing.

[0018] Figure 9 It is Figure 8 an enlarged schematic structural view of C in

[0019] Among them: welding table frame 10, welding table 11, access passage 12, control panel 13, welding torch base 14, drive mechanism 15, welding torch body 16, Y-direction moving component I 17, Y-direction moving component II 18, Z-direction moving component 19, X-direction moving component 20, motor base plate 21, fixing bolt 22, servo motor 23, sliding rod seat 24, sliding rod 25, pulley 26, pulley seat 27, transmission belt 28, sliding disc 29, longitudinal swing rod I 30, L-shaped swing connecting block 31, longitudinal swing rod II 32, U-shaped connecting shaft bracket 33, connecting block 34, angle extension block I 35, rotating shaft 37, angle extension block II 38, transverse swing rod I 39, transverse swing rod II 40, connecting shaft bracket 42, sleeve 43, U-shaped positioning disc 44, T-shaped chute 45, fastening plate 46, screw 47, turning handle 48, reinforcing rib 49, reinforcing rib groove 50, mounting plate 51. Detailed implementation manner

[0020] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0022] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0023] The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0024] Please refer to Figures 1 - 4, A welding fixture for manufacturing industrial robots, including a welding table frame 10, a welding table 11, a control panel 13, and a welding gun base 14; the welding table frame 10 is set as a rectangular frame structure and one side is completely open, the welding table 11 is arranged at the middle bottom inside the welding table frame 10, and the welding table 11 is connected outward toward the completely open side of the welding table frame 10 with an access passage 12 for the robot to be welded to enter and exit. The welding gun base 14 is set as a cube structure and is placed above the welding table 11 for automatic multi-directional movement. A welding mechanism is installed on the welding gun base 14. Four corners of the welding gun base 14 extend outward and are mechanically connected to a Y-direction movement component I 17, a Y-direction movement component II 18, a Z-direction movement component 19, and an X-direction movement component 20 respectively; the Y-direction movement component I 17, the Y-direction movement component II 18, the Z-direction movement component 19, and the X-direction movement component 20 are all controlled by independent electric drives and cooperate with each other to drive the welding gun base 14 to transfer at any angle in multiple directions, thereby controlling the welding mechanism under the welding gun base 14 to perform covering welding on the workpiece (industrial robot) on the welding table 11; The Y-direction movement component I 17, the Y-direction movement component II 18, the Z-direction movement component 19, the X-direction movement component 20, and the welding mechanism are all electrically connected to the control panel 13, that is, by operating the control panel 13, the corresponding structures and components can be controlled to start and stop, thereby improving the degree of automatic operation of this welding fixture; Among them, the Y-direction movement component I 17 and the Y-direction movement component II 18 are respectively installed along the Y-direction on the upper parts of the opposite side walls inside the welding table frame 10, the Z-direction movement component 19 is installed along the Z-direction on the completely open side wall of the welding table frame 10, and the X-direction movement component 20 is installed along the X-direction on the inner bottom wall of the welding table frame 10 away from the completely open side of the welding table frame 10. The connection ends of the Y-direction movement component I 17, the Y-direction movement component II 18, and the X-direction movement component 20 with the welding gun base 14 adopt longitudinal rotary connections, and the connection end of the Z-direction movement component 19 with the welding gun base 14 adopts a transverse rotary connection. The Z-direction movement component 19 is used to adjust the Z-direction lifting and rotary operation of the welding gun base 14, the X-direction movement component 20 is used to adjust the X-direction movement of the welding gun base 14, and the Y-direction movement component I 17 and the Y-direction movement component II 18 are used to adjust the Y-direction movement of the welding gun base 14. That is, under the driving cooperation of the Y-direction movement component I 17, the Y-direction movement component II 18, the Z-direction movement component 19, and the X-direction movement component 20, the welding mechanism on the welding gun base 14 is automatically controlled to perform flexible transfer welding operation.

[0025] In the embodiment of the present invention, a plurality of mounting plates 51 are evenly installed at the bottom of the welding table frame 10, and are connected to brackets, mounting plates or other supporting structures through the mounting plates 51, so as to adjust the installation operation position or height of the welding table frame 10; Through holes are provided on the non-fully open side of the welding table frame 10, and protective glass can be installed as needed, which can ensure that the welding process of the industrial robot on the welding table 11 can be directly observed through the protective glass, while preventing dangerous substances during welding from splashing outwards. At the same time, the protective glass can be set with an anti-dizziness function to reduce the damage to the eyes of the observer caused by the stimulating light during welding; The access passage 12 is set as a transmission passage for transferring the industrial robot. For this transmission passage, devices such as conveyor belts or drive plates can be used, and the specific selection can be determined according to the actual situation and will not be elaborated here; At the same time, a fixing structure is provided on the welding table 11 for positioning the industrial robot to be welded. For this fixing structure, basic positioning elements, clamping mechanisms or special fixing structures are usually adopted; For example: The basic positioning elements include positioning pins and positioning blocks. The positioning pins are matched with the pre-machined holes of the workpiece through cylindrical pins, taper pins or diamond pins to limit the degrees of freedom of the workpiece; the positioning blocks adopt plane or contour blocks, which contact the edge / reference plane of the workpiece to determine the XY direction position; The clamping mechanism includes mechanical clamping, pneumatic / hydraulic clamping or electric clamping, etc.; Mechanical clamping Through manual lever-type or screw clamps, which are suitable for small-batch scenarios or hinge pressure plates, covering the workpiece by rotating the pressure plate and locking with bolts; Pneumatic / hydraulic clamping: Cylinder fixture: Driving the pressure arm or claw through a cylinder for automatic clamping; Hydraulic expansion pin: The internal hydraulic oil pushes the pin body to expand to fix the inner hole of the workpiece; Electric clamping: Servo electric fixture, programmable control of clamping force and stroke, suitable for flexible production; The above is only a simple example analysis of some existing conventional fixing structures. Specifically, in the actual process of fixing the industrial robot, it can be selected adaptively according to the specific size and shape of the industrial robot, and it will not be elaborated here.

[0026] In an example of the present invention, the welding mechanism includes a welding gun body 16 installed at the bottom of the welding gun base 14. A driving mechanism 15 is connected to the top of the welding gun body 16. At the same time, a cooling system, a wire feeding mechanism and an electrical system are also provided on the welding gun base 14; The welding gun body 16 includes a contact tip, a nozzle, an insulating housing, etc. The cooling system includes water-cooled or air-cooled pipes (to prevent damage caused by high temperature). The wire feeding mechanism: connected to the wire reel, pushing the welding wire through a motor. The electrical system: welding power source, control cable and signal feedback module; The welding gun body 16 is fixed at a predetermined position through a fixture or bracket to ensure the relative position of the end (contact tip) of the welding gun body 16 and the weld of the workpiece (industrial robot, the same below), energy transfer and arc control; Arc generation: After the welding wire is energized, it contacts the workpiece and short-circuits, igniting the arc, and the welding wire continues to melt.

[0027] Parameter regulation: The welding power supply outputs current and voltage according to the settings to control the penetration depth and weld formation (such as regulating the heat input in pulsed welding).

[0028] Wire feeding and shielding gas: Wire feeding synchronization (only for MIG / MAG): The motor pushes the welding wire at a set speed, matching the melting rate of the arc to avoid arc interruption or wire accumulation.

[0029] Gas shielding: Inert gas (such as Ar / CO2) covers the molten pool through the nozzle to prevent oxidation (the gas type and flow rate need to match the process).

[0030] Process coordination: When the welding torch body 16 is fixed, it depends on the movement of the workpiece (such as the rotation of the positioner or the sliding of the translation table) or the coordination of multiple torches to complete long welds or complex paths.

[0031] Timing control: Synchronize with the automation system (PLC or robot controller) to trigger the start and stop of welding and the early / late release of gas; The above is only a simple explanation of the operation process of the welding torch body 16 and its components. Since it belongs to the prior art, it will not be elaborated here, but it does not affect the integrity of the technical solution.

[0032] As a preferred embodiment of the present invention, the Y-direction moving component I 17, the Y-direction moving component II 18, the Z-direction moving component 19, and the X-direction moving component 20 all include an electrically driven moving unit installed on the inner wall of the welding table frame 10 and a swinging unit connected between the electrically driven moving unit and the welding gun base 14. The electrically driven moving unit can move along the X-direction, Y-direction, or Z-direction, and then cooperate with the swinging unit to adjust the position of the welding gun base 14; Among them, the swinging units in the Y-direction moving component I 17, the Y-direction moving component II 18, and the X-direction moving component 20 are longitudinally swing-rotatedly connected to the corresponding welding gun base 14 by a swinging connecting piece I, and the swinging unit in the Z-direction moving component 19 is transversely swing-rotatedly connected to the corresponding welding gun base 14 by a swinging connecting piece II; The electrically driven moving units in the Y-direction moving component I 17, the Y-direction moving component II 18, the Z-direction moving component 19, and the X-direction moving component 20 are the same. Among them, refer to Figures 5 - 7, taking the electric drive mobile unit at the Y-direction mobile component Ⅰ 17 as an example for illustration, the electric drive mobile unit includes two motor substrates 21 which are fixed on the side wall of the welding table frame 10 by fixing bolts 22 and are distributed at intervals. A transmission belt 28 is rotatably arranged between the two motor substrates 21. One end of the transmission belt 28 is rotatably connected to a servo motor 23, and the other end is rotatably connected to a pulley 26. Both ends of the pulley 26 are rotatably connected to pulley seats 27 fixed on the motor substrate 21. By starting the servo motor 23 to drive the rotation of its output shaft, the transmission belt 28 is controlled to rotate between the output shaft and the pulley 26. A transmission pulley is arranged on the output shaft of the servo motor 23 to maintain the stability of rotation; Two sliding rods 25 are symmetrically arranged between the two motor substrates 21 on both sides of the transmission belt 28. Both ends of the sliding rods 25 are rotatably connected in sliding rod seats 24 fixed on the motor substrate 21. A set of sliding disks 29 are slidably arranged along the length direction on the sliding rods 25 and the transmission belt 28. The sliding disks 29 are installed between the sliding rods 25 and the transmission belt 28 by fastening components. The middle part of the outer side of the sliding disks 29 is connected to the swing unit; Among them, the swing connecting piece Ⅰ includes a connecting shaft frame 42 installed on the outer side wall of the sliding disk 29. A longitudinal swing rod Ⅰ 30 is rotatably connected in the connecting shaft frame 42 through a swing shaft. An L-shaped swing connecting block 31 is installed at the end of the longitudinal swing rod Ⅰ 30. The end of the L-shaped swing connecting block 31 is rotatably connected to a longitudinal swing rod Ⅱ 32 through a swing shaft. A U-shaped connecting shaft frame 33 is installed at the end of the longitudinal swing rod Ⅱ 32 through a connecting plate. The end of the U-shaped connecting shaft frame 33 is rotatably connected to a connecting block 34 through a swing shaft. The end of the connecting block 34 is rotatably connected to an angular extension block Ⅰ 35 fixed on the angular side wall of the welding gun base 14 through a rotating shaft 37. That is, by using the swing connection between the two ends of the longitudinal swing rod Ⅰ 30 and the connecting shaft frame 42 and the longitudinal swing rod Ⅱ 32, the rotational connection between the bottom end of the longitudinal swing rod Ⅱ 32 and the U-shaped connecting shaft frame 33 and the connecting block 34, and the rotational connection between the connecting block 34 and the angular extension block Ⅰ 35, the movement control of the welding gun base 14 in the X and Y directions is realized. Then, with the cooperation between the swing connecting piece Ⅰ on the Y-direction mobile component Ⅱ 18 and the X-direction mobile component 20, the stable transfer of the welding gun base 14 in the X and Y directions is maintained; The swing connecting member II includes a connecting shaft bracket 42 swing-connected to the outer side wall of the sliding disk 29 inside the Z-direction moving assembly 19. The connecting shaft bracket 42 is swing-connected outwardly with a transverse swing rod II 40. An L-shaped swing connecting block 31 is installed at the end of the transverse swing rod II 40. The end of the L-shaped swing connecting block 31 is swing-connected with a transverse swing rod I 39 through a swing shaft. An angular extension block II 38 is installed at the end of the transverse swing rod I 39 through a connecting plate. A U-shaped connecting shaft bracket 33 is installed on one side of the angular extension block II 38. One side of the U-shaped connecting shaft bracket 33 is rotationally connected with the angular extension block II 38 through a swing shaft. The angular extension block II 38 is fixedly installed on the angular side wall of the welding gun base 14. That is, through the swing connection between the angular extension block II 38 and the U-shaped connecting shaft bracket 33, the swing connection between the transverse swing rod I 39 and the transverse swing rod II 40, and the swing connection between the transverse swing rod II 40 and the sliding disk 29, etc., the rotation control of the welding gun base 14 and the movement adjustment in the Z direction are realized. Thus, under the overall cooperation of the swing connecting member I, the swing connecting member II and the electric drive moving unit, the welding mechanism on the welding gun base 14 can be flexibly adjusted in all-round angular positions; Among them, the servo motor 23 is electrically connected to the control panel 13, and the operation process is as follows: Instruction issuance: The control panel 13 sets the target position, speed or torque parameters, and sends them to the servo motor 23 driver through a communication bus or an analog signal; Closed-loop control: The driver reads the actual position / speed of the motor fed back by the encoder in real time, compares it with the command value, adjusts the output current (torque) through the PID algorithm, and drives the servo motor 23 to rotate.

[0033] Dynamic response: The servo motor 23 accelerates / decelerates according to the command, the encoder continuously feeds back signals, and the driver dynamically corrects the error (such as increasing the current when the load suddenly changes).

[0034] Status monitoring: The control panel 13 displays real-time data (such as rotational speed, position deviation, alarm code), and supports manual intervention (such as emergency stop, parameter adjustment); The above operation control of the control panel 13 and the servo motor 23 is only briefly described. For the specific content, connection relationship and operation principle, reference can be made to the existing relevant technologies, and details are not elaborated here.

[0035] As a preferred embodiment of the present invention, refer to Figures 8 - 9, the fastening assembly includes two sleeves 43 mounted on the side wall of the sliding disk 29 on one side of the relative connecting shaft frame 42. The sleeves 43 are correspondingly sleeved on the sliding rods 25. A set of U-shaped positioning disks 44 fixed on the side wall of the sliding disk 29 are arranged between the two sliding rods 25. A clamping member is arranged on the opening side of the U-shaped positioning disk 44. The clamping member is fixedly clamped on the transmission belt 28. By using the rotational movement of the transmission belt 28 and the fixation of the clamping member, the sliding disk 29 is driven to move synchronously with the transmission belt 28, so as to realize the transfer of the sliding disk 29 in the X, Y, and Z directions; The clamping member includes a T-shaped chute 45 opened in the inner side of the opening of the U-shaped positioning disk 44. A slider is slidably arranged in the T-shaped chute 45. A fastening plate 46 is installed between the two side sliders. A screw rod 47 is rotatably connected to the middle of each side slider in a limited manner. One end of the screw rod 47 far from the sliding disk 29 extends outward through the top wall of the T-shaped chute 45 and is installed with a turning handle 48. That is, by rotating the turning handle 48, the movement of the screw rod 47 is controlled, and then the movement of the fastening plate 46 is controlled under the limited rotational connection with the fastening plate 46. At this time, one side of the transmission belt 28 is placed between the fastening plate 46 and the sliding disk 29, so as to clamp and fix it and keep the sliding disk 29 moving synchronously with the transmission belt 28; Specifically, reinforcing ribs 49 and reinforcing rib grooves 50 are respectively arranged on the sides of the fastening plate 46, the sliding disk 29 and the transmission belt 28 in contact, that is, the clamping friction force with the transmission belt 28 is increased, so as to increase the clamping stability.

[0036] The working principle of the present invention is: at the idle place of the device, all the above-mentioned driving parts, which refer to power elements, electrical parts and the adapted power supply, are connected by wires, and the electrical connection is completed in the order of the working sequence of each electrical part. The detailed connection means are well-known techniques in the art. The following mainly introduces the working principle and process, and will not explain the electrical control. Workpiece fixation: The industrial robot to be welded is transported to the welding table 11 through the access passage 12 and fixed by the positioning pin / clamping mechanism.

[0037] Welding instruction input: Set the welding path through the control panel 13 and start the welding mechanism including the welding torch body 16 and the driving mechanism 15.

[0038] Spatial position adjustment: Y-direction movement: The servo motor 23 drives the transmission belt 28 to rotate, driving the sliding disk 29 to move along the sliding rod 25; the sliding disk 29 pushes the welding gun base 14 to translate along the Y-axis through the longitudinal swing rod I 30, the L-shaped swing connection block 31, the longitudinal swing rod II 32, the U-shaped connection shaft frame 33 and the connection block 34.

[0039] X / Z Axis Movement: The X-axis movement component 20 works in the same way and cooperates with the Z-axis movement component 19. Among them, the Z-axis component realizes the lifting and horizontal rotation of the welding torch through the horizontal swing rod II 40, the horizontal swing rod I 39 and the angle extension block II 38. Figure 5 。

[0040] Angle Fine Tuning: The longitudinal swing is realized by the cooperation of the rotating shaft 37 and the angle extension block I 35 to achieve pitch adjustment. The lateral swing is realized by the hinge connection of the U-shaped connecting shaft bracket 33 and the angle extension block II 38 to achieve yaw adjustment. Figure 5 。

[0041] Welding Execution: The welding torch body 16 reaches the target position under the drive of the four components, and the wire feeding mechanism cooperates with the shielding gas to complete the welding.

[0042] The above has described the preferred embodiments of the present invention in detail, but the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the gist of the present invention.

Claims

1. A welding tooling for manufacturing industrial robots, characterized in that, Comprising: A welding table frame (10) with a welding table (11) and an access passage (12) inside; A welding gun base (14) disposed above the welding table (11) and equipped with a welding mechanism; A Y-direction moving component I (17), a Y-direction moving component II (18), a Z-direction moving component (19), and an X-direction moving component (20), respectively connected to the four corners of the welding gun base (14); An operation panel (13) electrically connected to each moving component and the welding mechanism.

2. The welding tooling for manufacturing an industrial robot according to claim (1), characterized in that, The welding table frame (10) is set as a rectangular frame structure and one side is completely open, and the welding gun base (14) is set as a cube structure and is placed above the welding table (11) for automatic multi-directional movement.

3. A welding tooling for manufacturing an industrial robot according to claim (2), characterized in that, The Y-direction moving component I (17) and the Y-direction moving component II (18) are respectively installed along the Y-direction on the upper parts of the opposite side walls inside the welding table frame (10), the Z-direction moving component (19) is installed along the Z-direction on the completely open side wall of the welding table frame (10), the X-direction moving component (20) is installed along the X-direction on the inner bottom wall of the welding table frame (10) away from the completely open side of the welding table frame (10). The connection ends of the Y-direction moving component I (17), the Y-direction moving component II (18), and the X-direction moving component (20) with the welding gun base (14) are connected by longitudinal rotary connections, and the connection end of the Z-direction moving component (19) with the welding gun base (14) is connected by a transverse rotary connection. The Z-direction moving component (19) is used to adjust the Z-direction lifting and rotary operation of the welding gun base (14), the X-direction moving component (20) is used to adjust the X-direction movement of the welding gun base (14), and the Y-direction moving component I (17) and the Y-direction moving component II (18) are used to adjust the Y-direction movement of the welding gun base (14).

4. The welding tooling for manufacturing an industrial robot according to claim (3), characterized in that The access passage (12) is set as a transfer passage for transferring the industrial robot, and for this transfer passage, a conveyor belt or a transmission plate can be used; A fixing structure is provided on the welding table (11), and the fixing structure usually adopts a basic positioning element, a clamping mechanism or a special fixing structure.

5. A welding tooling for manufacturing an industrial robot according to claim (4), characterized in that, The Y-direction moving component I (17), the Y-direction moving component II (18), the Z-direction moving component (19), and the X-direction moving component (20) all include an electrically driven moving unit installed on the inner wall of the welding table frame (10) and a swinging unit connected between the electrically driven moving unit and the welding gun base (14). The electrically driven moving unit can move along the X-direction, Y-direction or Z-direction, and then cooperate with the swinging unit to adjust the position of the welding gun base (14); Among them, the swinging units in the Y-direction moving component I (17), the Y-direction moving component II (18), and the X-direction moving component (20) are longitudinally swing-rotatedly connected to the corresponding welding gun base (14) by a swinging connecting piece I, and the swinging unit in the Z-direction moving component (19) is transversely swing-rotatedly connected to the corresponding welding gun base (14) by a swinging connecting piece II; The electric drive units in the Y-direction moving component I (17), Y-direction moving component II (18), Z-direction moving component (19), and X-direction moving component (20) are the same. The electric drive unit includes two motor substrates (21) spaced apart and fixed to the side wall of the welding table frame (10) by fixing bolts (22). A transmission belt (28) is rotatably arranged between the two motor substrates (21). One end of the transmission belt (28) is rotatably connected to a servo motor (23), and the other end is rotatably connected to a pulley (26). Both ends of the pulley (26) are rotatably connected to pulley seats (27) fixed to the motor substrate (21). A transmission pulley is arranged on the output shaft of the servo motor (23).

6. A welding tooling for manufacturing an industrial robot according to claim (5), characterized in that, Two sliding rods (25) are symmetrically arranged between the two motor substrates (21) on both sides of the transmission belt (28). Both ends of the sliding rods (25) are rotatably connected within sliding rod seats (24) fixed to the motor substrate (21). A set of sliding discs (29) are slidably arranged along the length direction on the sliding rods (25) and the transmission belt (28). The sliding discs (29) are installed between the sliding rods (25) and the transmission belt (28) by fastening components. The middle part on the outside of the sliding discs (29) is connected to the swing unit.

7. A welding tooling for manufacturing an industrial robot according to claim (6), characterized in that, The first swing connecting piece includes a connecting shaft frame (42) installed on the outer side wall of the sliding disc (29). A longitudinal swing rod I (30) is rotatably connected within the connecting shaft frame (42) by a swing shaft. An L-shaped swing connecting block (31) is installed at the end of the longitudinal swing rod I (30). The end of the L-shaped swing connecting block (31) is rotatably connected to a longitudinal swing rod II (32) by a swing shaft. A U-shaped connecting shaft frame (33) is installed at the end of the longitudinal swing rod II (32) through a connecting plate. The end of the U-shaped connecting shaft frame (33) is rotatably connected to a connecting block (34) by a swing shaft. The end of the connecting block (34) is rotationally connected in a limited manner to an angular extension block I (35) fixed to the angular side wall of the welding gun base (14) by a rotating shaft (37).

8. A welding tooling for manufacturing an industrial robot according to claim (7), characterized in that, The second swing connecting piece includes a connecting shaft frame (42) swing-connected to the outer side wall of the sliding disc (29) within the Z-direction moving component (19). The connecting shaft frame (42) swing-connects outwardly to a transverse swing rod II (40). An L-shaped swing connecting block (31) is installed at the end of the transverse swing rod II (40). The end of the L-shaped swing connecting block (31) is connected to a transverse swing rod I (39) by a swing shaft. An angular extension block II (38) is installed at the end of the transverse swing rod I (39) through a connecting plate. A U-shaped connecting shaft frame (33) is installed on one side of the angular extension block II (38). The angular extension block II (38) is rotatably connected to the angular extension block II (38) on one side by a swing shaft. The angular extension block II (38) is fixedly installed on the angular side wall of the welding gun base (14).

9. The welding tooling for manufacturing an industrial robot according to claim (8), characterized in that, The fastening assembly includes two sleeves (43) installed on the side wall of a sliding disk (29) on one side of a relative connecting shaft bracket (42). The sleeves (43) are correspondingly sleeved on sliding rods (25). A set of U-shaped positioning disks (44) fixed on the side wall of the sliding disk (29) are arranged between the two sliding rods (25). A clamping member is arranged on the opening side of the U-shaped positioning disk (44), and the clamping member is fixedly clamped on a transmission belt (28).

10. A welding tooling for manufacturing an industrial robot according to claim (9), characterized in that, The clamping member includes a T-shaped sliding groove (45) opened in the inner side of the opening of the U-shaped positioning disk (44). A slider is slidably arranged in the T-shaped sliding groove (45). A fastening plate (46) is installed between the sliders on both sides. A screw rod (47) is rotationally connected in a limiting manner in the middle of each slider. One end of the screw rod (47) far away from the sliding disk (29) extends outward through the top wall of the T-shaped sliding groove (45) and is installed with a turning handle (48).

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