Automatic copper material welding equipment based on robot

Abstract

The invention discloses automatic copper material welding equipment based on a robot, and relates to the technical field of welding, the automatic copper material welding equipment comprises a robot body and a workbench, the end part of the robot body is fixedly connected with an end part frame, one side of the end part frame is fixedly connected with a mounting block, and the outer side of the mounting block is provided with a damping butt joint mechanism. The automatic copper material welding equipment based on the robot has the beneficial effects that when a welding gun body is installed, the welding gun body penetrates through a butt joint sleeve, clamping plates extrude and fix the welding gun body under the action of extrusion spring rods, after preliminary fixing, a positioning sliding block is rotated into a positioning connecting hole, fixing of the positioning sliding block is completed, and the welding gun body is fixed through the butt joint sleeve; and at the moment, the damping spring is in a compressed state, then the end of the welding gun body is fixed between the two locking plates, secondary fixing of the welding gun body is completed, primary fixing and secondary fixing improve the mounting firmness of the welding gun body, separation of the welding gun body in the operation process is avoided, and the using safety of the welding gun body is improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to an automated copper material welding device based on a robot. Background Art

[0002] Welding robots are industrial robots that perform welding. They mainly consist of two parts: robots and welding equipment. Robots consist of a robot body and a control cabinet, while welding equipment, such as arc welding and spot welding, consists of welding power supplies, wire feeders, welding guns, etc. Intelligent robots should also have sensor systems, such as laser or camera sensors and their control devices, which are needed in the copper material welding process.

[0003] When the existing automated copper material welding equipment is in use, since the welding gun is installed at the end of the robot, the welding gun located at the end will be greatly affected by vibration during the operation of the robot. At the same time, the connection between the welding gun and the end of the robot is a fixed connection. Under long-term use, the stability of the welding gun is greatly affected, and it is easy for the position to shift during the welding process or the welding gun to loosen and fall, which poses a safety hazard and reduces the use value of the welding equipment. Summary of the invention

[0004] The present invention discloses an automated copper material welding device based on a robot, aiming to solve the technical problems that, when the existing automated copper material welding device is in use, since the welding guns are all installed at the end of the robot, the welding gun located at the end of the robot will be greatly affected by vibration during the operation of the robot, and at the same time, the connection between the welding gun and the end of the robot is a fixed connection, and the stability of the welding gun is greatly affected under long-term use, and the position deviation or loosening and falling of the welding gun during the welding process is prone to occur, posing a potential safety hazard.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A robot-based automated copper material welding device, comprising a robot body and a workbench. An end frame is fixedly connected to the end of the robot body, and a mounting block is fixedly connected to one side of the end frame. A shock-absorbing docking mechanism is provided outside the mounting block. The shock-absorbing docking mechanism includes a docking sleeve, and the docking sleeve is fixedly connected to the outer wall of the mounting block. An inner ring is fixedly connected to the inner wall of the docking sleeve at the middle position. An airbag is fixedly connected to the inner ring, and the inside of the airbag is filled with coolant. Two circulation holes are opened on the outer wall of the airbag, and circulation pipes are fixedly connected to the inside of the two circulation holes. Pipe valves are connected to the outer walls of the two circulation pipes through flanges. Clamping plates are evenly connected to the inner walls of the docking sleeve at the upper and lower ends of the airbag through hinges. On the arc surface of each clamping plate facing the inner wall of the docking sleeve, extrusion spring rods are evenly fixedly connected, and one end of the extrusion spring rod is fixedly connected to the inner wall of the docking sleeve.

[0007] By providing a shock-absorbing docking mechanism, when installing the welding torch body, pass it through the docking sleeve. Under the action of the extrusion spring rods, each clamping plate squeezes and fixes the welding torch body. After preliminary fixing, rotate the positioning slider into the positioning connection hole to complete the fixing of the positioning slider. At this time, the shock-absorbing spring is in a compressed state. Then, fix the end of the welding torch body between the two locking plates to complete the secondary fixing of the welding torch body. The preliminary fixing and secondary fixing improve the firmness of the installation of the welding torch body, prevent it from detaching during operation, and improve its use safety. The extrusion spring rods in the preliminary fixing and the shock-absorbing springs in the secondary fixing both weaken the vibration received by the welding torch body, thereby improving the stability and accuracy of the welding torch body during operation, and further improving the use value of the welding device.

[0008] In a preferred solution, an upper frame is fixedly connected to the top of the mounting block, and an annular mounting rail is fixedly connected to the top of the upper frame. Two positioning sliders are slidably connected to the inside of the annular mounting rail. Docking rods are fixedly connected to the tops of the two positioning sliders. Locking plates are fixedly connected to the tops of the two docking rods. Threaded holes are opened at the ends of the two locking plates. The same locking bolt is screwed into the two corresponding threaded holes on the two locking plates. A locking nut is threadedly connected to the end of the locking bolt. The same welding torch body is clamped between the two locking plates. The welding torch body passes through the docking sleeve and contacts each clamping plate.

[0009] In a preferred embodiment, positioning receiving holes are formed in the annular mounting rail below the positioning sliders, and clamping columns are inserted into the interiors of the two positioning receiving holes. Ejecting spring rods are annularly distributed at the top of the clamping columns, and the tops of the ejecting spring rods are fixedly connected to the bottom of the positioning sliders. A telescopic connecting rod is fixedly connected to the top of the clamping column at the center point, and the end of the telescopic connecting rod is fixedly connected to the bottom of the positioning slider. Shock-absorbing springs are fixedly connected to one side of each of the two positioning sliders, and fixed blocks are fixedly connected to the ends of the two shock-absorbing springs. The fixed blocks are fixedly connected to the bottom inner wall of the annular mounting rail. Heat-conducting rods are fixedly connected to the bottom of the airbag bag at equal intervals, and the heat-conducting rods are misaligned with the clamping plates. The bottoms of the plurality of heat-conducting rods are fixedly connected to the same heat-conducting ring. Heat-conducting wires are fixedly connected to the bottom of the heat-conducting ring at equal intervals. A positioning ring is sleeved on the welding torch body below the heat-conducting ring.

[0010] In a preferred embodiment, a support frame is fixedly connected to the inclined surface of the end frame, and a wire feeding mechanism is arranged at the top of the support frame. The wire feeding mechanism includes a storage frame fixedly connected to the top of the support frame. Connecting shaft rods are connected to the inner walls of both sides of the storage frame through bearings, a winding roller is fixedly connected to the outer side wall of the connecting shaft rod, a welding wire body is wound around the outer side wall of the winding roller, a connecting rod is fixedly connected to the bottom of the storage frame, and a limiting through tube is fixedly connected to the end of the connecting rod. The welding wire body passes through the limiting through tube and is communicated to the welding torch body.

[0011] In a preferred embodiment, a mounting rod is fixedly connected to one side of the storage frame close to the winding roller, and adaptive spring rods are fixedly connected to one side of the mounting rod at equal intervals. The ends of the plurality of adaptive spring rods are fixedly connected to the same shaft frame. The inner walls of both sides of the shaft frame are connected to the same guide tooth through bearings, and the welding wire body passes through the guide tooth.

[0012] By providing a wire feeding mechanism, during the use of the welding torch body, in order to improve its automation degree, the welding wire body is directly conveyed through the wire feeding mechanism. When conveying the welding wire body, the driving motor 1 is started, and the driving motor 1 drives the rotating wire feeding roller to rotate, thereby gradually driving the welding wire body downward. During the movement of the welding wire body, the hydraulic cylinder 1 is adjusted to drive the correcting roller to reciprocate up and down continuously, thereby continuously stretching and correcting the welding wire body. At the same time, during the stretching and correcting of the welding wire body, the adaptive spring rods are adjusted according to the traction force received by the welding wire body, thereby avoiding the situation that the welding wire body is broken. The continuous correction of the welding wire body ensures that the welding wire conveyed to the welding torch body is regular, and avoids defects during the welding process caused by local bending of the welding wire body.

[0013] In a preferred embodiment, the inner walls on both sides of the storage box at the lower part of the winding roller are fixedly connected with the same inner connecting rod, and a traction sleeve is fixedly connected in the inner connecting rod. A diversion round rod is fixedly connected to the top of the traction sleeve, and two hydraulic cylinders I are fixedly connected to the bottom of the inner connecting rod. The output ends of the two hydraulic cylinders I are both fixedly connected with lifting roller frames, and a correcting roller is connected in each of the two lifting roller frames through bearings. The welding wire body passes through between the traction sleeve and the multiple correcting rollers.

[0014] In a preferred embodiment, two driving motors I are fixedly connected to the same side of the storage box near the bottom end, and the output shafts of the two driving motors I are both fixedly connected with driving shafts through couplings. Rotating wire feeding rollers are fixedly connected to the outer side walls of the two driving shafts, and annular grooves are formed in the two rotating wire feeding rollers. Driving teeth are fixedly connected at equal intervals inside the annular grooves, and the driving teeth are in contact with the welding wire body. The welding wire body passes through the two rotating wire feeding rollers.

[0015] In a preferred embodiment, a mounting seat is fixedly connected to the bottom of the workbench, and two adjusting sliding grooves are formed in the top of the workbench. The same sliding frame is slidably connected inside the two adjusting sliding grooves. A pushing cylinder is fixedly connected to one side of the workbench, and the output end of the pushing cylinder is fixedly connected to one side of the sliding frame. A matching adjustment mechanism is arranged on the top of the sliding frame.

[0016] In a preferred embodiment, the matching adjustment mechanism includes two connecting frames, and both of the two connecting frames are fixedly connected to the top of the sliding frame. A forward and reverse rotation motor is fixedly connected to one side of one of the connecting frames, and the output shaft of the forward and reverse rotation motor is fixedly connected with a rotating shaft through a coupling. One end of the rotating shaft is connected to the other side of the connecting frame through a bearing. A deflection plate is fixedly connected to the outer side wall of the rotating shaft. The deflection plate is in an equilateral trapezoid structure, and a connecting sleeve is fixedly connected at the middle position of the deflection plate. A deflection shaft is inserted inside the connecting sleeve, and the two ends of the deflection shaft are fixedly connected with the same clamping platform.

[0017] By providing the matching adjustment mechanism, when welding copper materials with complex shapes, after fixing them on the clamping platform, during the welding operation of the welding torch body driven by the robot body, the angle and inclination of the clamping platform are adjusted according to the requirements, so that the copper materials located on the clamping platform can be better docked with the position of the welding torch body, realizing high-precision welding.

[0018] In a preferred embodiment, connecting springs are fixedly connected to the tops of both ends of the deflection plate, and the tops of the two connecting springs are fixedly connected to the bottom of the clamping platform. The top of the deflection plate near the forward and reverse motor is hinged to an adjusting cylinder, and the output end of the adjusting cylinder is hinged to the bottom of the clamping platform. Side frames are fixedly connected to both sides of the clamping platform, hydraulic cylinders II are fixedly connected to the tops of the two side frames, positioning pressing plates are fixedly connected to the output ends of the two hydraulic cylinders II, a reinforcing rail is fixedly connected to the top of the other connecting frame, a reinforcing sliding rod is slidably connected inside the reinforcing rail, and one end of the reinforcing sliding rod is fixedly connected to one side of the deflection plate.

[0019] When installing the welding torch body in the automated copper material welding equipment based on a robot provided by the present invention, it is passed through the docking sleeve. Each clamping plate presses and fixes the welding torch body under the action of the extrusion spring rod. After preliminary fixing, the positioning slider is rotated into the positioning connection hole to complete the fixing of the positioning slider. At this time, the shock-absorbing spring is in a compressed state. Then, the end of the welding torch body is fixed between the two locking plates to complete the secondary fixing of the welding torch body. The preliminary fixing and the secondary fixing improve the firmness of the installation of the welding torch body, avoid its detachment during operation, and improve its use safety. The extrusion spring rod in the preliminary fixing and the shock-absorbing spring in the secondary fixing both weaken the vibration received by the welding torch body, thereby improving the stability and accuracy of the welding torch body during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 FIG. is a schematic diagram of the overall structure of an automated copper material welding equipment based on a robot proposed by the present invention.

[0021] Figure 2 is Figure 1 the planar structure schematic diagram of

[0022] Figure 3 FIG. is a schematic diagram of the combined structure of the wire feeding mechanism and the shock-absorbing docking mechanism of an automated copper material welding equipment based on a robot proposed by the present invention.

[0023] Figure 4 FIG. is a schematic diagram of the shock-absorbing docking mechanism of an automated copper material welding equipment based on a robot proposed by the present invention.

[0024] Figure 5 is Figure 4 the cross-sectional view of the docking sleeve structure in

[0025] Figure 6 FIG. is a schematic diagram of the combined structure of the annular mounting rail and the locking plate of an automated copper material welding equipment based on a robot proposed by the present invention.

[0026] Figure 7Cross-sectional view of the annular mounting rail structure of an automated copper material welding device based on a robot proposed by the present invention.

[0027] Figure 8 Schematic diagram of the wire feeding mechanism of an automated copper material welding device based on a robot proposed by the present invention.

[0028] Figure 9 Schematic diagram of the internal structure of the storage box of an automated copper material welding device based on a robot proposed by the present invention.

[0029] Figure 10 Schematic diagram of the combined structure of the traction sleeve and the correction roller of an automated copper material welding device based on a robot proposed by the present invention.

[0030] Figure 11 Schematic diagram of the combined structure of the workbench of an automated copper material welding device based on a robot proposed by the present invention and the cooperation adjustment mechanism above it.

[0031] Figure 12 Schematic diagram of the cooperation adjustment mechanism of an automated copper material welding device based on a robot proposed by the present invention.

[0032] In the figure: 1. Robot body; 2. Wire feeding mechanism; 201. Storage box; 202. Winding roller; 203. Welding wire body; 204. Driving tooth; 205. Rotating wire feeding roller; 206. Limiting threading cylinder; 207. Connecting rod; 208. Driving motor 1; 209. Driving shaft; 210. Inner connecting rod; 211. Mounting rod; 212. Connecting shaft rod; 213. Shaft bracket; 214. Flow guiding tooth; 215. Adaptive spring rod; 216. Hydraulic cylinder 1; 217. Flow guiding round rod; 218. Traction sleeve; 219. Correction roller; 220. Lifting roller bracket; 3. Support frame; 4. End frame; 5. Matching adjustment mechanism; 501. Clamping platform; 502. Side frame; 503. Positioning pressure plate; 504. Adjusting cylinder; 505. Forward and reverse motor; 506. Deflection plate; 507. Deflection shaft; 508. Connecting frame; 509. Rotating shaft; 510. Reinforcing rail; 511. Reinforcing slide bar; 512. Connecting spring; 513. Hydraulic cylinder 2; 6. Workbench; 7. Adjusting chute; 8. Mounting seat; 9. Pushing cylinder; 10. Welding torch body; 11. Mounting block; 12. Shock absorption docking mechanism; 1201. Docking sleeve; 1202. Ring-shaped mounting rail; 1203. Heat conduction ring; 1204. Heat conduction wire; 1205. Locking plate; 1206. Clamping plate; 1207. Circulation pipe; 1208. Positioning ring; 1209. Upper frame; 1210. Extrusion spring rod; 1211. Pipe valve; 1212. Inner ring; 1213. Airbag; 1214. Locking bolt; 1215. Locking nut; 1216. Shock absorption spring; 1217. Positioning slider; 1218. Docking rod; 1219. Clamping column; 1220. Fixed block; 1221. Positioning connection hole; 1222. Ejecting spring rod; 1223. Telescopic connecting rod; 13. Sliding frame. Detailed implementation manner

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0034] An automated copper material welding device based on a robot disclosed in the present invention is mainly applied to the existing automated copper material welding device. When in use, since the welding torches are all installed at the end of the robot, this will cause the welding torches at the end to be greatly affected by vibration during the operation of the robot. At the same time, the connection method between the welding torch and the end of the robot is a fixed connection. In the case of long-term use, the stability of the welding torch is greatly affected, and it is easy to have position deviation during the welding process or the welding torch loosens and falls, resulting in a safety hazard scenario.

[0035] Refer to Figures 1 - 12, a robot-based automated copper material welding device, including a robot body 1 and a workbench 6. One end of the robot body 1 is fixedly connected to an end frame 4, and an installation block 11 is fixedly connected to one side of the end frame 4. A shock-absorbing docking mechanism 12 is arranged outside the installation block 11. The shock-absorbing docking mechanism 12 includes a docking sleeve 1201, and the docking sleeve 1201 is fixedly connected to the outer side wall of the installation block 11. An inner ring 1212 is fixedly connected to the inner side wall of the docking sleeve 1201 at the middle position. An airbag 1213 is fixedly connected to the inner ring 1212. The inside of the airbag 1213 is filled with coolant. Two circulation holes are opened on the outer side wall of the airbag 1213. Circulation pipes 1207 are fixedly connected to the inside of the two circulation holes. Pipe valves 1211 are connected to the outer side walls of the two circulation pipes 1207 through flanges. Clamping plates 1206 are equally spaced and connected to the inner side walls of the docking sleeve 1201 above and below the airbag 1213 through hinges. On the arc surface of each clamping plate 1206 facing the inner side wall of the docking sleeve 1201, extrusion spring rods 1210 are equally spaced and fixedly connected. One end of the extrusion spring rod 1210 is fixedly connected to the inner side wall of the docking sleeve 1201.

[0036] In a specific application scenario, when installing the welding torch body 10, pass it through the docking sleeve 1201. Each clamping plate 1206 squeezes and fixes the welding torch body 10 under the action of the extrusion spring rod 1210. After preliminary fixing, rotate the positioning slider 1217 into the positioning connection hole 1221 to complete the fixing of the positioning slider 1217. At this time, the shock-absorbing spring 1216 is in a compressed state. Then, fix the end of the welding torch body 10 between the two locking plates 1205 to complete the secondary fixing of the welding torch body 10. The preliminary fixing and the secondary fixing improve the firmness of the installation of the welding torch body 10, avoid its detachment during operation, and improve its use safety. Both the extrusion spring rod 1210 in the preliminary fixing and the shock-absorbing spring 1216 in the secondary fixing weaken the vibration received by the welding torch body 10, thereby improving the stability and accuracy of the welding torch body 10 during operation, and further improving the use value of the welding device.

[0037] Specifically, the secondary fixing of the welding torch body 10 is to squeeze and lock the locking plates 1205. However, the locking plates 1205 are all installed in the positioning sliders 1217 through the docking rods 1218. The annular installation rail 1202 outside the positioning slider 1217 is docked with the installation block 11. This connection enables the shock-absorbing spring 1216 to play a shock-absorbing effect only when the welding torch body 10 is affected by vibration, reducing the shock-absorbing intensity received by the welding torch body 10.

[0038] It should be noted that the airbag 1213 is filled with coolant inside. The airbag 1213 plays a role of positioning and squeezing the welding torch body 10. The coolant inside it is a fluid, so that the airbag 1213 is closely attached to the outer wall of the welding torch body 10. During the operation of the welding torch body 10, the coolant inside the airbag 1213 can fully absorb the heat on the welding torch body 10. At the same time, the positioning ring 1208 is pressed downward, so that each heat conducting wire 1204 is in contact with the welding torch body 10. The heat conducting ring 1203 and the heat conducting wires 1204 work together to achieve efficient heat dissipation of the welding torch body 10.

[0039] Refer to Figures 1 - 7 , in a preferred embodiment, an upper frame 1209 is fixedly connected to the top of the mounting block 11, and an annular mounting rail 1202 is fixedly connected to the top of the upper frame 1209. Two positioning sliders 1217 are slidably connected inside the annular mounting rail 1202. Docking rods 1218 are fixedly connected to the tops of the two positioning sliders 1217. Locking plates 1205 are fixedly connected to the tops of the two docking rods 1218. Threaded holes are opened at the ends of the two locking plates 1205. The same locking bolt 1214 is screwed into the two corresponding threaded holes on the two locking plates 1205. A locking nut 1215 is threadedly connected to the end of the locking bolt 1214. The same welding torch body 10 is clamped between the two locking plates 1205. The welding torch body 10 passes through the docking sleeve 1201, and the welding torch body 10 is in contact with each clamping plate 1206.

[0040] Refer to Figure 3 , Figure 6 and Figure 7 , in a preferred embodiment, positioning connection holes 1221 are opened at the positions of the annular mounting rail 1202 below the positioning sliders 1217. Clamping columns 1219 are inserted into the two positioning connection holes 1221. Ejecting spring rods 1222 are annularly distributed at the top of the clamping column 1219. The tops of the ejecting spring rods 1222 are fixedly connected to the bottom of the positioning slider 1217. A telescopic connecting rod 1223 is fixedly connected to the top of the clamping column 1219 at the center point. The end of the telescopic connecting rod 1223 is fixedly connected to the bottom of the positioning slider 1217. Damping springs 1216 are fixedly connected to one side of the two positioning sliders 1217. Fixed blocks 1220 are fixedly connected to the ends of the two damping springs 1216. The fixed blocks 1220 are fixedly connected to the bottom inner wall of the annular mounting rail 1202. Heat conducting rods are fixedly connected to the bottom of the airbag 1213 at equal intervals. The heat conducting rods are distributed in a staggered manner with the clamping plates 1206. The bottoms of the multiple heat conducting rods are fixedly connected to the same heat conducting ring 1203. Heat conducting wires 1204 are fixedly connected to the bottom of the heat conducting ring 1203 at equal intervals. A positioning ring 1208 is sleeved on the welding torch body 10 at the position below the heat conducting ring 1203.

[0041] Reference Figure 1 , Figure 3 , Figure 8 , Figure 9 and Figure 10 , in a preferred embodiment, a support frame 3 is fixedly connected to the inclined surface of the end frame 4, and a wire feeding mechanism 2 is provided at the top of the support frame 3. The wire feeding mechanism 2 includes a storage frame 201 which is fixedly connected to the top of the support frame 3. Connecting shaft rods 212 are connected to the inner walls on both sides of the storage frame 201 through bearings. A winding roller 202 is fixedly connected to the outer side wall of the connecting shaft rod 212. A welding wire body 203 is wound around the outer side wall of the winding roller 202. A connecting rod 207 is fixedly connected to the bottom of the storage frame 201. A limiting through tube 206 is fixedly connected to the end of the connecting rod 207. The welding wire body 203 passes through the limiting through tube 206 and is communicated to the welding torch body 10.

[0042] Specifically, during the use of the welding torch body 10, in order to improve its automation degree, the welding wire body 203 is directly conveyed to it through the wire feeding mechanism 2. When the welding wire body 203 is conveyed, the driving motor 1 208 is started, and the driving motor 1 208 drives the rotating wire feeding roller 205 to rotate, so as to gradually drive the welding wire body 203 downward. During the movement of the welding wire body 203, the hydraulic cylinder 1 216 is adjusted to drive the straightening roller 219 to reciprocate up and down continuously, so as to continuously stretch and straighten the welding wire body 203. At the same time, during the process of stretching and straightening the welding wire body 203, the self-adaptive spring rod 215 is adjusted according to the traction force received by the welding wire body 203, so as to avoid the situation that the welding wire body 203 is broken. The continuous straightening of the welding wire body 203 ensures that the welding wire conveyed to the welding torch body 10 is regular, and avoids defects during the welding process caused by local bending of the welding wire body 203.

[0043] Reference Figures 8 - 10, in a preferred embodiment, a mounting rod 211 is fixedly connected to one side of the storage box 201 close to the winding roller 202, and a plurality of self - adaptive spring rods 215 are fixedly connected to one side of the mounting rod 211 at equal intervals. The ends of the plurality of self - adaptive spring rods 215 are fixedly connected to the same shaft frame 213. Both inner walls of the shaft frame 213 are connected by bearings to the same flow - guiding tooth 214. The welding wire body 203 passes through the flow - guiding tooth 214. The two inner walls of the storage box 201 at the lower part of the winding roller 202 are fixedly connected to the same inner connecting rod 210, and a traction sleeve 218 is fixedly connected to the inner connecting rod 210. A flow - guiding round rod 217 is fixedly connected to the top of the traction sleeve 218. Two hydraulic cylinders 216 are fixedly connected to the bottom of the inner connecting rod 210. The output ends of the two hydraulic cylinders 216 are both fixedly connected to a lifting roller frame 220. A correcting roller 219 is connected by bearings in both lifting roller frames 220. The welding wire body 203 passes through the traction sleeve 218 and between the plurality of correcting rollers 219. Two driving motors 208 are fixedly connected to the same side of the storage box 201 near the bottom end, and the output shafts of the two driving motors 208 are both fixedly connected to driving shafts 209 through couplings. Rotating wire - feeding rollers 205 are fixedly connected to the outer side walls of the two driving shafts 209. Annular grooves are formed in both rotating wire - feeding rollers 205, and driving teeth 204 are fixedly connected to the annular grooves at equal intervals. The driving teeth 204 are in contact with the welding wire body 203. The welding wire body 203 passes through the two rotating wire - feeding rollers 205.

[0044] Referring to Figure 1 and Figure 11 , in a preferred embodiment, a mounting seat 8 is fixedly connected to the bottom of the workbench 6, and two adjusting chutes 7 are formed in the top of the workbench 6. The same sliding frame 13 is slidably connected to the two adjusting chutes 7. A pushing cylinder 9 is fixedly connected to one side of the workbench 6. The output end of the pushing cylinder 9 is fixedly connected to one side of the sliding frame 13. A matching adjustment mechanism 5 is arranged on the top of the sliding frame 13.

[0045] Referring to Figure 11 and Figure 12, in a preferred embodiment, the cooperating adjustment mechanism 5 includes two connecting frames 508, and both of the two connecting frames 508 are fixedly connected to the top of the sliding frame 13. A forward and reverse motor 505 is fixedly connected to one side of one of the connecting frames 508. The output shaft of the forward and reverse motor 505 is fixedly connected to a rotating shaft 509 through a coupling. One end of the rotating shaft 509 is connected to one side of the other connecting frame 508 through a bearing. A deflection plate 506 is fixedly connected to the outer sidewall of the rotating shaft 509. The deflection plate 506 is in an equilateral trapezoid structure. A connecting sleeve is fixedly connected to the middle position of the deflection plate 506. A deflection shaft 507 is inserted into the interior of the connecting sleeve. Both ends of the deflection shaft 507 are fixedly connected to the same clamping platform 501. Connecting springs 512 are fixedly connected to the top of the deflection plate 506 near both ends, and the tops of the two connecting springs 512 are fixedly connected to the bottom of the clamping platform 501. An adjusting cylinder 504 is connected to the top of the deflection plate 506 near the forward and reverse motor 505 through a hinge. The output end of the adjusting cylinder 504 is connected to the bottom of the clamping platform 501 through a hinge. Side frames 502 are fixedly connected to both sides of the clamping platform 501. Hydraulic cylinders II 513 are fixedly connected to the tops of the two side frames 502. Positioning pressing plates 503 are fixedly connected to the output ends of the two hydraulic cylinders II 513. A reinforcing rail 510 is fixedly connected to the top of the other connecting frame 508. A reinforcing slide bar 511 is slidably connected to the interior of the reinforcing rail 510. One end of the reinforcing slide bar 511 is fixedly connected to one side of the deflection plate 506.

[0046] Specifically, when welding a copper material with a complex shape, after fixing it on the clamping platform 501, during the welding operation of the welding torch body 10 driven by the robot body 1, the angle and inclination of the clamping platform 501 are adjusted according to the requirements, so that the copper material located on the clamping platform 501 can be better docked with the position of the welding torch body 10 to achieve high-precision welding.

[0047] It should be noted that when adjusting the angle of the copper material, the reinforcing slide bar 511 slides in the reinforcing rail 510, thereby improving the stability of the angle adjustment of the clamping platform 501. At the same time, when adjusting the inclination of the copper material, the connecting spring 512 plays a role of connecting and damping the clamping platform 501, reducing the vibration influence on the copper material during the welding process, and further improving the stability during the welding process of the copper material.

[0048] Working principle: Before use, install the welding torch body 10. Pass it through the docking sleeve 1201. Under the action of the extrusion spring rod 1210, each clamping plate 1206 squeezes and fixes the welding torch body 10. After preliminary fixation, rotate the positioning slider 1217 into the positioning connection hole 1221 to complete the fixation of the positioning slider 1217. At this time, the shock-absorbing spring 1216 is in a compressed state. Then, fix the end of the welding torch body 10 between the two locking plates 1205 to complete the secondary fixation of the welding torch body 10. When in use, place the copper material to be welded on the clamping platform 501. Adjust the hydraulic cylinder two 513 to drive the positioning pressure plate 503 to fix the copper material. After fixation, according to the welding position of the copper material, adjust the pushing cylinder 9, the adjusting cylinder 504, and the forward and reverse motor 505 in sequence to achieve the preliminary docking between the welding point of the copper material and the welding torch body 10. Then, the robot body 1 drives the welding torch body 10 to perform secondary angle adjustment, so that the welding torch body 10 is accurately docked with the copper material welding point, and the welding operation is started.

[0049] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An automated copper material welding device based on a robot, comprising a robot body (1) and a workbench (6), characterized in that, An end part of the robot body (1) is fixedly connected with an end frame (4), and a mounting block (11) is fixedly connected to one side of the end frame (4). A shock-absorbing docking mechanism (12) is arranged outside the mounting block (11). The shock-absorbing docking mechanism (12) includes a docking sleeve (1201), and the docking sleeve (1201) is fixedly connected to the outer side wall of the mounting block (11). An inner ring (1212) is fixedly connected to the inner side wall of the docking sleeve (1201) at the middle position. An airbag (1213) is fixedly connected to the inner ring (1212). The inside of the airbag (1213) is filled with a coolant. Two circulation holes are formed in the outer side wall of the airbag (1213). Circulation pipes (1207) are fixedly connected to the inside of the two circulation holes respectively. Pipe valves (1211) are connected to the outer side walls of the two circulation pipes (1207) through flanges. Clamping plates (1206) are evenly connected to the inner side walls of the docking sleeve (1201) at the upper and lower ends of the airbag (1213) through hinges. On the arc surface of each clamping plate (1206) facing the inner side wall of the docking sleeve (1201), extrusion spring rods (1210) are evenly fixedly connected. One end of each extrusion spring rod (1210) is fixedly connected to the inner side wall of the docking sleeve (1201).

2. The automated copper material welding device based on a robot according to claim 1, wherein, An upper frame (1209) is fixedly connected to the top of the mounting block (11), and an annular mounting rail (1202) is fixedly connected to the top of the upper frame (1209). Two positioning sliders (1217) are slidably connected to the inside of the annular mounting rail (1202). Docking rods (1218) are fixedly connected to the tops of the two positioning sliders (1217). Locking plates (1205) are fixedly connected to the tops of the two docking rods (1218). Threaded holes are formed at the ends of the two locking plates (1205). The same locking bolt (1214) is screwed into the two corresponding threaded holes in the two locking plates (1205). A locking nut (1215) is threadedly connected to the end of the locking bolt (1214). A welding torch body (10) is clamped between the two locking plates (1205). The welding torch body (10) passes through the docking sleeve (1201), and the welding torch body (10) contacts each clamping plate (1206).

3. The automated copper material welding device based on a robot according to claim 2, characterized in that, The annular mounting rail (1202) is provided with positioning connection holes (1221) at positions below the positioning slider (1217), and clamping columns (1219) are inserted into the interiors of the two positioning connection holes (1221). Ejecting spring rods (1222) are annularly distributed at the top of the clamping column (1219), and the top of the ejecting spring rod (1222) is fixedly connected to the bottom of the positioning slider (1217). A telescopic connecting rod (1223) is fixedly connected to the top of the clamping column (1219) at the center point, and the end of the telescopic connecting rod (1223) is fixedly connected to the bottom of the positioning slider (1217). Damping springs (1216) are fixedly connected to one side of the two positioning sliders (1217), and fixed blocks (1220) are fixedly connected to the ends of the two damping springs (1216). The fixed block (1220) is fixedly connected to the bottom inner wall of the annular mounting rail (1202). Heat-conducting rods are fixedly connected to the bottom of the airbag (1213) at equal intervals, and the heat-conducting rods are misaligned with the clamping plate (1206). The bottoms of the plurality of heat-conducting rods are fixedly connected to the same heat-conducting ring (1203). Heat-conducting wires (1204) are fixedly connected to the bottom of the heat-conducting ring (1203) at equal intervals. A positioning ring (1208) is sleeved below the heat-conducting ring (1203) of the welding torch body (10).

4. An automated copper material welding device based on a robot according to claim 2, characterized in that, A support frame (3) is fixedly connected to the inclined surface of the end frame (4), and a wire feeding mechanism (2) is arranged at the top of the support frame (3). The wire feeding mechanism (2) includes a storage frame (201). The storage frame (201) is fixedly connected to the top of the support frame (3). Connecting shaft rods (212) are connected to the inner walls on both sides of the storage frame (201) through bearings. A winding roller (202) is fixedly connected to the outer side wall of the connecting shaft rod (212). A welding wire body (203) is wound around the outer side wall of the winding roller (202). A connecting rod (207) is fixedly connected to the bottom of the storage frame (201), and a limiting through tube (206) is fixedly connected to the end of the connecting rod (207). The welding wire body (203) passes through the limiting through tube (206) and is communicated to the welding torch body (10).

5. An automated copper material welding device based on a robot according to claim 4, characterized in that, A mounting rod (211) is fixedly connected to one side of the storage frame (201) close to the winding roller (202), and adaptive spring rods (215) are fixedly connected to one side of the mounting rod (211) at equal intervals. The ends of the plurality of adaptive spring rods (215) are fixedly connected to the same shaft frame (213). A guiding gear (214) is connected to the inner walls on both sides of the shaft frame (213) through bearings. The welding wire body (203) passes through the guiding gear (214).

6. The automated copper material welding device based on a robot according to claim 5, characterized in that, The inner walls on both sides of the storage box (201) located below the winding roller (202) are fixedly connected to the same inner connecting rod (210). A traction sleeve (218) is fixedly connected in the inner connecting rod (210). A diversion round rod (217) is fixedly connected to the top of the traction sleeve (218). Two hydraulic cylinders one (216) are fixedly connected to the bottom of the inner connecting rod (210). The output ends of the two hydraulic cylinders one (216) are both fixedly connected to a lifting roller frame (220). A straightening roller (219) is connected to each of the two lifting roller frames (220) through bearings. The welding wire body (203) passes through between the traction sleeve (218) and the multiple straightening rollers (219).

7. An automated copper material welding device based on a robot according to claim 6, characterized in that, Two driving motors one (208) are fixedly connected to the same side of the storage box (201) near the bottom end. The output shafts of the two driving motors one (208) are both fixedly connected to a driving shaft (209) through couplings. Rotating wire feeding rollers (205) are fixedly connected to the outer side walls of the two driving shafts (209). Annular grooves are formed on the two rotating wire feeding rollers (205). Driving teeth (204) are fixedly connected to the annular grooves at equal intervals. The driving teeth (204) are in contact with the welding wire body (203). The welding wire body (203) passes through the two rotating wire feeding rollers (205).

8. An automated copper material welding device based on a robot according to claim 1, characterized in that, A mounting seat (8) is fixedly connected to the bottom of the workbench (6). Two adjusting sliding grooves (7) are formed on the top of the workbench (6). The same sliding frame (13) is slidably connected to the two adjusting sliding grooves (7). A pushing cylinder (9) is fixedly connected to one side of the workbench (6). The output end of the pushing cylinder (9) is fixedly connected to one side of the sliding frame (13). A matching adjustment mechanism (5) is arranged on the top of the sliding frame (13).

9. The automated copper material welding device based on a robot according to claim 8, wherein The matching adjustment mechanism (5) includes two connecting frames (508). The two connecting frames (508) are both fixedly connected to the top of the sliding frame (13). A forward and reverse motor (505) is fixedly connected to one side of one of the connecting frames (508). The output shaft of the forward and reverse motor (505) is fixedly connected to a rotating shaft (509) through a coupling. One end of the rotating shaft (509) is connected to one side of the other connecting frame (508) through a bearing. A deflection plate (506) is fixedly connected to the outer side wall of the rotating shaft (509). The deflection plate (506) is in an equilateral trapezoid structure. A connecting sleeve is fixedly connected to the middle position of the deflection plate (506). A deflection shaft (507) is inserted into the connecting sleeve. The two ends of the deflection shaft (507) are fixedly connected to the same clamping platform (501).

10. An automated copper material welding device based on a robot according to claim 9, characterized in that, At the top near both ends of the deflection plate (506), connecting springs (512) are fixedly connected, and the tops of the two connecting springs (512) are fixedly connected to the bottom of the clamping platform (501). The top of the deflection plate (506) near the forward and reverse motor (505) is hinged to an adjusting cylinder (504), and the output end of the adjusting cylinder (504) is hinged to the bottom of the clamping platform (501). Side frames (502) are fixedly connected to both sides of the clamping platform (501). Hydraulic cylinders II (513) are fixedly connected to the tops of the two side frames (502). Positioning pressure plates (503) are fixedly connected to the output ends of the two hydraulic cylinders II (513). A reinforcing rail (510) is fixedly connected to the top of the other connecting frame (508). A reinforcing sliding rod (511) is slidably connected inside the reinforcing rail (510), and one end of the reinforcing sliding rod (511) is fixedly connected to one side of the deflection plate (506).

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