Welding mechanical arm and industrial robot for automatic clamping of electric vehicle and application of welding mechanical arm and industrial robot in welding process

Abstract

The invention relates to the technical field of automobile manufacturing, in particular to a welding mechanical arm for automatic clamping of an electric automobile, an industrial robot and application of the industrial robot in the welding process, the welding mechanical arm for automatic clamping of the electric automobile comprises a base and a mechanical arm set arranged on the base, and further comprises an assembling plate connected with the mechanical arm set, two opposite electrodes are movably arranged on the assembly plate, the two electrodes can be driven by a power mechanism arranged on the assembly plate to get close to each other, and when the pressure of the two electrodes on a weldment reaches a preset value, the two electrodes are connected with the positive electrode and the negative electrode of a secondary winding of the resistance welding transformer respectively; by arranging a plurality of wrapping pieces with steel wire brush layers on the inner walls in a hysteresis cavity, after welding is finished, the multiple wrapping pieces can surround an electrode and execute folding action to wrap the electrode, and then the electrode is cleaned through rotation, so that the contact between the steel wire brush layers and the surface of the electrode is more uniform through the cleaning mode, and the welding quality of the electrode is improved. Local high pressure and friction force are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile manufacturing, and specifically to a welding robot with automatic clamping for electric vehicles, an industrial robot, and their applications in the welding process. Background Art

[0002] As an environmentally friendly and efficient means of transportation, in the production of electric vehicles, welding processes are required in many places such as the body frame, battery pack, and motor components. Resistance spot welding is commonly used for components such as car doors, the lower housing of the battery pack, and battery module connection sheets. It can efficiently connect thin plates and ensure the strength and stability of the vehicle body. Specifically, the workpieces to be welded are clamped and conveyed by an automatic transmission line. After reaching the welding position, a robot arm is programmed to perform the welding work.

[0003] After resistance spot welding, some impurities remain on the electrodes. These impurities mainly come from the spatter generated by the melting of the workpiece metal, the oxides and oil stains on the surface of the workpiece, and the oxide layer formed by the reaction of the electrodes themselves with oxygen in the air at high temperatures. If these impurities are not cleaned in time, it will increase the contact resistance between the electrodes and the workpieces, resulting in uneven current distribution, local overheating and spatter, affecting the quality of the weld spots. It may also reduce the electrical conductivity and thermal conductivity of the electrodes, making the welding process unstable, the strength of the weld spots unstable, and even causing the electrodes to adhere to the workpieces, affecting the smooth progress of the welding process.

[0004] There are various ways to clean the impurities on the electrodes. Among them, the cleaning method using a wire brush has the advantages of simple operation, low cost, and high efficiency, and can effectively remove impurities such as welding slag and oxides. However, on some existing welding robot arms, wire wheels are usually set. During cleaning, the wire wheels are used to contact the electrodes. However, this easily causes excessive or insufficient local force on the electrodes, thereby increasing the local high pressure and friction, easily deteriorating the wear degree of the electrode surface, damaging the smoothness and integrity of the electrode surface, and at the same time, there may also be a phenomenon of inconsistent cleanliness at each position on the electrode surface, affecting the stability of the welding process. Summary of the Invention

[0005] The purpose of the present invention is to provide a welding robot with automatic clamping for electric vehicles, an industrial robot, and their applications in the welding process to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions: A welding robot with automatic clamping for electric vehicles includes a base and a robot arm group provided on the base, and further includes: An assembly plate is connected to the robotic arm group. Two opposite electrodes are movably arranged on the assembly plate, and the two electrodes can be driven by a power mechanism arranged on the assembly plate to approach each other. When the pressure of the two electrodes on the welded part reaches a preset value, the two electrodes are respectively connected to the positive and negative poles of the secondary winding of the resistance welding transformer. A hysteresis cavity is arranged on the side of the assembly plate facing the electrode, and a covering mechanism is arranged therein. The covering mechanism can move close to the assembly plate and perform a wrapping action on the electrode and rotate relative to the electrode.

[0007] As a further scheme of the present invention: The robotic arm group includes a rotating support rotatably installed on the base, a rear arm hinged to the rotating support, a front arm hinged to the rear arm, a small arm hinged to the front arm, and a rotating shaft rotatably installed on the small arm. The assembly plate is arranged at the end of the rotating shaft away from the small arm.

[0008] As a further scheme of the present invention: Two guide grooves are symmetrically arranged on the assembly plate. The power mechanism includes two movable seats respectively slidingly fitted in the two guide grooves and a first double-headed cylinder arranged on the assembly plate. The two ends of the first double-headed cylinder are respectively fixed to the two movable seats. Each of the two electrodes is connected to the two movable seats through two sets of elastic telescopic structures.

[0009] As a further scheme of the present invention: The elastic telescopic structure includes a guide cylinder arranged on the movable seat and a telescopic rod slidably sleeved with the guide cylinder. A cylindrical spring is further arranged in the guide cylinder. One end of the cylindrical spring is connected to the head end of the telescopic rod, and the other end is connected to the inner wall of the guide cylinder. The electrode is arranged at the tail end of the telescopic rod, and an energizing component is arranged between the electrode and the movable seat.

[0010] As a further scheme of the present invention: The energizing component includes a first contact arranged on the movable seat and a second contact fixed to and electrically connected to the electrode. The first contact is adapted to the second contact, and after the two are docked, the electrode can be connected to the positive or negative pole of the secondary winding of the resistance welding transformer.

[0011] As a further scheme of the present invention: The covering mechanism includes a single-headed cylinder arranged on the rotating shaft and a box body fixed to the movable end of the single-headed cylinder through a connecting plate. The box body is located in the hysteresis cavity and further includes: The covering members are provided in plurality on both sides of the box body. A wire brush layer is provided on the inner wall of the covering member. A plurality of the covering members on the same side are equidistantly distributed along the circumference and can be driven by a first driving assembly provided on the box body to perform opening and closing actions. A second driving assembly for driving the covering members to rotate circumferentially is further provided in the box body. When a plurality of the covering members are in a closed state, a cylindrical structure adapted to the electrode can be formed.

[0012] As a further solution of the present invention: The second driving assembly includes a double-headed motor installed in the box body, and a plurality of guide arms provided at the end of the output shaft of the double-headed motor and equidistantly distributed along the circumference. A slider is slidably provided on the guide arm. The slider is fixed to the covering member and is also connected to the first driving assembly.

[0013] As a further solution of the present invention: The first driving assembly includes a second double-headed cylinder provided on the box body. A driving arm is fixed to the movable end of the second double-headed cylinder. The driving arm is rotatably connected to a sleeve slidably sleeved on the output shaft of the double-headed motor. A connecting rod is provided between the sleeve and the slider. Two ends of the connecting rod are respectively hinged to the sleeve and the slider.

[0014] An industrial robot includes the welding robot arm for automatic clamping of the electric vehicle described above.

[0015] An application of the industrial robot in a welding process.

[0016] Compared with the prior art, the beneficial effects of the present invention are: In this application, by providing a plurality of covering members with wire brush layers on the inner walls in the accommodation cavity, after the welding is completed, a plurality of covering members can surround the electrode and perform a closing action to wrap the electrode. Then, through rotation, cleaning of the electrode is realized. And since a cylindrical structure adapted to the electrode can be formed after a plurality of covering members are closed, the electrode can be wiped in all directions, there is no cleaning blind area, and impurities can be removed more thoroughly; This cleaning method is relatively gentle, making the contact between the wire brush layer and the electrode surface more uniform, reducing local high pressure and friction force. Compared with traditional wire brushes, it can significantly reduce the wear degree of the electrode surface, prevent damage to the smoothness and integrity of the electrode surface, extend the service life of the electrode, and at the same time help to maintain the consistency of the cleanliness of the electrode surface and the stability of the welding process and the consistency of the welding quality; In addition, in the present application, by providing two movable seats, a first double-headed cylinder is used to drive the two movable seats to drive the two electrodes to contact the workpiece to be welded, and then the elastic telescopic structure can enter the process of storing elastic potential energy, so that the pressure of the electrodes on the workpiece to be welded gradually increases to a preset value. Immediately afterwards, the two electrodes are respectively connected to the positive and negative poles of the secondary winding of the resistance welding transformer, meeting the conditions for resistance spot welding; Therefore, through the cooperation of the mechanical structure, it is ensured that the power is only applied after the pressure applied by the electrodes completely reaches the preset value, thereby achieving more precise synchronization of pressure and power on, avoiding uneven current distribution and welding defects caused by insufficient or unstable pressure, effectively improving the accuracy of the cooperation between pressure and power on, enabling seamless connection between the pressure application and power on processes of the electrodes, reducing human and equipment errors, ensuring that each weld spot can be formed under the best conditions, and thus improving the stability and reliability of the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of an embodiment of a welding robotic arm for automatic clamping of electric vehicles.

[0018] Figure 2 It is a schematic structural diagram of another angle of an embodiment of a welding robotic arm for automatic clamping of electric vehicles.

[0019] Figure 3 It is a schematic structural diagram of yet another angle of an embodiment of a welding robotic arm for automatic clamping of electric vehicles.

[0020] Figure 4 It is a schematic diagram of the connection state between the rotating shaft and the assembly plate in an embodiment of a welding robotic arm for automatic clamping of electric vehicles.

[0021] Figure 5 For Figure 4 A schematic structural diagram of another angle.

[0022] Figure 6 For Figure 4 A schematic structural diagram of yet another angle.

[0023] Figure 7 For Figure 4 A schematic structural diagram of still another angle.

[0024] Figure 8 It is an exploded view of the structure of the power mechanism in an embodiment of a welding robotic arm for automatic clamping of electric vehicles.

[0025] Figure 9 For Figure 8 A schematic structural diagram of another angle.

[0026] Figure 10 It is a schematic structural diagram of the coating mechanism in an embodiment of a welding robotic arm for automatic clamping of electric vehicles.

[0027] Figure 11 Exploded view of the structure of the covering mechanism in an embodiment of a welding robot arm for automatic clamping of an electric vehicle.

[0028] In the figure: 1, base; 2, rotary support; 3, rear arm; 4, front arm; 5, forearm; 6, rotating shaft; 7, mounting plate; 701, guide groove; 8, first double-headed cylinder; 9, movable seat; 10, accommodation cavity; 11, guide cylinder; 12, telescopic rod; 13, cylindrical spring; 14, first contact; 15, second contact; 16, electrode; 17, single-headed cylinder; 18, connecting plate; 19, box body; 20, double-headed motor; 21, guide arm; 22, slider; 23, covering part; 24, sleeve; 25, connecting rod; 26, driving arm; 27, second double-headed cylinder. Detailed implementation manners

[0029] 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] In addition, an element in the present invention is referred to as being "fixed to" or "disposed on" another element, and it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manners.

[0031] Please refer to Figures 1 - 11 , in an embodiment of the present invention, a welding robot arm for automatic clamping of an electric vehicle includes a base 1 and a robot arm group disposed on the base 1, and further includes: A mounting plate 7, connected to the robot arm group, and two opposite electrodes 16 are movably disposed on the mounting plate 7. The two electrodes 16 can be driven by a power mechanism disposed on the mounting plate 7 to approach each other. When the pressure of the two electrodes 16 on the weldment reaches a preset value, the two electrodes 16 are respectively connected to the positive and negative poles of the secondary winding of the resistance welding transformer; An accommodation cavity 10 is disposed on one side of the mounting plate 7 facing the electrode 16, and a covering mechanism is disposed therein. The covering mechanism can move close to the mounting plate 7 and perform a wrapping action on the electrode 16 and rotate relative to the electrode 16.

[0032] The robotic arm group includes a rotary support 2 rotatably mounted on the base 1, a rear arm 3 hinged to the rotary support 2, a front arm 4 hinged to the rear arm 3, a forearm 5 hinged to the front arm 4, and a rotating shaft 6 rotatably mounted on the forearm 5. The assembly plate 7 is arranged at one end of the rotating shaft 6 away from the forearm 5.

[0033] Specifically, the base 1, the rotary support 2, the rear arm 3, the front arm 4, the forearm 5, and the rotating shaft 6 form a robotic arm assembly. When performing welding work, the rotary support 2 can rotate on the base 1, the rear arm 3 can swing relative to the rotary support 2, the front arm 4 can swing relative to the rear arm 3, the forearm 5 can swing relative to the front arm 4, and the rotating shaft 6 can rotate relative to the forearm 5. These movements make the robotic arm assembly highly flexible, so that the position of the electrode 16 can be adjusted and the welding action can be accurately performed. Specifically, for the movement of the mechanical assembly, in specific implementation, according to production requirements, automatic control is achieved through programming. For this, existing technologies can be adopted and will not be elaborated in this application.

[0034] It should be added that this application adopts the method of resistance spot welding. The preset value is the pressure that the electrode 16 needs to apply to the workpiece to be welded according to the welding process requirements during welding. Furthermore, after the movement of the robotic arm assembly, when the two electrodes 16 reach the appropriate welding positions (that is, the two electrodes 16 are respectively located on both sides of the workpiece to be welded and perpendicular to the workpiece to be welded), immediately, the power mechanism starts to work, driving the two electrodes 16 to move closer to each other. Thus, the two electrodes 16 finally contact the workpiece to be welded. As the power mechanism continues to work, the pressure of the two electrodes 16 on the workpiece to be welded gradually increases. When this pressure reaches the preset value, the two electrodes 16 are respectively connected to the positive and negative poles of the secondary winding of the resistance welding transformer. During the resistance spot welding operation, the workpiece to be welded is precisely clamped between two electrodes 16. These two electrodes 16 will apply pressure to the workpiece to be welded until it reaches a preset value to ensure the stability and reliability of the welding. At this time, the two electrodes 16 are respectively connected to the positive and negative poles of the secondary winding of the resistance welding transformer, thus establishing a complete welding circuit. This welding circuit mainly consists of the secondary winding of the resistance welding transformer, the hard and soft connecting parts of the secondary, and key components such as electrode arms (including conductive shafts and bushings), electrode holders, and electrodes (electrode plates). When current is conducted through the electrodes 16 to the contact surface and its surrounding area of the workpiece, heat will be generated due to the resistance effect, heating the metal to a molten or plastic state. At the same time, the electrodes 16 continuously apply pressure, prompting the workpiece to form a firm solder joint under the action of the pressure, and finally completing the precise welding process of the workpiece to be welded. This process not only ensures the welding quality but also improves the production efficiency. It is the core of the resistance spot welding process and is widely used in fields such as electric vehicle manufacturing.

[0035] After welding is completed, the covering mechanism operates, moves away from the assembly plate 7 until it corresponds to the electrodes 16, then covers the electrodes 16, and then rotates relative to the electrodes 16 to clean the residual impurities on the electrodes 16, avoiding the adverse effects of the residual impurities on the next welding.

[0036] Please refer to again Figures 4 - 9 , two guide grooves 701 are symmetrically provided on the assembly plate 7. The power mechanism includes two movable seats 9 respectively sliding and fitting in the two guide grooves 701 and a first double-headed cylinder 8 provided on the assembly plate 7. The two ends of the first double-headed cylinder 8 are respectively fixed to the two movable seats 9. Each of the two electrodes 16 is connected to the two movable seats 9 through two sets of elastic telescopic structures.

[0037] Among them, during welding, the first double-headed cylinder 8 can drive the two movable seats 9 to approach each other. Then, the two movable seats 9 drive the two electrodes 16 to approach each other through the elastic telescopic structure. After the electrodes 16 contact the workpiece to be welded, as the movable end of the first double-headed cylinder 8 continues to retract, the electrodes 16 remain stationary, and the elastic telescopic structure will move relative to the electrodes 16, entering the process of storing elastic potential energy, so that the pressure of the electrodes 16 on the workpiece to be welded gradually increases. When the pressure reaches the preset value, the two electrodes 16 are respectively connected to the positive and negative poles of the secondary winding of the resistance welding transformer; In this application, by setting two movable seats 9, the first double-headed cylinder 8 drives the two movable seats 9 to drive the two electrodes 16 to contact the workpiece to be welded, and then the elastic telescopic structure can enter the process of storing elastic potential energy, so that the pressure of the electrode 16 on the workpiece to be welded gradually increases to a preset value. Immediately afterwards, the two electrodes 16 are respectively connected to the positive and negative poles of the secondary winding of the resistance welding transformer, meeting the conditions for resistance spot welding; Therefore, through the cooperation of the mechanical structure, it is ensured that the power is supplied only after the pressure applied by the electrode 16 completely reaches the preset value, thus realizing more accurate synchronization of pressure and power supply, avoiding uneven current distribution and welding defects caused by insufficient or unstable pressure, effectively improving the accuracy of the cooperation between pressure and power supply, and enabling the pressure application and power supply processes of the electrode 16 to be seamlessly connected. By contrast: In traditional resistance welding, the power-on timing usually depends on programming control. Sensors or pressure monitoring devices are used to judge whether the pressure reaches the preset value, and then the power is triggered. This method has certain delays and accuracy problems. It may cause the welding current to pass through the workpiece when the pressure is insufficient or unstable, thus affecting the welding quality. Moreover, in mass production, this instability will accumulate, further affecting the consistency of welding quality; Equipping complex programming systems and pressure monitoring devices to automate the welding process not only increases the initial investment cost of the equipment, but also raises the maintenance difficulty and cost of the equipment; In addition, traditional resistance welding has high requirements for the technical level of operators and the programming accuracy of the equipment. Human or equipment errors may cause fluctuations in welding quality. However, this application achieves precise synchronization through the mechanical structure, reducing human and equipment errors, ensuring that each solder joint can be formed under the best conditions, thereby improving the stability and reliability of welding quality.

[0038] The elastic telescopic structure includes a guide cylinder 11 arranged on the movable seat 9 and a telescopic rod 12 slidably sleeved with the guide cylinder 11. A cylindrical spring 13 is also arranged in the guide cylinder 11. One end of the cylindrical spring 13 is connected to the head end of the telescopic rod 12, and the other end is connected to the inner wall of the guide cylinder 11. The electrode 16 is arranged at the tail end of the telescopic rod 12, and an energizing component is arranged between the electrode 16 and the movable seat 9. The energizing component includes a first contact 14 arranged on the movable seat 9 and a second contact 15 fixedly and electrically connected to the electrode 16. The first contact 14 is adapted to the second contact 15, and after the two are butted, the electrode 16 can be connected to the positive or negative pole of the secondary winding of the resistance welding transformer.

[0039] During welding, the first double-headed cylinder 8 drives the movable seat 9 to slide along the guide groove 701. The sliding process of the movable seat 9 can be divided into three stages. Specifically: In the first stage, the electrode 16 moves from a separated state to a contacting state with the workpiece to be welded. During this process, the movable seat 9 drives the guide cylinder 11, the telescopic rod 12, and the electrode 16 to move together. In the second stage, since the electrode 16 has contacted the workpiece to be welded, the movable seat 9 continues to slide, the telescopic rod 12 and the electrode 16 remain stationary, so that the guide cylinder 11 and the telescopic rod 12 slide relative to each other, and the compression amount of the cylindrical spring 13 gradually increases. The elastic potential energy stored in it enables the electrode 16 to apply pressure to the workpiece to be welded. During this process, the first contact 14 approaches the second contact 15, but the two do not contact. However, when they are about to contact, the compression amount of the cylindrical spring 13 makes the pressure applied by the electrode 16 to the workpiece to be welded enter the pressure range required by the welding process (not reaching the maximum value of the pressure range). In the third stage, the first contact 14 contacts the second contact 15. Specifically, the first contact 14 and the second contact 15 are in a plug-in manner. Therefore, during the process of the first contact 14 being inserted into the second contact 15, there is a period of time when the first contact 14 and the second contact 15 have completed electrical connection, and the first contact 14 continues to move into the second contact 15 (similar to inserting a plug). That is, after power-on, the compression amount of the cylindrical spring 13 will further increase, that is, the pressure value applied by the electrode 16 to the workpiece to be welded will continue to increase by a certain amount until the first contact 14 is completely inserted into the second contact 15, and the first double-headed cylinder 8 stops moving (note that at this time, the pressure applied by the electrode 16 to the workpiece to be welded does not exceed the maximum value of the pressure range and is still within the pressure range required by the process). Therefore, in the third stage, after power-on, on the basis that the pressure applied by the electrode 16 to the workpiece to be welded enters the pressure range required by the welding process, it will continue to increase appropriately. Appropriately increasing the pressure helps the workpiece to better fuse in the molten state, discharge the gas and impurities in it, and form a dense and defect-free solder joint, thereby improving the shear strength and tensile strength of the solder joint.

[0040] It should be emphasized that during welding, the pressure applied by the electrode 16 to the workpiece to be welded is provided by the cylindrical spring 13. As an example, in the production of electric vehicles, for the door (usually composed of two layers of thin plates inside and outside), the lower housing of the battery pack (made of aluminum alloy, with a thickness generally between 1 mm and 2 mm), the connection piece of the battery module (the connection piece between battery modules is usually made of thin copper or aluminum, with a thickness between 0.3 mm and 0.8 mm), etc., the welding pressure is usually between 50 N and 100 N. Therefore, the cylindrical spring 13 needs to be made of materials with high elastic limit, high strength and high fatigue limit, and the dimensional accuracy needs to be strictly controlled, and the deviation should be as small as possible to ensure the accuracy of the load. The specific settings need to be determined through experiments.

[0041] Please refer to again Figure 5 、 Figure 9 、Figure 10 and Figure 11 The coating mechanism includes a single-head cylinder 17 arranged on the rotating shaft 6 and a box body 19 fixed to the movable end of the single-head cylinder 17 through a connecting plate 18. The box body 19 is located in the storage cavity 10, and further includes: Coating members 23, a plurality of which are provided on both sides of the box body 19. A wire brush layer is provided on the inner wall of the coating members 23. A plurality of the coating members 23 on the same side are equidistantly distributed along the circumference and can be driven by a first driving component arranged on the box body 19 to perform opening and closing actions. A second driving component for driving the coating members 23 to rotate circumferentially is further provided in the box body 19. When a plurality of the coating members 23 are in a closed state, a cylindrical structure adapted to the electrode 16 can be formed. The second driving component includes a double-head motor 20 installed in the box body 19, and a plurality of guide arms 21 arranged at the end of the output shaft of the double-head motor 20 and equidistantly distributed along the circumference. A slider 22 is slidably arranged on the guide arm 21. The slider 22 is fixed to the coating member 23 and is also connected to the first driving component. The first driving component includes a second double-head cylinder 27 arranged on the box body 19. A driving arm 26 is fixed to the movable end of the second double-head cylinder 27. The driving arm 26 is rotatably connected to a sleeve 24 slidably sleeved on the output shaft of the double-head motor 20. A connecting rod 25 is arranged between the sleeve 24 and the slider 22. Two ends of the connecting rod 25 are respectively hinged to the sleeve 24 and the slider 22.

[0042] After welding is completed, the single-head cylinder 17 works, and drives the box body 19 to move towards the outside of the storage cavity 10 through the connecting plate 18 (it should be noted that at this time, a plurality of the coating members 23 on the same side have the largest expansion degree and can smoothly pass through the electrode 16) until the output shaft of the second double-head cylinder 27 coincides with the central axis of the end of the electrode 16. Furthermore, a plurality of the coating members 23 are equidistantly distributed on the outer periphery of the electrode 16; Subsequently, the second double-head cylinder 27 works, driving the sleeve 24 to slide on the output shaft of the double-head motor 20 close to the box body 19. Furthermore, the sleeve 24 pulls the slider 22 to slide on the guide arm 21 close to the output shaft of the double-head motor 20 through the connecting rod 25. Correspondingly, a plurality of the coating members 23 approach the electrode 16 and perform a closing action until the wire brush layer on the inner wall contacts the electrode 16. Finally, the double-head motor 20 works, driving a plurality of the coating members 23 to perform a circular motion around the electrode 16, and using the wire brush layer to remove residual impurities on the electrode 16; It should be added that for the end face of the electrode 16, the first double-headed cylinder 8 can be operated so that the end face of the electrode 16 can contact the wire brush layer on the inner wall of the covering member 23, and with the elastic supporting force of the cylindrical spring 13, it can ensure that there is a certain contact pressure between the end face of the electrode 16 and the wire brush layer; Of course, in practice, an attracting head can be provided on the box body 19. The covering member 23 rotates to clean the electrode 16, and after it opens, the suction force of the attracting head is used to absorb and transfer the impurities brushed off (the wire brush layer can loosen the impurities on the electrode 16, and the attracting head can further clean).

[0043] In this application, by arranging a plurality of covering members 23 with wire brush layers on the inner walls in the accommodation cavity 10, after the welding is completed, the plurality of covering members 23 can surround the electrode 16 and perform a closing action to wrap the electrode 16. Then, by rotating, the electrode 16 can be cleaned. And since a cylindrical structure adapted to the electrode 16 can be formed after the plurality of covering members 23 are closed, the electrode 16 can be wiped in all directions, there is no cleaning blind area, and impurities can be removed more thoroughly; This cleaning method makes the contact between the wire brush layer and the surface of the electrode 16 more uniform, reduces local high pressure and friction. Compared with traditional wire brushes, it can significantly reduce the wear degree of the surface of the electrode 16, prevent damage to the smoothness and integrity of the surface of the electrode 16, extend the service life of the electrode 16, and at the same time contribute to maintaining the consistency of the cleanliness of the surface of the electrode 16 and the stability of the welding process and the consistency of the welding quality.

[0044] As another embodiment of the present invention, an industrial robot is also proposed. The industrial robot includes the welding robotic arm for automatic clamping of electric vehicles described above.

[0045] As yet another embodiment of the present invention, an application of the industrial robot in the welding process is also proposed.

[0046] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0047] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment contains only one independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An electric vehicle automated clamping welding robotic arm, comprising a base and a robotic arm group provided on the base; It is characterized in that It further includes: An assembly plate, connected to the robotic arm group. Two opposite electrodes are movably provided on the assembly plate. The two electrodes can be driven by a power mechanism provided on the assembly plate to approach each other. When the pressure of the two electrodes on the welded part reaches a preset value, the two electrodes are respectively connected to the positive and negative poles of the secondary winding of the resistance welding transformer; A hysteresis cavity is provided on the side of the assembly plate facing the electrodes. A covering mechanism is provided therein. The covering mechanism can move close to the assembly plate and perform a wrapping action on the electrodes and rotate relative to the electrodes.

2. The welding robot with automatic clamping for electric vehicles according to claim 1, wherein, The robotic arm group includes a rotating support rotatably mounted on the base, a rear arm hinged to the rotating support, a front arm hinged to the rear arm, a small arm hinged to the front arm, and a rotating shaft rotatably mounted on the small arm. The assembly plate is arranged at one end of the rotating shaft away from the small arm.

3. The welding robot for automatic clamping of an electric vehicle according to claim 1, characterized in that, Two guide grooves are symmetrically provided on the assembly plate. The power mechanism includes two movable seats respectively sliding and fitting in the two guide grooves and a first double-headed cylinder provided on the assembly plate. The two ends of the first double-headed cylinder are respectively fixed to the two movable seats. Each of the two electrodes is connected to the two movable seats through two groups of elastic telescopic structures.

4. The welding robot for automated clamping of an electric vehicle according to claim 3, characterized in that, The elastic telescopic structure includes a guide cylinder provided on the movable seat and a telescopic rod slidably sleeved with the guide cylinder. A cylindrical spring is further provided in the guide cylinder. One end of the cylindrical spring is connected to the head end of the telescopic rod, and the other end is connected to the inner wall of the guide cylinder. The electrode is arranged at the tail end of the telescopic rod, and an energizing component is provided between the electrode and the movable seat.

5. The welding robot with automatic clamping for electric vehicles according to claim 4, wherein The energizing component includes a first contact provided on the movable seat and a second contact fixed to and electrically connected to the electrode. The first contact is adapted to the second contact, and after the two are butted, the electrode can be connected to the positive or negative pole of the secondary winding of the resistance welding transformer.

6. The welding robot with automatic clamping for electric vehicles according to claim 2, characterized in that, The covering mechanism includes a single-headed cylinder provided on the rotating shaft and a box body fixed to the movable end of the single-headed cylinder through a connecting plate. The box body is located in the hysteresis cavity. It further includes: Covering parts, a plurality of which are provided on both sides of the box body. A wire brush layer is provided on the inner wall of the covering parts. A plurality of the covering parts on the same side are equidistantly distributed along the circumference and can be driven by a first driving component provided on the box body to perform an opening and closing action. A second driving component for driving the covering parts to rotate circumferentially is further provided in the box body. When the plurality of covering parts are in a closed state, they can form a cylindrical structure adapted to the electrode.

7. The welding robot for automatic clamping of an electric vehicle according to claim 6, wherein The second driving component includes a double-headed motor installed in the box body, a plurality of guide arms provided at the end of the output shaft of the double-headed motor and equidistantly distributed along the circumference. A slider is slidably provided on the guide arm. The slider is fixed to the covering part and is also connected to the first driving component.

8. The welding robot for automatic clamping of an electric vehicle according to claim 7, characterized in that, The first driving component includes a second double-headed cylinder disposed on the box body. A driving arm is fixed to the movable end of the second double-headed cylinder. The driving arm is rotatably connected to a sleeve that is slidably sleeved on the output shaft of the double-headed motor. A connecting rod is provided between the sleeve and the slider. Two ends of the connecting rod are respectively hinged to the sleeve and the slider.

9. An industrial robot, characterized in that, It includes a welding robot arm for automatic clamping of an electric vehicle as described in any one of claims 1-8.

10. An application of an industrial robot as described in claim 9 in a welding process.

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