Intelligent welding robot

Abstract

The invention discloses an intelligent welding robot, and relates to the field of welding equipment, the intelligent welding robot comprises a fixed table, a mounting seat is movably arranged at the top of the fixed table, a driving mechanism for driving the mounting seat to move is mounted in the fixed table, and a movable table is slidably arranged in the mounting seat; a clamping spring is connected between the mounting seat and the movable table, limiting seats are arranged at the top of the mounting seat and the top of the movable table, a supporting mechanism is mounted on one side of each limiting seat, a first deviation rectifying mechanism is arranged at the top of the fixed table, and a set of positioning plates are arranged on one side of each first deviation rectifying mechanism. The position of the discharging end of a welding rod on the material roller is adjusted through the driving mechanism, so that the discharging end of the welding rod is located in the center of the positioning plate all the time, the welding rod changes at any time along with use of the welding rod, the shape of the welding rod is corrected through correction of the first correction mechanism and the correction wheel, and the subsequent welding effect is better.

Description

Technical Field

[0001] The present invention relates to the field of welding equipment, and particularly to an intelligent welding robot. Background Art

[0002] A welding robot is an industrial robot engaged in welding. According to the definition of an industrial robot belonging to a standard welding robot by the International Organization for Standardization, an industrial robot is a multi-purpose, reprogrammable automatic control manipulator with three or more programmable axes, used in the field of industrial automation. To adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be equipped with different tools or so-called end effectors. A welding robot is one that installs a welding torch or a welding (cutting) gun on the flange of the last axis of the industrial robot to enable it to perform welding, cutting, or thermal spraying.

[0003] According to the welding process and workpiece requirements, a suitable welding rod is selected and inserted into the welding torch. The robot accurately moves the welding torch to the welding position according to the preset welding program, applies appropriate current and voltage, and melts and joins the welding materials together.

[0004] In the actual welding process, since the surface of the welding rod may be contaminated with impurities such as oil, rust, and moisture during storage and transportation, these impurities will affect the welding quality, such as causing defects such as pores and slag inclusions. Therefore, it is necessary to remove the impurities. The general method of removal is to use a grinding wheel or other tools to clean the surface of the welding rod.

[0005] Before welding work is carried out, the round welding rod wound on the material roller will remain in a bent state. The bent welding rod will first affect the surface treatment effect and also affect the subsequent welding quality. Moreover, during the unwinding process of the welding rod, the welding rod on the material roller will gradually unwind from one end to the other, resulting in a more serious situation where the welding rod is pulled and bent and deformed. Summary of the Invention

[0006] Based on this, the purpose of the present invention is to provide an intelligent welding robot to solve the technical problem that in the welding rod conveying process of a general welding robot, the bent welding rod will affect the subsequent welding quality.

[0007] To achieve the above object, the present invention provides the following technical solution: An intelligent welding robot, including a fixed table, on the top of the fixed table is movably provided with a mounting seat, inside the fixed table is installed a driving mechanism for driving the movement of the mounting seat, inside the mounting seat is slidably provided with a movable table, between the mounting seat and the movable table is connected a clamping spring, on the tops of the mounting seat and the movable table are both provided with limiting seats, on one side of the limiting seat is installed a supporting mechanism, on the top of the fixed table is provided a first deviation correction mechanism, on one side of the first deviation correction mechanism is provided a set of positioning plates, inside the positioning plate is installed a pressure sensor, the movable end of the pressure sensor is connected with a supporting seat, and correction wheels are provided on the inner walls of both the supporting seat and the positioning plate.

[0008] The present invention is further provided that the supporting mechanism includes a mounting column, a spring telescopic cylinder and a plug board, the mounting column is arranged on the side wall of the limiting seat, on the outer wall of the mounting column are provided a plurality of spring telescopic cylinders, and the movable end of the spring telescopic cylinder is connected with a plug board.

[0009] The present invention is further provided that the driving mechanism includes a first motor and a lead screw, the first motor is installed on one side of the fixed table, the output end of the first motor is connected with a lead screw, and at the bottom of the movable table is installed a connecting block threadedly connected with the lead screw.

[0010] The present invention is further provided that the outer wall of the plug board is of a conical structure.

[0011] The present invention is further provided that the first deviation correction mechanism includes a fixed seat, a movable seat, a guiding column and a fastening spring, a set of the fixed seats are fixedly arranged on the top of the fixed table, on the top of the fixed seat is movably provided a movable seat, between the movable seat and the fixed seat is provided a fastening spring, at the bottom of the movable seat is provided a guiding column, on the top of the fixed seat is opened a guiding groove matching with the guiding column, and the fastening spring is arranged on the outer wall of the guiding column, and correction wheels are provided on the side walls of both the fixed seat and the movable seat.

[0012] The present invention is further provided that the initial position of the correction wheel on the inner wall of the supporting seat is higher than that of the correction wheel on the side wall of the fixed seat.

[0013] The present invention is further provided that inside the positioning plate is installed a surface treatment mechanism, the surface treatment mechanism includes a sealing shell, a second motor, a gear, a connecting disk, a connecting wheel and a cutting hole, a set of the sealing shells are arranged on the side wall of the positioning plate, on the outer wall of the sealing shell is installed a second motor, the output end of the second motor is connected with a gear, on the outer wall of the connecting disk is provided a connecting tooth meshing with the gear, at one end of the connecting disk is provided a connecting wheel, and cutting holes are opened at the eccentric positions of one ends of both the connecting disk and the connecting wheel.

[0014] The present invention is further configured such that a support frame is provided inside a set of positioning plates at the top of the fixed table, and the sealing shell, the support frame and the positioning plates form a sealed structure. An air inlet pipe is provided at the top of the support frame, and limiting rings are provided on both sides of the support frame.

[0015] The present invention is further configured such that a filter shell is provided at the bottom of the fixed table, a filter plate is provided inside the filter shell, and the filter shell is connected to the sealing shell through a connecting pipe.

[0016] In summary, the present invention mainly has the following beneficial effects: The present invention adjusts the position of the discharging end of the welding rod on the material roll through the driving mechanism, so that the discharging end of the welding rod is always at the center position of the positioning plate, which changes at any time as the welding rod is used. And through the correction of the first deviation correction mechanism and the correction wheel, the shape of the welding rod is corrected, and the subsequent welding effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is a schematic diagram of the welding rod processing structure of the present invention;

[0019] Figure 3 is a schematic diagram of the installation structure of the driving mechanism and the support mechanism of the present invention;

[0020] Figure 4 is a schematic diagram of the internal structure of the support structure of the present invention;

[0021] Figure 5 is a front view of the internal structure of the positioning plate of the present invention;

[0022] Figure 6 is a schematic diagram of the structure of the surface treatment mechanism of the present invention;

[0023] Figure 7 is a schematic diagram of the internal structure of the sealing shell of the present invention;

[0024] Figure 8 is a schematic diagram of the structure of the filter shell of the present invention;

[0025] Figure 9 is a schematic diagram of the open state structure of the first deviation correction mechanism of the present invention.

[0026] In the figure: 1. fixed platform; 2. mounting seat; 3. movable platform; 4. limiting seat; 5. mounting column; 6. spring telescopic cylinder; 7. plug-in plate; 8. first motor; 9. clamping spring; 10. screw rod; 11. fixed seat; 12. movable seat; 13. correction wheel; 14. support seat; 15. pressure sensor; 16. sealing shell; 17. support frame; 18. limiting ring; 19. intake pipe; 20. second motor; 21. gear; 22. connecting plate; 23. connecting wheel; 24. cutting hole; 25. filter shell; 26. filter plate; 27. connecting pipe; 28. guide column; 29. ​​fastening spring; 30. positioning plate. DETAILED DESCRIPTION

[0027] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0028] An intelligent welding robot, such as Figures 1-9 As shown, it includes a fixed platform 1, such as Figure 1 The fixed table 1 is installed on the top of the welding gun. A driving mechanism for driving the mounting seat 2 to move is installed inside the fixed table 1. The driving mechanism includes a first motor 8 and a screw rod 10. The first motor 8 is installed on one side of the fixed table 1. The output end of the first motor 8 is connected to the screw rod 10. A connecting block threadedly connected to the screw rod 10 is installed at the bottom of the movable table 3. When the first motor 8 is started, the screw rod 10 is driven to rotate by the first motor 8. When the screw rod 10 rotates, the connecting block moves along the surface of the screw rod 10, and the movable table 3 on the top performs a translational motion accordingly.

[0029] The inner sliding of the mounting seat 2 is provided with a movable platform 3, and a clamping spring 9 is connected between the mounting seat 2 and the movable platform 3. A limit seat 4 is provided on the top of the mounting seat 2 and the movable platform 3. A supporting mechanism is installed on one side of the limit seat 4, and the supporting mechanism clamps and fixes the material roller with the welding rod rolled on it. The supporting mechanism includes a mounting column 5, a spring telescopic cylinder 6 and a plug plate 7. The mounting column 5 is arranged on the side wall of the limit seat 4, and a plurality of spring telescopic cylinders 6 are arranged on the outer wall of the mounting column 5. The movable end of the spring telescopic cylinder 6 is connected with the plug plate 7. Both ends of the material roller are hollow structures, so the plug plate 7 can be inserted into the two ends of the material roller. Due to the presence of the clamping spring 9, the limit seats 4 on both sides will squeeze the material roller, and the material roller can be fixed by cooperating with the plug plate 7. At the same time, the outer wall of the plug plate 7 is a conical structure, which can adapt to different material roller sizes and has higher adaptability. A rotating motor is installed on one side of one of the limit seats 4, and the rotating motor controls the rotation of the mounting column 5, so that the material roller rotates accordingly to perform corresponding feeding work.

[0030] One end of the welding electrode on the material roll passes through the straightening mechanism and the surface treatment mechanism and is connected to the welding electrode conveying mechanism of the welding torch. The welding electrode conveying mechanism supplies materials to the welding torch head for welding work. The welding electrode conveying mechanism consists of a motor and a set of rubber wheels. The rubber wheels are rotated by the motor to pull out the welding electrode. This is not shown in the above structure diagram, and those skilled in the art can select appropriate equipment for use.

[0031] The straightening mechanism includes a first deviation rectifying mechanism. The first deviation rectifying mechanism includes a fixed seat 11. A set of fixed seats 11 are fixedly arranged on the top of the fixed table 1. An active seat 12 is movably arranged on the top of the fixed seat 11. A fastening spring 29 is arranged between the active seat 12 and the fixed seat 11. A guide post 28 is arranged at the bottom of the active seat 12. A guide groove matching the guide post 28 is opened on the top of the fixed seat 11. And the fastening spring 29 is arranged on the outer wall of the guide post 28. Rectifying wheels 13 are arranged on the side walls of both the fixed seat 11 and the active seat 12. When the welding electrode leaves the material roll, it is generally in a bent state. When passing through between the fixed seat 11 and the active seat 12, it will be preliminarily rectified by the rectifying wheels 13 above. After being rectified, the welding electrode continues to move forward and reaches the inside between the positioning plates 30. It is continuously rectified by the multiple rectifying wheels 13 arranged on the inner wall of the positioning plates 30. After rectification, it enters the surface treatment mechanism for surface treatment work. And the fastening spring 29 and the guide post 28 facilitate the insertion of the welding electrode and prevent it from further deforming due to the unchanged position of the rectifying wheels 13 when the welding electrode is tightened.

[0032] The surface treatment mechanism is installed inside the positioning plate 30 and includes a sealing shell 16. A set of sealing shells 16 are arranged on the side wall of the positioning plate 30. A second motor 20 is installed on the outer wall of the sealing shell 16. The output end of the second motor 20 is connected to a gear 21. Connecting teeth meshing with the gear 21 are arranged on the outer wall of the connecting disk 22. One end of the connecting disk 22 is provided with a connecting wheel 23. Eccentric positions at one ends of both the connecting disk 22 and the connecting wheel 23 are provided with cutting holes 24. After the welding electrode enters the surface treatment mechanism, it passes through the cutting holes 24. The second motor 20 is started. The second motor 20 drives the gear 21 to rotate. Under the action of the connecting teeth, the connecting disk 22 and the connecting wheel 23 rotate accordingly. And because the cutting holes 24 are in eccentric positions and the inner walls of the cutting holes 24 are rough inner hole walls, part of the rough inner wall of the cutting holes 24 is always in contact with the welding electrode. Cooperating with the forward movement of the welding electrode, the protruding oxide layer on the surface of the welding electrode can be polished and cut.

[0033] The connecting disk 22 and the connecting wheel 23 are of a detachable and replaceable structure. The diameters of the cutting holes 24 on different connecting disks 22 and connecting wheels 23 are different. Appropriate cutting holes 24 can be selected according to the diameter of the required welding electrode for corresponding surface treatment work.

[0034] Although the cutting hole 24 can cut the surface of the welding electrode, there is still a possibility that the welding electrode in the external environment will be oxidized. Therefore, a support frame 17 is arranged inside a set of positioning plates 30 at the top of the fixed table 1. The sealing shell 16, the support frame 17 and the positioning plate 30 form a sealing structure. An air inlet pipe 19 is arranged at the top of the support frame 17, and limiting rings 18 are arranged on both sides of the support frame 17. The formed sealing structure enables the welding electrode not to be in excessive contact with the external air during cutting, reducing the possibility of oxidation. Moreover, the air inlet pipe 19 is connected to a helium supply mechanism, and the helium supply mechanism supplies gas to the inside of the sealing structure. The helium space can protect the welding electrode and prevent direct contact with the air, further reducing the possibility of the welding electrode being oxidized. The welding electrode coming out of the surface treatment mechanism directly enters the welding torch for welding. The limiting rings 18 wrap the surface of the welding electrode, further improving the sealing effect and guiding the movement of the welding electrode. Since the air inlet pipe 19 supplies gas to the sealing structure from the top, the chips generated by cutting will be blown to the bottom of the sealing shell 16 during gas supply. A filter shell 25 is arranged at the bottom of the fixed table 1, and a filter plate 26 is arranged inside the filter shell 25. The filter shell 25 is connected to the sealing shell 16 through a connecting pipe 27. The chips entering the bottom of the sealing shell 16 will enter the filter shell 25 along the connecting pipe 27, and the filter shell 25 filters the helium. When the helium mixed with chips enters the filter shell 25 through the connecting pipe 27, it enters from a small space into a large space, and the filter plate 26 has a better filtering effect. A one-way valve is installed inside the connecting pipe 27, which can effectively prevent the dust on the filter plate 26 from backflushing. Moreover, the filter plate 26 can be disassembled and cleaned to prevent blockage and poor filtering effect caused by long-term use.

[0035] Furthermore, the limiting ring 18 is of a two-piece structure, which are respectively a sealing section and a guiding section. The sealing section is made of wear-resistant rubber material, and the guiding section is made of aluminum alloy material with a Teflon coating on the surface. When the welding electrode moves, it first passes through the sealing section and then through the guiding section. The guiding section limits and guides the welding electrode, and the sealing section improves the sealing effect of the sealing structure. Since the consumption speed of the welding electrode is not fast, the movement speed is slow, and the heat generated in contact with the sealing section is low. For the two-piece limiting ring 18, the metal guiding section can effectively improve the auxiliary limiting effect and will not generate high heat. The contact surface between the sealing section and the welding electrode is small, and the heat generation is also limited.

[0036] During the welding process, since the welding electrode is wound on the surface of the material roller, as the welding electrode is consumed, the discharging end of the welding electrode on the material roller will gradually deviate from the center position of the positioning plate 30. At this time, the first motor 8 drives the lead screw 10 to rotate, controlling the movable table 3 to perform a translational movement, so that the discharging end of the welding electrode is always at the center position of the positioning plate 30 and changes at any time as the welding electrode is used.

[0037] Further, a pressure sensor 15 is installed inside the positioning plate 30. The movable end of the pressure sensor 15 is connected to a support seat 14. A correction wheel 13 is provided on the inner wall of the support seat 14. As the welding rod is wound on the material roller, its thickness becomes thinner and thinner during use. At this time, the amount of welding rod provided by the rotation of the material roller for one week becomes less and less, while the conveying speed of the welding rod conveying mechanism on the welding torch remains unchanged. Therefore, the welding rod will be tightened. The tightened welding rod will press the correction wheel 13 on the support seat 14 downward. At this time, the pressure sensor 15 is also squeezed. The squeezed pressure sensor 15 sends a signal to the controller, and the controller intelligently controls the rotation speed of the first motor 8 to increase, so as to keep the output speeds of the welding rods at both ends equal, and the welding rod will not be in a tightened state.

[0038] The electrical connection structure in which the pressure sensor 15 mentioned in the above structure sends a signal and the controller controls the rotation speed of the first motor 8 is a prior art, so no specific description is given to it. Those skilled in the art can clearly understand and use the corresponding structure.

[0039] Although the embodiments of the present invention have been shown and described, the specific embodiments are only explanations of the present invention and do not limit the invention. The specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art can make modifications, substitutions and variations that do not contribute creatively to the embodiments according to needs, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. An intelligent welding robot, comprising a fixed platform (1), characterized in that: A mounting base (2) is movably arranged on the top of the fixed table (1). A driving mechanism for driving the movement of the mounting base (2) is installed inside the fixed table (1). A movable table (3) is slidably arranged inside the mounting base (2). A clamping spring (9) is connected between the mounting base (2) and the movable table (3). Limit seats (4) are arranged on the tops of both the mounting base (2) and the movable table (3). A support mechanism is installed on one side of the limit seat (4). A first deviation correction mechanism is arranged on the top of the fixed table (1). A group of positioning plates (30) are arranged on one side of the first deviation correction mechanism. A pressure sensor (15) is installed inside the positioning plate (30). The movable end of the pressure sensor (15) is connected with a support seat (14). Correction wheels (13) are arranged on the inner walls of both the support seat (14) and the positioning plate (30).

2. The intelligent welding robot according to claim 1, wherein: The support mechanism includes a mounting column (5), a spring telescopic cylinder (6) and a plug board (7). The mounting column (5) is arranged on the side wall of the limit seat (4). A plurality of spring telescopic cylinders (6) are arranged on the outer wall of the mounting column (5). The movable end of the spring telescopic cylinder (6) is connected with a plug board (7).

3. An intelligent welding robot according to claim 1, characterized in that: The driving mechanism includes a first motor (8) and a lead screw (10). The first motor (8) is installed on one side of the fixed table (1). The output end of the first motor (8) is connected with a lead screw (10). A connecting block threadedly connected with the lead screw (10) is installed at the bottom of the movable table (3).

4. The intelligent welding robot according to claim 2, wherein: The outer wall of the plug board (7) is of a conical structure.

5. An intelligent welding robot according to claim 1, characterized in that: The first deviation correction mechanism includes a fixed seat (11), a movable seat (12), a guide post (28) and a fastening spring (29). A group of fixed seats (11) are fixedly arranged on the top of the fixed table (1). A movable seat (12) is movably arranged on the top of the fixed seat (11). A fastening spring (29) is arranged between the movable seat (12) and the fixed seat (11). A guide post (28) is arranged at the bottom of the movable seat (12). A guide groove matched with the guide post (28) is formed on the top of the fixed seat (11), and the fastening spring (29) is arranged on the outer wall of the guide post (28). Correction wheels (13) are arranged on the side walls of both the fixed seat (11) and the movable seat (12).

6. An intelligent welding robot according to claim 5, characterized in that: The initial position of the correction wheel (13) on the inner wall of the support seat (14) is higher than that of the correction wheel (13) on the side wall of the fixed seat (11).

7. An intelligent welding robot according to claim 1, characterized in that: A surface treatment mechanism is installed inside the positioning plate (30). The surface treatment mechanism includes a sealing shell (16), a second motor (20), a gear (21), a connection disk (22), a connection wheel (23) and a cutting hole (24). A set of the sealing shells (16) are arranged on the side wall of the positioning plate (30). A second motor (20) is installed on the outer wall of the sealing shell (16). The output end of the second motor (20) is connected to a gear (21). Connecting teeth meshing with the gear (21) are arranged on the outer wall of the connection disk (22). A connection wheel (23) is arranged at one end of the connection disk (22). Cutting holes (24) are formed at the eccentric positions of one ends of the connection disk (22) and the connection wheel (23).

8. An intelligent welding robot according to claim 7, characterized in that: A support frame (17) is arranged on the top of the fixed table (1) inside a set of positioning plates (30). The sealing shell (16), the support frame (17) and the positioning plate (30) form a sealed structure. An air inlet pipe (19) is arranged on the top of the support frame (17). Limit rings (18) are arranged on both sides of the support frame (17).

9. An intelligent welding robot according to claim 8, wherein: A filter shell (25) is arranged at the bottom of the fixed table (1). A filter plate (26) is arranged inside the filter shell (25). The filter shell (25) is connected to the sealing shell (16) through a connecting pipe (27). A one-way valve is installed inside the connecting pipe (27).

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