Industrial welding robot with a damping structure

Abstract

The present application belongs to the technical field of multi-axis robot, especially to an industrial welding robot with damping structure. In view of the splashing welding slag generated in the working process of the welding robot, the splashing welding slag not only affects the appearance and increases the cleaning difficulty, but also damages the welding parts. It comprises a damping support, a multi-axis mechanical arm arranged on the damping support, a welding torch fixedly connected to the end effector of the multi-axis mechanical arm, a sliding ball slidingly connected to the outside of the welding torch, a shielding shell ball-jointed to the sliding ball, elastic elements arranged between the welding torch and the shielding shell, and a smoke extraction assembly arranged on the shielding shell for extracting the smoke generated in the welding process. The shielding shell collects the splashing welding slag generated during the welding of the welding torch, and simultaneously changes the position state of the shielding shell according to the shape of the workpiece, so as to ensure that the shielding shell collects the splashing welding slag when the welding torch precisely welds the workpiece.

Description

Technical Field

[0001] This invention relates to the field of multi-axis robot technology, and in particular to an industrial welding robot with a shock-absorbing structure. Background Technology

[0002] Welding robots are highly automated mechanical devices widely used in welding processes in modern manufacturing. Through precise robotic arms and advanced control systems, they can efficiently and accurately complete various welding tasks, greatly improving production efficiency and welding quality. Welding robots mainly consist of three parts: a base, a multi-axis robotic arm, and a welding torch. The base has a shock-absorbing structure to absorb and disperse the vibration energy generated during the welding process, thereby reducing the impact of vibration on the robot and its surrounding equipment. The multi-axis robotic arm is used to drive the welding torch to adapt to the welding trajectory of different workpieces.

[0003] In the actual welding process, welding robots inevitably produce spatter. This spatter not only leaves hard-to-remove marks on the surface of the welded parts and in the surrounding environment, affecting the appearance and smoothness of the welded parts, but also significantly increases the amount of subsequent cleaning work. Moreover, the cleaning process can also damage the surface and structure of the welded parts. Summary of the Invention

[0004] To overcome the shortcomings mentioned in the background art, the present invention provides an industrial welding robot with a shock-absorbing structure.

[0005] The technical solution is as follows: An industrial welding robot with a shock-absorbing structure includes: a shock-absorbing support; a multi-axis robotic arm disposed on the shock-absorbing support; a welding torch fixedly connected to the end effector of the multi-axis robotic arm; a sliding ball slidably connected to the outside of the welding torch; a shielding shell with the ball connected to the sliding ball, and an elastic element disposed between the welding torch and the shielding shell; and a fume extraction assembly disposed on the shielding shell for extracting fumes generated during the welding process.

[0006] As a further preferred embodiment, circumferentially distributed collection plates are provided at different heights on the inner wall of the shielding shell, and the collection plates are used to increase the internal area of ​​the shielding shell.

[0007] As a further preferred embodiment, the collecting plate is tilted from one side near the inner wall of the shielding shell towards the sliding ball, so that the falling welding slag is stored between the angle formed by the collecting plate and the shielding shell.

[0008] As a further preferred embodiment, the smoke extraction assembly includes: a bottom shell, fixedly connected to the shielding shell, the bottom shell being U-shaped; an inner plate, disposed between the bottom shell and the shielding shell, the inner plate, the shielding shell, and the bottom shell cooperating to form an extraction cavity, the bottom shell being fixedly connected to a negative pressure pipe communicating with the extraction cavity, and the inner plate being provided with circumferentially evenly distributed negative pressure holes, the negative pressure holes communicating with the extraction cavity.

[0009] As a further preferred embodiment, the negative pressure hole is located at the bottom of the bottom shell.

[0010] As a further preferred embodiment, it also includes: a scraping assembly disposed on the shielding shell for cleaning welding slag adhering to the inside of the shielding shell and the collecting plate; the scraping assembly includes: a plurality of scrapers, all slidably connected to all the collecting plates, the scrapers being used to clean the welding slag on the shielding shell and the collecting plates; a connecting frame fixedly connected to all the scrapers; and a drive module disposed outside the shielding shell for driving the connecting frame to rotate.

[0011] As a further preferred embodiment, both the shielding shell and the bottom shell are rotatably connected to the inner plate, and the circumferentially distributed scrapers are fixedly connected to the inner plate to change the position of the negative pressure hole.

[0012] As a further preferred embodiment, a gap is left between two adjacent collecting plates at the same height inside the shielding shell to allow welding slag to fall downwards, and the two adjacent collecting plates at the same height and distributed circumferentially inside the shielding shell are staggered to create a staggered gap between the collecting plates.

[0013] As a further preferred embodiment, the collecting plates at two adjacent heights inside the shielding shell have overlapping projections in the vertical direction of the shielding shell, so that the welding slag falls onto the collecting plates sequentially.

[0014] As a further preferred embodiment, the inner plate is fixedly connected with circumferentially equally spaced distribution plates, and the circumferentially equally spaced distribution plates and the circumferentially equally spaced negative pressure holes are staggered to promote the uniform distribution of welding slag inside the bottom shell.

[0015] Compared with the prior art, the present invention has the following advantages: 1. The present invention collects the spattered welding slag generated during welding by the welding gun through the shielding shell, and at the same time, the position state of the shielding shell is adaptively changed according to the shape of the workpiece to ensure that the shielding shell collects the spattered welding slag when the welding gun accurately welds the workpiece.

[0016] 2. The fumes generated during welding are extracted through circumferentially spaced negative pressure holes, which are then concealed within the U-shaped bottom shell to reduce the probability of spattered welding slag blocking the negative pressure holes and stabilize the extraction efficiency of the fumes.

[0017] 3. The welding slag distributed on the collection plates at different heights is scraped down in a step-like manner and collected into the bottom shell. Under negative pressure, it is collected together with the flue gas, reducing the probability of welding slag being missed during recovery.

[0018] 4. The inner plate is rotated synchronously by the scraper, which in turn causes the negative pressure hole and the spreading plate to rotate, changing the position of the negative pressure hole in extracting the welding slag in the bottom shell and spreading the welding slag evenly in the bottom shell, reducing the probability of welding slag residue and accumulation. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 This is a three-dimensional cross-sectional view of the shielding shell of the present invention;

[0021] Figure 3 This is a three-dimensional structural diagram of the bottom shell and inner plate of the present invention;

[0022] Figure 4 This is a three-dimensional structural diagram of the connecting frame and scraper of the present invention;

[0023] Figure 5 This is a three-dimensional structural diagram of the collecting plate of the present invention;

[0024] Figure 6 This is a three-dimensional structural diagram of the connector and drive module of the present invention;

[0025] Figure 7 This is a three-dimensional structural diagram of the scraper and inner plate of the present invention.

[0026] The components in the diagram are labeled as follows: 1-Shock absorber, 2-Multi-axis robotic arm, 3-Welding torch, 4-Sliding ball, 5-Shielding shell, 6-Elastic element, 7-Collection plate, 201-Bottom shell, 202-Inner plate, 203-Extraction chamber, 204-Negative pressure pipe, 205-Negative pressure hole, 301-Scraper, 302-Connecting frame, 303-Drive module, 401-Distribution plate. Detailed Implementation

[0027] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0028] In the actual welding process, welding robots inevitably produce spatter. This spatter not only leaves difficult-to-remove marks on the surface of the welded parts and in the surrounding environment, affecting the appearance and smoothness of the welded parts, but also significantly increases the amount of subsequent cleaning work. Furthermore, the cleaning process can damage the surface and structure of the welded parts. At the same time, a large amount of harmful fumes are generated during the welding process, which affects the safety of the workers.

[0029] An industrial welding robot with a shock-absorbing structure, such as Figure 1 and Figure 2 As shown, it includes: a shock-absorbing support 1; a multi-axis robotic arm 2, mounted on the shock-absorbing support 1; a welding torch 3, fixedly connected to the end effector of the multi-axis robotic arm 2; a sliding ball 4, slidably connected to the outside of the welding torch 3; a shielding shell 5, with the ball connected to the sliding ball 4, and an elastic element 6 between the welding torch 3 and the shielding shell 5; a fume extraction assembly, mounted on the shielding shell 5, used to extract the fumes generated during the welding process; circumferentially distributed collection plates 7 are provided at different heights on the inner wall of the shielding shell 5, the collection plates 7 are used to increase the internal area of ​​the shielding shell 5; the collection plates 7 are inclined from one side near the inner wall of the shielding shell 5 towards the sliding ball 4, so that the falling welding slag is stored between the angle formed by the collection plates 7 and the shielding shell 5.

[0030] In the above scheme, the shock-absorbing support 1 is mainly used to absorb and disperse the vibration energy generated during the welding process, effectively reducing the vibration amplitude of the welding robot during operation and improving the stability and accuracy of the robotic arm. The multi-axis robotic arm 2 can accurately control the position and posture of the welding torch 3 through flexible movement of multiple degrees of freedom, adapting to the needs of complex welding workpieces. The shielding shell 5 is shaped like a frustum, with the side with the larger diameter close to the welding port of the welding torch 3. The main function of the shielding shell 5 is to block the spatter generated during the welding process, reducing the pollution of the welding workpiece surface and the surrounding environment by the welding slag. The shielding shell 5 can deflect at multiple angles along the sliding ball 4, and can also slide along the welding torch 3 with the help of the sliding ball 4. The position state of the shielding shell 5 can be adaptively changed according to the shape of the workpiece, ensuring that when the welding torch 3 accurately welds the workpiece, the shielding shell 5 can collect the spattered welding slag to the maximum extent. The elastic element 6 is a spring, used to drive the shielding shell 5 to reset after the position is changed. The collecting plate 7 is used to increase the welding slag collection area of ​​the shielding shell 5, and the collecting plate 7 is tilted upwards to accumulate the welding slag on the upper side of the collecting plate 7.

[0031] Specifically, such as Figure 2 and Figure 3 As shown, the smoke extraction assembly includes: a bottom shell 201, fixedly connected to the shield shell 5, the bottom shell 201 being U-shaped; an inner plate 202, disposed between the bottom shell 201 and the shield shell 5, the inner plate 202, the shield shell 5, and the bottom shell 201 forming an extraction cavity 203; a negative pressure pipe 204, communicating with the extraction cavity 203, fixedly connected to the bottom shell 201; and negative pressure holes 205, evenly distributed circumferentially, 205 communicating with the extraction cavity 203, located at the bottom inside the bottom shell 201.

[0032] In the above scheme, the bottom shell 201 is U-shaped, the inner plate 202 is located inside the bottom shell 201, the extraction cavity 203 is an annular cavity, the negative pressure pipe 204 is connected to the external negative pressure extraction device, and the negative pressure hole 205 is located at the bottom inside the inner plate 202. The fumes generated during welding by the welding torch 3 are extracted through the circumferentially evenly distributed negative pressure holes 205, and the negative pressure holes 205 are hidden inside the bottom shell 201 to reduce the probability of the sputtered welding slag blocking the negative pressure holes 205 and stabilize the extraction rate of the fumes.

[0033] When welding is required on a workpiece, the multi-axis robotic arm 2 is activated, causing the end effector of the multi-axis robotic arm 2 to drive the welding torch 3 to move along the spatial welding trajectory of the workpiece. At the same time, the welding torch 3 is activated, causing the welding torch 3 to begin welding the workpiece. As the welding torch 3 moves along the welding trajectory, it drives the shielding shell 5 to move synchronously. The spatter generated by the welding torch 3 during welding will enter the shielding shell 5 and adhere to the inner wall of the shielding shell 5 and the evenly distributed collection plate 7 inside it. At the same time, because the collection plate 7 is deflected upward on the inner wall of the shielding shell 5, the welding slag that enters the shielding shell 5 will accumulate on the upper side of the collection plate 7. This continues until the workpiece welding is completed.

[0034] During the welding process described above, the welding torch 3 moves synchronously with the shielding shell 5. However, when welding certain workpieces, the shielding shell 5 may be blocked by the workpiece due to its shape, preventing the welding torch 3 from accurately reaching the required welding position. Therefore, during the welding process, when the workpiece and the shielding shell 5 are not in contact, the central axis of the welding torch 3 and the central axis of the shielding shell 5 are collinear, allowing the shielding shell 5 and the internal collecting plate 7 to collect the welding slag splashed during welding. When the workpiece blocks the shielding shell 5, the welding torch 3 continues to move towards the welding position. At this time, the workpiece presses against the shielding shell 5, causing the shielding shell 5 to be subjected to the pressure of the workpiece along the sliding ball 4. When deflection occurs, the shielding shell 5 drives the sliding ball 4 to slide along the welding torch 3, and the elastic element 6 is compressed. This continues until the welding torch 3 reaches the welding position and begins welding. The workpiece squeezes the shielding shell 5, causing it to deflect freely along the sliding ball 4 and slide along the welding torch 3, so that the shielding shell 5 adapts to the external shape of the workpiece. While ensuring that the welding torch 3 accurately welds the workpiece, the shielding shell 5 collects the spattered welding slag. This continues until the workpiece separates from the shielding shell 5 and the workpiece no longer exerts force on the shielding shell 5. At this time, under the action of the elastic element 6, the sliding ball 4 drives the shielding shell 5 to reset, and the shielding shell 5 deflects along the reset sliding ball 4. This continues until it makes contact with the workpiece again, and the above steps are repeated.

[0035] During the welding process of the workpiece by the welding torch 3, the external negative pressure extraction device is turned on. The negative pressure extraction force acts on the negative pressure pipe 204. At this time, the fumes generated by the welding torch 3 during welding are drawn into the shielding shell 5 and into the bottom shell 201 by the extraction force. Then, the negative pressure holes 205 distributed at equal intervals along the circumference enter the extraction chamber 203. Then, the fumes enter the negative pressure pipe 204 from the extraction chamber 203 and finally flow along the negative pressure pipe 204 and are collected. By hiding the negative pressure holes 205 in the bottom shell 201, the probability of the spattered welding slag blocking the negative pressure holes 205 is reduced, and the extraction rate of the fumes is stabilized. This continues until the workpiece welding is completed. After the workpiece welding is completed, the multi-axis robotic arm 2 drives the welding torch 3 to the initial position and turns off the external negative pressure extraction device. Then, the staff regularly cleans the welding slag on the shielding shell 5 and the collection plate 7. When the workpiece needs to be welded again, the above steps are repeated.

[0036] In this embodiment, both the shielding shell 5 and the bottom shell 201 are fixedly connected to the inner plate 202. However, this is only the case in this embodiment. In other embodiments, both the shielding shell 5 and the bottom shell 201 are rotatably connected to the inner plate 202. Please refer to the specific description in the following embodiments for details.

[0037] In a further embodiment, such as Figures 4-7As shown, it also includes: a scraping assembly, disposed on the shielding shell 5, for cleaning welding slag adhering to the inside of the shielding shell 5 and the collecting plate 7. The scraping assembly includes: several scrapers 301, all slidably connected to all the collecting plates 7, the scrapers 301 being used to clean welding slag on the shielding shell 5 and the collecting plates 7; a connecting frame 302, fixedly connected to all the scrapers 301; and a drive module 303, disposed outside the shielding shell 5, for driving the connecting frame 302 to rotate. The shielding shell 5 and the bottom shell 201 are both rotatably connected to the inner plate 202, and the circumferentially distributed scrapers 301 are all fixedly connected to the inner plate 202, for changing the position of the negative pressure hole 205. The shielding shell 5 has a gap between two adjacent collecting plates 7 at the same height, which allows the welding slag to fall downwards. The collecting plates 7 at two adjacent heights and distributed circumferentially are staggered to create a staggered gap between them. The projections of the collecting plates 7 at two adjacent heights in the vertical direction of the shielding shell 5 overlap, allowing the welding slag to fall onto the collecting plates 7 sequentially. The inner plate 202 is fixedly connected to a circumferentially evenly spaced distribution plate 401. The circumferentially evenly spaced distribution plate 401 and the circumferentially evenly spaced negative pressure holes 205 are staggered to promote the uniform distribution of welding slag in the bottom shell 201.

[0038] In the above scheme, the drive module 303 consists of a small servo motor, a first gear, and a second gear. The small servo motor is fixedly connected to the shielding shell 5, and the second gear is rotatably connected to the outside of the shielding shell 5. The second gear is fixedly connected to the connecting frame 302, and the first gear is fixedly connected to the output shaft of the small servo motor. The first gear meshes with the second gear. An arc-shaped groove is provided on the top of the shielding shell 5 to facilitate the rotation of the second gear. The servo motor drives the connecting frame 302 to reciprocate through the first gear and the second gear. There are three scrapers 301, which are evenly distributed around the connecting frame 302. The scrapers 301 rotate to scrape off the welding slag on the shielding shell 5 and the collecting plate 7. The shape of the scraper 301 needs to be adapted to the inner wall of the shielding shell 5 and the surface of the collecting plate 7 to ensure the efficiency and thoroughness of the scraper 301 in cleaning the welding slag. The material of the scraper 301 has wear resistance and rigidity to cope with the adhesion force exerted by the welding slag on the shielding shell 5 and the collecting plate 7. The scraper 301 reciprocates and rotates to push the welding slag through the gap between the two collecting plates 7 and fall downwards. This cycle continues until the welding slag falls into the bottom shell 201. The bottom shell 201 is U-shaped and can store the welding slag inside the bottom shell 201. The distribution plate 401 rotates to push the welding slag in the bottom shell 201 to distribute it evenly, reducing the probability of welding slag covering the adjacent negative pressure hole 205, thereby stabilizing the efficiency of fume extraction.

[0039] During the workpiece welding process, the drive module 303 is activated simultaneously. The drive end of the drive module 303 drives the connecting frame 302 to rotate reciprocally, causing the connecting frame 302 to drive the circumferentially equally spaced scrapers 301 to rotate synchronously. At this time, the scrapers 301 scrape off the welding slag adhering to the inner wall of the shielding shell 5 and the collecting plate 7, causing the scraped welding slag to fall onto the adjacent collecting plate 7 below. Then, the three circumferentially equally spaced scrapers 301 continue to rotate reciprocally, pushing the welding slag on the collecting plate 7 to move synchronously, until the scrapers 301 drive the welding slag to move. At the gap between two adjacent collecting plates 7, taking the welding slag on the top collecting plate 7 as an example, the welding slag on the top collecting plate 7 is pushed by the scraper 301 and falls from the gap between the two top collecting plates 7 to the middle collecting plate 7. This process is repeated. Similarly, the welding slag on the middle collecting plate 7 is pushed by the scraper 301 and falls from the gap between the two middle collecting plates 7 to the bottom collecting plate 7. This cycle continues until the welding slag falls into the bottom shell 201, thus pushing the welding slag collected by the shielding shell 5 and the collecting plates 7 into the bottom shell 201.

[0040] When the welding slag falls into the bottom shell 201, it is drawn into the extraction chamber 203 by the negative pressure suction force through the circumferentially evenly distributed negative pressure holes 205. Under the action of the negative pressure suction force, the welding slag enters the negative pressure pipe 204 from the extraction chamber 203 and finally moves along the negative pressure pipe 204 and is collected. The scraper 301 causes the welding slag distributed on the collection plates 7 at different heights to fall down in a step-like manner, and finally falls and is collected into the bottom shell 201. The welding slag in the bottom shell 201 is collected to the outside along with the flue gas under negative pressure.

[0041] As the three circumferentially equidistant scrapers 301 rotate to scrape away the welding slag adhering to the shielding shell 5 and the collecting plate 7, the scrapers 301 drive the inner plate 202 to rotate synchronously. The inner plate 202 then drives the circumferentially equidistant negative pressure holes 205 to rotate synchronously, continuously changing the collection position of the negative pressure holes 205 for fumes and welding slag, reducing the content of welding slag residue in the bottom shell 201. At the same time, the rotation of the inner plate 202 drives the circumferentially equidistant distribution plates 401 to rotate synchronously, causing the distribution plates 401 to push the welding slag in the bottom shell 201, so that the welding slag in the bottom shell 201 is evenly spread inside the bottom shell 201, avoiding the accumulation of welding slag in one place, which makes it difficult to collect in time and thus affects the collection of external fumes. This continues until the welding of the workpiece is completed.

[0042] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An industrial welding robot with a shock-absorbing structure, characterized in that, Including: Vibration damping bearing (1); A multi-axis robotic arm (2) is mounted on the shock-absorbing support (1); Welding torch (3), fixedly connected to the end effector of the multi-axis robotic arm (2); A sliding ball (4) is slidably connected to the outside of the welding torch (3); A shielding shell (5) is provided with a ball connected to the sliding ball (4), and an elastic element (6) is provided between the welding torch (3) and the shielding shell (5). A fume extraction assembly is installed on the shielding shell (5) and is used to extract the fumes generated during the welding process; The shielding shell (5) is provided with circumferentially distributed collection plates (7) at different heights on the inner wall of the shielding shell (5). The collection plates (7) are used to increase the internal area of ​​the shielding shell (5). The smoke extraction component includes: The bottom shell (201) is fixedly connected to the shielding shell (5), and the bottom shell (201) is U-shaped; An inner plate (202) is disposed between the bottom shell (201) and the shielding shell (5). The inner plate (202), the shielding shell (5) and the bottom shell (201) cooperate to form an extraction cavity (203). The bottom shell (201) is fixedly connected to a negative pressure pipe (204) that communicates with the extraction cavity (203). The inner plate (202) is provided with negative pressure holes (205) that are evenly distributed in the circumferential direction. The negative pressure holes (205) communicate with the extraction cavity (203). The negative pressure hole (205) is located at the bottom inside the bottom shell (201); It also includes: A scraping assembly, disposed on the shielding shell (5), is used to clean welding slag adhering to the inside of the shielding shell (5) and the collecting plate (7). The scraping assembly includes: A number of scrapers (301) are slidably connected to all of the collection plates (7). The scrapers (301) are used to clean the welding slag on the shielding shell (5) and the collection plates (7). A connecting bracket (302) is fixedly connected to all of the scrapers (301); A drive module (303) is disposed outside the shielding shell (5) and is used to drive the connecting frame (302) to rotate; The shielding shell (5) and the bottom shell (201) are rotatably connected to the inner plate (202), and the circumferentially distributed scrapers (301) are fixedly connected to the inner plate (202) to change the position of the negative pressure hole (205); The shielding shell (5) has a gap between two adjacent collecting plates (7) at the same height, which is used to allow the welding slag to fall downwards. The two adjacent collecting plates (7) at the same height and distributed circumferentially are staggered in the shielding shell (5) to make the gaps between the collecting plates (7) staggered. The inner plate (202) is fixedly connected with a circumferentially equally spaced distribution plate (401). The circumferentially equally spaced distribution plate (401) and the circumferentially equally spaced negative pressure holes (205) are staggered to promote the uniform distribution of welding slag inside the bottom shell (201).

2. The industrial welding robot with a shock-absorbing structure according to claim 1, characterized in that, The collecting plate (7) is inclined from one side near the inner wall of the shielding shell (5) toward the sliding ball (4) so ​​that the falling welding slag is stored between the angle formed by the collecting plate (7) and the shielding shell (5).

3. An industrial welding robot with a shock-absorbing structure according to claim 2, characterized in that, The collecting plates (7) located at two adjacent heights inside the shielding shell (5) have overlapping projections in the vertical direction of the shielding shell (5), causing welding slag to fall onto the collecting plates (7) in sequence.

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