Flexible manufacturing based multi-machine cooperative intelligent mobile welding robot

Abstract

The application discloses a multi-machine cooperative intelligent mobile welding robot based on flexible manufacturing, and relates to the technical field of welding robots, and comprises a collecting cylinder, the top of which is provided with a workbench, and a plurality of pneumatic clamps are fixedly installed on the workbench at equal distances, and the cross section of the workbench is designed in the shape of an I-beam; an annular frame is rotationally connected to the inner wall of the workbench through bearings, and a rotating mechanism for driving the annular frame to rotate is arranged on the workbench, and a plurality of support frames are installed on the circumferential outer wall of the annular frame at equal distances, the welding robot body can be used to perform multi-angle welding operation around the workbench, the welding requirements of different directions can be met, the multi-machine cooperative intelligent welding function of flexible manufacturing is realized, the synchronous transverse movement of the plurality of welding robot bodies is realized, the welding position can be flexibly adjusted, the welding requirements of workpieces of different sizes and shapes can be met, and the flexible manufacturing capacity is improved.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, and in particular to a multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing. Background Technology

[0002] With increasingly fierce market competition and diversified consumer demands, the manufacturing industry is rapidly developing towards flexible manufacturing. Flexible manufacturing emphasizes high adaptability and flexibility in the production process, enabling rapid response to changes in market demand, product design updates, and manufacturing process variations, in order to achieve efficient production of multiple varieties and small to medium batches. Among various processing techniques in manufacturing, welding is an extremely important link. Traditional welding methods are mostly manual welding or automated welding based on fixed workstations. However, under the current trend of flexible manufacturing, these welding methods have exposed many limitations. Manual welding is not only inefficient and its quality is greatly affected by human factors, but it is also difficult to meet the complex and ever-changing welding task requirements. Although automated welding based on fixed workstations improves production efficiency and welding quality to a certain extent, it lacks flexibility and cannot quickly adapt to the welding requirements of different products and the layout adjustments on the production line.

[0003] Currently, some single-unit mobile welding robots have emerged on the market. These robots can achieve a certain degree of autonomous movement and complete welding tasks. However, when faced with large and complex workpieces, single robots often need to spend a lot of time on repetitive operations due to limitations in their working range and capabilities, resulting in low production efficiency. At the same time, for tasks that require multiple processes or welding at different angles, single robots are difficult to handle. In addition, there are some simple multi-robot welding systems, but these systems have significant shortcomings in collaborative operation. The lack of an effective synchronous movement structure between robots prevents them from fully leveraging the advantages of multi-robot collaboration and may even lead to mutual interference, seriously affecting welding quality and production efficiency. Therefore, there is an urgent need to design a multi-robot collaborative intelligent mobile welding robot based on flexible manufacturing to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing. Its advantages include meeting welding needs from different orientations, realizing multi-machine collaborative intelligent welding functions in flexible manufacturing, and satisfying the welding requirements of workpieces of different sizes and shapes, thereby enhancing flexible manufacturing capabilities.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] Multi-machine collaborative intelligent mobile welding robots based on flexible manufacturing include:

[0007] The collection cylinder has a worktable on top, and pneumatic clamps are fixedly installed on the worktable at equal intervals. The cross-section of the worktable is designed in the shape of an I-beam.

[0008] A ring frame is rotatably connected to the inner wall of the workbench via bearings, and a rotating mechanism for driving the ring frame to rotate is provided on the workbench. Support frames are installed on the outer circumference of the ring frame at equal intervals.

[0009] The mounting frame is movably mounted on top of the support frame, and the welding robot body is mounted on top of the mounting frame. The support frame and the annular frame are provided with a transverse moving component for moving the mounting frame and the welding robot body. The bottom of the worktable is provided with a lifting component for adjusting the height of the mounting frame and the welding robot body.

[0010] Waste discharge assembly, which is installed at the bottom of the lifting assembly and inserted into the inside of the collection cylinder;

[0011] A gas protection device is located directly above the workbench.

[0012] The above technical solutions enable the development of intelligent mobile welding robots that enable multi-machine collaboration.

[0013] The present invention is further configured such that the rotating mechanism includes an annular groove formed at the bottom of the inner wall of the worktable, and a second internal gear ring inserted into the annular groove is fixedly installed at the bottom of the inner wall of the annular frame. A drive gear is meshed on the inner wall of the second internal gear ring, and a second forward and reverse motor for driving the drive gear to rotate is fixedly installed on one side of the bottom of the worktable.

[0014] The above technical solutions enable the welding robot to perform multi-angle welding operations around the workbench, meeting welding needs from different angles, realizing multi-machine collaborative intelligent welding functions in flexible manufacturing, and improving welding efficiency and work flexibility.

[0015] The present invention is further configured such that the top and bottom of the annular frame are provided with equally spaced support balls that roll together, and the support balls are in contact with the inner wall of the worktable.

[0016] The above technical solutions reduce friction and wear during ring frame rotation, making the ring frame rotate more smoothly, while improving the stability of the ring frame during rotation and extending the service life of the equipment.

[0017] The invention is further configured such that the transverse component includes mounting holes formed at both ends of the support frame and on the outer wall of the annular frame, and a threaded rod is rotatably connected to the inner wall of the mounting hole via a bearing. A first forward and reverse motor for driving the threaded rod to rotate is fixedly installed at one end of one of the support frames. A movable seat is screwed onto each of the threaded rods, and the mounting frame is sleeved on the movable seat. Sliding rollers that slide on the outer walls of the movable seat are installed on the inner walls of the mounting frame. Sliding grooves are formed on both sides of the movable seat, and sliding rails inserted into the sliding grooves are installed on the inner walls of both sides of the support frame. An annular helical gear is rotatably connected to the inner wall of the annular frame via a bearing, and a bevel gear is fixedly installed at one end of the threaded rod extending into the annular frame. The bevel gear meshes with the annular helical gear.

[0018] The above technical solutions ensure that multiple threaded rods rotate synchronously, thereby enabling the synchronous lateral movement of multiple mounting frames and the welding robot body.

[0019] The present invention is further configured such that corrugated protective tubes fitted on threaded rods are installed on both outer walls of the movable seat and both inner walls of the support frame, and a bottom frame is installed at the bottom of the support frame, with the tail end of the bottom frame located above the collecting cylinder, and the bottom surface of the bottom frame is designed to be inclined.

[0020] The above technical solutions prevent welding slag, dust, and other debris generated during the welding process from entering the connection between the threaded rod and the moving seat, thus avoiding affecting its normal operation, extending the maintenance cycle of the equipment, and using the bottom frame to guide welding slag and other debris that fall during the welding process into the collection cylinder for convenient centralized cleaning.

[0021] The invention is further configured such that the lifting assembly includes a bottom groove located at the center of the bottom of the workbench, and a rotating cylinder is rotatably connected to the inner wall of the bottom groove via a bearing. A hydraulic cylinder is fixedly installed on the inner wall of the rotating cylinder. A lifting seat is fixedly installed on the piston end of the hydraulic cylinder, and U-shaped lifting frames are fixedly distributed at equal intervals on the outer wall of the lifting seat. Two guide vertical grooves are opened on each of the movable seats, and guide horizontal grooves are opened on both sides of the bottom of the support frame. Lifting rods passing through the guide vertical grooves and guide horizontal grooves are fixedly installed on both sides of the top inner wall of the mounting frame. Insertions are opened at the bottom of each lifting rod, and the U-shaped lifting frames pass through the interior of two adjacent inserts.

[0022] The above technical solutions enable the height adjustment of the welding robot body, allowing it to adapt to welding work at different heights, and further improving the equipment's versatility and flexible manufacturing capabilities.

[0023] The present invention is further configured such that the outer wall of the workbench is fixedly installed with first ear seats distributed at equal intervals, and the positions of the first ear seats are staggered with the positions of the support frame; the inner wall of the collection tube is fixedly installed with second ear seats distributed at equal intervals; and the top of the second ear seats and the top of the first ear seats are fixedly mounted with mounting posts.

[0024] The above technical solutions connect the workbench and the collection cylinder into a stable integrated structure, enhancing the overall rigidity and stability of the equipment, ensuring that the equipment will not shake during operation, providing reliable support for welding operations, and improving welding quality.

[0025] The invention is further configured such that the waste discharge assembly includes a rotating shaft rotatably connected to the middle of the inner wall of the bottom of the collection cylinder, and a polygonal groove is formed on the top of the rotating shaft. A polygonal rod inserted into the polygonal groove is fixedly installed at the middle of the bottom of the lifting seat. A pusher plate that is equidistantly attached to the inner wall of the collection cylinder is fixed on the bottom of the outer wall of the rotating shaft. A waste discharge port is formed on one side of the bottom of the collection cylinder, and a sealing cover is provided at the bottom of the waste discharge port. Multiple casters are installed at the bottom of the collection cylinder.

[0026] The above technical solution allows for the automatic discharge of welding slag and other debris from the collection cylinder through the waste outlet, reducing the workload of manual cleaning and improving work efficiency.

[0027] The invention is further configured such that the gas protection device includes two support columns fixed to the top of two first ear seats, and a top plate is fixed to the top of the two support columns. A connecting hole is opened in the middle of the top plate. A connecting pipe is rotatably connected to the inner wall of the connecting hole through a bearing. Gas distribution pipes are fixed on the connecting pipe at equal intervals. An exhaust hood is installed at the bottom of each gas distribution pipe. The exhaust hood is located directly above the welding robot body. A gas guide pipe is rotatably connected to the top of the connecting pipe through a sealed bearing. An inflation device is installed at one end of the gas guide pipe and the top of the top plate.

[0028] The above technical solutions enable the formation of a protective air curtain above the welding area of ​​the welding robot body.

[0029] The present invention is further configured such that an L-shaped transmission rod is fixed at the middle of one of the top ends of one of the support frames, and a first internal gear ring is fixedly installed at one end of the transmission rod. A transmission gear is fixedly installed on the outer wall of the connecting pipe, and the transmission gear meshes with the first internal gear ring.

[0030] The above technical solutions ensure that the exhaust hood is always directly above the welding robot body, continuously protecting the welding area, preventing high-temperature metal oxidation, and guaranteeing welding quality.

[0031] The beneficial effects of this invention are as follows:

[0032] 1. In this invention, the workbench set at the top of the collection cylinder and the pneumatic clamps fixedly installed at equal intervals on the workbench, combined with the I-shaped design of the workbench cross section, can stably clamp the workpiece to be welded. The I-shaped structure enhances the strength and stability of the workbench, providing a reliable operating platform for welding work. The annular frame is rotatably connected to the inner wall of the workbench through bearings. The rotating mechanism drives the annular frame to rotate, enabling the welding robot body to perform multi-angle welding operations around the workbench, meeting the welding needs of different directions, realizing the multi-machine collaborative intelligent welding function of flexible manufacturing, and improving welding efficiency and work flexibility.

[0033] 2. In this invention, the support balls, which are equidistantly distributed and rolled on the top and bottom of the annular frame and are in contact with the inner wall of the worktable, play an auxiliary supporting and guiding role, reducing friction and wear when the annular frame rotates, making the rotation of the annular frame smoother, improving the stability of the annular frame during rotation, and extending the service life of the equipment.

[0034] 3. In this invention, through the cooperation of the mounting holes, threaded rods, first forward and reverse motors, moving seats, ring helical gears, and bevel gears in the transverse assembly, the first forward and reverse motor drives the threaded rods to rotate. The threaded rods are connected to the moving seats by threads, allowing the moving seats to move linearly on the support frame. The meshing of the bevel gears and ring helical gears ensures that multiple threaded rods rotate synchronously, achieving synchronous transverse movement of multiple mounting frames and the welding robot body. At the same time, the use of sliding rollers, sliding grooves, and sliding rails increases the stability and smoothness of the moving seats, enabling the welding robot body to move precisely in the horizontal direction, flexibly adjust the welding position, meet the welding requirements of workpieces of different sizes and shapes, improve flexible manufacturing capabilities, and the corrugated protective tube effectively prevents welding slag, dust, and other debris generated during the welding process from entering the connection between the threaded rods and the moving seats, avoiding affecting their normal operation and extending the maintenance cycle of the equipment.

[0035] 4. In this invention, through the cooperation of the bottom groove, rotating cylinder, hydraulic cylinder, lifting seat, U-shaped lifting frame, guide vertical groove, guide horizontal groove, lifting rod and socket in the lifting assembly, the hydraulic cylinder drives the lifting seat to move up and down, and the lifting seat drives the lifting rod through the U-shaped lifting frame, thereby enabling the installation frame and the welding robot body to achieve height adjustment, so that the welding robot body can adapt to welding work at different heights, further improving the equipment's versatility and flexible manufacturing capabilities.

[0036] 5. In this invention, through the cooperation of the rotating shaft, polygonal groove, polygonal rod, and pusher plate in the waste discharge assembly, when the rotating mechanism rotates, the polygonal rod drives the rotating shaft to rotate, and the pusher plate on the rotating shaft pushes the welding slag and other debris in the collection cylinder out of the waste discharge port, thereby realizing the automatic waste discharge function, reducing the workload of manual cleaning, and improving work efficiency.

[0037] 6. In this invention, through the cooperation of the support column, top plate, connecting pipe, gas distribution pipe, exhaust hood, gas guide pipe and gas filling device in the gas protection device, the gas filling device fills the connecting pipe with protective gas through the gas guide pipe. The protective gas is discharged from the exhaust hood through the gas distribution pipe, forming a protective gas curtain above the welding part of the welding robot body. This prevents oxidation of the high-temperature metal from contacting the air during the welding process, ensuring welding quality. At the same time, when the annular frame rotates, the transmission rod drives the first internal gear ring to rotate. The first internal gear ring meshes with the transmission gear, causing the connecting pipe to rotate synchronously. This ensures that the exhaust hood is always located directly above the welding robot body, continuously providing effective gas protection for the welding part, ensuring the smooth progress of the welding process and the stability of the welding quality. Attached Figure Description

[0038] Figure 1 This is a perspective view of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention.

[0039] Figure 2 This is a front view of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention.

[0040] Figure 3 This is a schematic diagram of the first and second ear mount structures of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention.

[0041] Figure 4 This is a schematic diagram of the lifting component structure of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention;

[0042] Figure 5 This is a schematic diagram of the threaded rod and rotating drum structure of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention;

[0043] Figure 6 This is a schematic diagram of the bottom groove and annular groove structure of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention;

[0044] Figure 7 This is a schematic diagram of the annular frame and support frame structure of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention.

[0045] Figure 8 This is a schematic diagram of the sliding roller structure of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention;

[0046] Figure 9 This is a schematic diagram of the slide rail and mounting hole structure of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention.

[0047] Figure 10 This is a schematic diagram of the chute and guide vertical groove structure of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention;

[0048] Figure 11 This is a schematic diagram of the waste removal component structure of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention;

[0049] Figure 12 This is a schematic diagram of the gas protection device structure of the multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing proposed in this invention.

[0050] In the diagram: 1. Collection cylinder; 2. Workbench; 3. Annular frame; 4. Support frame; 5. Lateral movement assembly; 501. First forward / reverse motor; 502. Moving seat; 503. Corrugated protective tube; 504. Threaded rod; 505. Bevel gear; 506. Annular helical gear; 507. Slide rail; 508. Mounting hole; 509. Slide groove; 6. Mounting frame; 7. Welding robot body; 8. Gas protection device; 801. Support column; 802. Connecting pipe; 803. Gas distribution pipe; 804. Transmission gear; 805. Top plate; 806. Air guide pipe; 807. Inflator; 808. Exhaust hood; 809. First internal gear ring; 810. Transmission rod; 9. Pneumatic clamp; 10. Bottom Frame; 11. Waste discharge assembly; 1101. Rotating shaft; 1102. Push plate; 1103. Polygonal rod; 1104. Polygonal groove; 12. Lifting assembly; 1201. Hydraulic cylinder; 1202. Lifting seat; 1203. U-shaped lifting frame; 1204. Lifting rod; 1205. Rotary drum; 1206. Bottom groove; 1207. Insertion port; 1208. Guide vertical groove; 1209. Guide horizontal groove; 13. First ear seat; 14. Mounting column; 15. Second ear seat; 16. Rotating mechanism; 1601. Drive gear; 1602. Second forward and reverse motor; 1603. Second internal gear ring; 1604. Annular groove; 17. Support ball; 18. Sliding roller. Detailed Implementation

[0051] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0052] Reference Figures 1-12 This invention provides a multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing, comprising:

[0053] The collection cylinder 1 has a workbench 2 on its top, and pneumatic clamps 9 are fixedly installed on the workbench 2 at equal intervals. The cross-section of the workbench 2 is designed as an I-shape. The outer wall of the workbench 2 is fixedly installed with first ear seats 13 at equal intervals, and the positions of the first ear seats 13 and the support frame 4 are staggered. The inner wall of the collection cylinder 1 is fixedly installed with second ear seats 15 at equal intervals. The top of the second ear seats 15 and the top of the first ear seats 13 are fixedly mounted with mounting posts 14.

[0054] The annular frame 3 is rotatably connected to the inner wall of the workbench 2 via bearings. Equally spaced support balls 17 are rolled on both the top and bottom of the annular frame 3, and these support balls 17 are in contact with the inner wall of the workbench 2. A rotating mechanism 16 is provided on the workbench 2 to drive the annular frame 3 to rotate. The rotating mechanism 16 includes an annular groove 1604 formed at the bottom of the inner wall of the workbench 2. A second internal gear ring 1603, inserted into the annular groove 1604, is fixedly installed at the bottom of the inner wall of the annular frame 3. A drive gear 1601 meshes with the inner wall of the second internal gear ring 1603. A second forward / reverse motor 1602, used to drive the drive gear 1601 to rotate, is fixedly installed on one side of the bottom of the workbench 2. Equally spaced support frames 4 are installed on the outer circumference of the annular frame 3. By rotating the annular frame 3 via the rotating mechanism 16, the welding robot body 7 can perform multi-angle welding operations around the workbench 2, meeting welding needs from different directions, realizing the multi-machine collaborative intelligent welding function of flexible manufacturing, and improving welding efficiency and work flexibility.

[0055] Mounting frame 6 is movably mounted on top of support frame 4, and welding robot body 7 is mounted on top of mounting frame 6. Support frame 4 and annular frame 3 are equipped with lateral movement components 5 for moving mounting frame 6 and welding robot body 7. Lateral movement components 5 include mounting holes 508 at both ends of support frame 4 and on the outer wall of annular frame 3. Threaded rods 504 are rotatably connected to the inner walls of mounting holes 508 via bearings. A first forward / reverse motor 501 for rotating the threaded rods 504 is fixedly mounted at one end of one support frame 4. Movable seats 502 are screwed onto each threaded rod 504, and mounting frame 6 is fitted onto the movable seats 502. All four inner walls of mounting frame 6 are equipped with... The sliding rollers 18 slide on the outer walls of the movable seat 502. Slide grooves 509 are provided on both sides of the movable seat 502, and slide rails 507 inserted into the slide grooves 509 are installed on the inner walls of both sides of the support frame 4. A ring-shaped helical gear 506 is rotatably connected to the inner wall of the annular frame 3 via bearings. A bevel gear 505 is fixedly installed at one end of the threaded rod 504 extending into the annular frame 3. The bevel gear 505 meshes with the ring-shaped helical gear 506. The first forward / reverse motor 501 drives the threaded rod 504 to rotate, causing the movable seat 502 to move linearly on the support frame 4. The meshing of the bevel gear 505 and the ring-shaped helical gear 506 ensures that multiple threaded rods 504 rotate synchronously. The system enables synchronous lateral movement of multiple mounting frames 6 and the welding robot body 7. The bottom of the worktable 2 is equipped with a lifting assembly 12 for adjusting the height of the mounting frames 6 and the welding robot body 7. The lifting assembly 12 includes a bottom groove 1206 located in the middle of the bottom of the worktable 2. A rotating cylinder 1205 is rotatably connected to the inner wall of the bottom groove 1206 via bearings. A hydraulic cylinder 1201 is fixedly installed on the inner wall of the rotating cylinder 1205. A lifting seat 1202 is fixedly installed on the piston end of the hydraulic cylinder 1201. U-shaped lifting frames 1203 are evenly distributed on the outer wall of the lifting seat 1202. Two guide vertical grooves 1208 are provided on each of the moving seats 502, and the support frame... Guide horizontal grooves 1209 are provided on both sides of the bottom of the 4. Lifting rods 1204 passing through guide vertical grooves 1208 and guide horizontal grooves 1209 are fixedly installed on both sides of the top inner wall of the mounting frame 6. The bottom of the lifting rods 1204 is provided with insertion ports 1207, and the U-shaped lifting frame 1203 passes through the interior of two adjacent insertion ports 1207. The lifting seat 1202 is pushed up and down by the hydraulic cylinder 1201, and the lifting rods 1204 are lifted up and down by the U-shaped lifting frame 1203, thereby enabling the mounting frame 6 and the welding robot body 7 to achieve height adjustment, so that the welding robot body 7 can adapt to welding work at different heights, further improving the versatility and flexible manufacturing capability of the equipment.

[0056] Waste discharge assembly 11 is installed at the bottom of lifting assembly 12 and inserted into the inside of collection cylinder 1;

[0057] Gas protection device 8 is located directly above workbench 2.

[0058] To prevent dust, welding slag, and other debris from affecting the 504 threaded rod, refer to... Figure 1 , Figure 3 and Figure 5 The outer walls at both ends of the movable seat 502 and the inner walls at both ends of the support frame 4 are fitted with corrugated protective tubes 503 that are sleeved on the threaded rod 504. The bottom of the support frame 4 is fitted with a bottom frame 10. The tail end of the bottom frame 10 is located above the collection cylinder 1. The bottom surface of the bottom frame 10 is designed to be inclined. The use of the corrugated protective tubes 503 can effectively prevent welding slag, dust and other debris generated during the welding process from entering the connection between the threaded rod 504 and the movable seat 502, avoiding affecting its normal operation and extending the maintenance cycle of the equipment. The use of the bottom frame 10 also makes it easy to guide welding slag and other debris that fall during the welding process into the collection cylinder 1, which is convenient for centralized cleaning and keeps the working environment clean.

[0059] To achieve automatic waste discharge, refer to Figure 1 , Figure 3 , Figure 4 and Figure 11 The waste discharge assembly 11 includes a rotating shaft 1101 rotatably connected to the middle of the bottom inner wall of the collection cylinder 1, and a polygonal groove 1104 is opened on the top of the rotating shaft 1101. A polygonal rod 1103 inserted into the polygonal groove 1104 is fixedly installed at the middle of the bottom of the lifting seat 1202. A pusher plate 1102 is fixed at equal distances to the inner wall of the collection cylinder 1 at the bottom of the outer wall of the rotating shaft 1101. A waste discharge port is opened on one side of the bottom of the collection cylinder 1, and a sealing cover is provided at the bottom of the waste discharge port. Multiple universal wheels are installed at the bottom of the collection cylinder 1. Using the above-mentioned waste discharge assembly 11, when the rotating mechanism 16 rotates, the polygonal rod 1103 drives the rotating shaft 1101 and the pusher plate 1102 to rotate, pushing out welding slag and other debris in the collection cylinder 1 from the waste discharge port, realizing the automatic waste discharge function, reducing the workload of manual cleaning, and improving work efficiency.

[0060] To protect the welded area from high-temperature metal oxidation, refer to... Figure 1 and Figure 12The gas protection device 8 includes two support columns 801 fixed to the top of two first ear seats 13, and a top plate 805 fixed to the top of the two support columns 801. A connecting hole is opened in the middle of the top plate 805. A connecting pipe 802 is rotatably connected to the inner wall of the connecting hole through a bearing. A gas distribution pipe 803 is fixed on the connecting pipe 802 and evenly distributed. An exhaust hood 808 is installed at the bottom of each gas distribution pipe 803. The exhaust hood 808 is located directly above the welding robot body 7. A gas guide pipe 806 is rotatably connected to the top of the connecting pipe 802 through a sealed bearing. An inflation device 807 is installed at one end of the gas guide pipe 806 and the top of the top plate 805. An L-shaped transmission rod 810 is fixed in the middle of one end of the top of one of the support frames 4. A first internal gear ring 809 is fixedly installed at one end of the transmission rod 810, and a transmission gear 804 is fixedly installed on the outer wall of the connecting pipe 802. The transmission gear 804 meshes with the first internal gear ring 809. Using the aforementioned gas protection device 8, the protective gas is discharged from the exhaust hood 808 by the inflation device 807, thereby forming a protective gas curtain above the welding part of the welding robot body 7. When the annular frame 3 rotates, the transmission rod 810 drives the first internal gear ring 809 to rotate. The meshing action of the first internal gear ring 809 and the transmission gear 804 drives the connecting pipe 802 to rotate synchronously, ensuring that the exhaust hood 808 is always located directly above the welding robot body 7, continuously providing protection for the welding part, preventing high-temperature metal oxidation, and ensuring welding quality.

[0061] In summary, the working principle of this invention is as follows: When in use, the operator places the workpiece to be welded on the pneumatic clamp 9 of the workbench 2, and the pneumatic clamp 9 stably clamps the workpiece through air pressure.

[0062] In multi-machine collaborative welding, multiple welding robot bodies 7 perform collaborative operations;

[0063] The second forward / reverse motor 1602 inside the rotating mechanism 16 can be activated to drive the drive gear 1601 to rotate. Since the drive gear 1601 meshes with the second internal gear ring 1603, and the second internal gear ring 1603 is fixed to the bottom of the inner wall of the annular frame 3, and the annular frame 3 is rotatably connected to the inner wall of the worktable 2 through bearings, the rotation of the drive gear 1601 will drive the annular frame 3 to rotate stably on the worktable 2. The support balls 17 set at the top and bottom of the annular frame 3 reduce friction and assist the annular frame 3. The smooth rotation allows the support frame 4 on the ring frame 3 and the welding robot body 7 on it to rotate around the workbench 2 at multiple angles, switching between different welding positions. When the rotating mechanism 16 is working, the polygonal rod 1103 on the waste discharge component 11 rotates in the polygonal groove 1104 at the top of the rotating shaft 1101, driving the rotating shaft 1101 to rotate. The pusher plate 1102 on the rotating shaft 1101 rotates with the rotating shaft 1101, pushing the waste in the collection cylinder 1 towards the waste discharge port. The waste can be discharged by opening the sealing cover of the waste discharge port.

[0064] Alternatively, the first forward and reverse motor 501 in the transverse assembly 5 can be activated to drive the threaded rod 504 to rotate in the mounting hole 508. The threaded rod 504 is connected to the moving seat 502 by threads, and the sliding grooves 509 on both sides of the moving seat 502 cooperate with the slide rails 507 on the inner wall of the support frame 4. The sliding rollers 18 on the inner wall of the four sides contact the outer wall of the moving seat 502. When the threaded rod 504 rotates, the moving seat 502 moves linearly along the support frame 4. At the same time, the bevel gear 505 at one end of the threaded rod 504 extending into the annular frame 3 meshes with the annular helical gear 506 to ensure that the threaded rods 504 on multiple support frames 4 rotate synchronously, thereby realizing the synchronous transverse movement of multiple mounting frames 6 and the welding robot body 7, adjusting the welding position to adapt to the welding requirements of workpieces of different sizes and shapes.

[0065] The hydraulic cylinder 1201 can also be activated, and its piston end pushes the lifting seat 1202 to move up and down in the bottom groove 1206. The U-shaped lifting frame 1203 on the lifting seat 1202 passes through the insertion port 1207 at the bottom of the lifting rod 1204, driving the lifting rod 1204 to move up and down. The lifting rod 1204 passes through the guide vertical groove 1208 of the moving seat 502 and the guide horizontal groove 1209 of the support frame 4, and is connected to the mounting frame 6, thereby realizing the height adjustment of the mounting frame 6 and the welding robot body 7 to meet the welding operation requirements of workpieces of different heights.

[0066] Furthermore, during the welding process, the gas filling device 807 in the gas protection device 8 fills the connecting pipe 802 through the gas guide pipe 806, so that the gas is discharged from the exhaust hood 808 through the gas distribution pipe 803, thereby forming a protective gas curtain above the welding part of the welding robot body 7. Moreover, when the annular frame 3 rotates, the transmission rod 810 on the support frame 4 drives the first internal gear ring 809 to rotate. The first internal gear ring 809 meshes with the transmission gear 804 on the outer wall of the connecting pipe 802, so that the connecting pipe 802 rotates synchronously, ensuring that the exhaust hood 808 is always located directly above the welding robot body 7, continuously providing protection for the welding part, preventing high-temperature metal oxidation, and ensuring welding quality.

[0067] The above description is only 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. A multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing, characterized in that, include: The collection cylinder (1) has a workbench (2) on its top, and pneumatic clamps (9) are fixedly installed on the workbench (2) at equal intervals. The cross-section of the workbench (2) is designed as an I-shape. The ring frame (3) is rotatably connected to the inner wall of the workbench (2) by bearings, and the workbench (2) is provided with a rotating mechanism (16) for driving the ring frame (3) to rotate. The outer circumference of the ring frame (3) is equipped with support frames (4) that are evenly distributed. The mounting frame (6) is movably mounted on the top of the support frame (4), and the welding robot body (7) is mounted on the top of the mounting frame (6). The support frame (4) and the ring frame (3) are provided with a transverse component (5) for moving the mounting frame (6) and the welding robot body (7). The bottom of the worktable (2) is provided with a lifting component (12) for adjusting the height of the mounting frame (6) and the welding robot body (7). Waste discharge assembly (11), which is installed at the bottom of the lifting assembly (12) and inserted into the inside of the collection cylinder (1); Gas protection device (8) is located directly above the workbench (2); The rotating mechanism (16) includes an annular groove (1604) formed at the bottom of the inner wall of the workbench (2), and a second internal gear ring (1603) inserted into the annular groove (1604) is fixedly installed at the bottom of the inner wall of the annular frame (3). A drive gear (1601) meshes with the inner wall of the second internal gear ring (1603), and a second forward and reverse motor (1602) for driving the drive gear (1601) to rotate is fixedly installed on one side of the bottom of the workbench (2). The transverse component (5) includes mounting holes (508) formed at both ends of the support frame (4) and on the outer wall of the annular frame (3). A threaded rod (504) is rotatably connected to the inner wall of the mounting hole (508) via a bearing. A first forward / reverse motor (501) for driving the threaded rod (504) to rotate is fixedly mounted at one end of one of the support frames (4). A movable seat (502) is screwed onto each of the threaded rods (504), and the mounting frame (6) is fitted onto the movable seat (502). The inner walls of the mounting frame (6) are all... The movable seat (502) is equipped with sliding rollers (18) that slide on the outer wall of the movable seat (502). The movable seat (502) has sliding grooves (509) on both sides. The inner walls of the support frame (4) are equipped with slide rails (507) that are inserted into the sliding grooves (509). The inner wall of the annular frame (3) is rotatably connected to the annular helical gear (506) through the bearing. The threaded rod (504) is fixedly installed with a bevel gear (505) at one end extending into the annular frame (3). The bevel gear (505) meshes with the annular helical gear (506).

2. The multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing according to claim 1, characterized in that, The top and bottom of the annular frame (3) are provided with equally spaced support balls (17), and the support balls (17) are in contact with the inner wall of the worktable (2).

3. The multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing according to claim 2, characterized in that, The outer walls at both ends of the movable seat (502) and the inner walls at both ends of the support frame (4) are fitted with corrugated protective tubes (503) sleeved on the threaded rod (504), and the bottom of the support frame (4) is fitted with a bottom frame (10). The tail end of the bottom frame (10) is located above the collecting cylinder (1), and the bottom surface of the bottom frame (10) is designed to be inclined.

4. The multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing according to claim 3, characterized in that, The lifting assembly (12) includes a bottom groove (1206) located at the center of the bottom of the workbench (2), and a rotating cylinder (1205) is rotatably connected to the inner wall of the bottom groove (1206) via a bearing. A hydraulic cylinder (1201) is fixedly installed on the inner wall of the rotating cylinder (1205), and a lifting seat (1202) is fixedly installed on the piston end of the hydraulic cylinder (1201). U-shaped lifting frames (1203) are fixedly distributed at equal intervals on the outer wall of the lifting seat (1202). Two guide vertical grooves (1208) are provided on the moving base (502), and guide horizontal grooves (1209) are provided on both sides of the bottom of the support frame (4). Lifting rods (1204) passing through the guide vertical grooves (1208) and guide horizontal grooves (1209) are fixedly installed on both sides of the top inner wall of the mounting frame (6). The bottom of the lifting rods (1204) is provided with sockets (1207), and the U-shaped lifting frame (1203) passes through the interior of two adjacent sockets (1207).

5. The multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing according to claim 1, characterized in that, The outer wall of the workbench (2) is fixedly installed with first ear seats (13) distributed at equal distances, and the position of the first ear seats (13) is staggered with the position of the support frame (4). The inner wall of the collection tube (1) is fixedly installed with second ear seats (15) distributed at equal distances, and the top of the second ear seats (15) and the top of the first ear seats (13) are fixedly installed with mounting posts (14).

6. The multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing according to claim 1, characterized in that, The waste discharge assembly (11) includes a rotating shaft (1101) rotatably connected to the middle of the bottom inner wall of the collection cylinder (1), and a polygonal groove (1104) is opened on the top of the rotating shaft (1101). A polygonal rod (1103) inserted into the polygonal groove (1104) is fixedly installed at the middle of the bottom of the lifting seat (1202). A pusher plate (1102) is fixed at equal distances to the inner wall of the collection cylinder (1) at the bottom bottom of the rotating shaft (1101). A waste discharge port is opened on one side of the bottom of the collection cylinder (1), and a sealing cover is provided at the bottom of the waste discharge port. Multiple universal wheels are installed at the bottom of the collection cylinder (1).

7. The multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing according to claim 6, characterized in that, The gas protection device (8) includes two support columns (801) fixed on the top of two first ear seats (13), and a top plate (805) is fixed on the top of the two support columns (801). A connection hole is opened in the middle of the top plate (805). A connecting pipe (802) is rotatably connected to the inner wall of the connection hole through a bearing. A gas distribution pipe (803) is fixed on the connecting pipe (802) and is evenly distributed. An exhaust hood (808) is installed at the bottom of each gas distribution pipe (803). The exhaust hood (808) is located directly above the welding robot body (7). A gas guide pipe (806) is rotatably connected to the top of the connecting pipe (802) through a sealed bearing. An inflation device (807) is installed at one end of the gas guide pipe (806) and the top of the top plate (805).

8. The multi-machine collaborative intelligent mobile welding robot based on flexible manufacturing according to claim 7, characterized in that, One of the support frames (4) has an L-shaped transmission rod (810) fixed at the middle of one of its top ends, and a first internal gear ring (809) is fixedly installed at one end of the transmission rod (810). A transmission gear (804) is fixedly installed on the outer wall of the connecting pipe (802), and the transmission gear (804) meshes with the first internal gear ring (809).

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