A welding robot for automobile parts

Abstract

The application discloses a kind of automobile parts welding robots of throttle type, belong to welding robot technical field.It includes multi-axis servo mechanical arm, inert gas supply end, welding laser emission end and throttle module, the output end of welding laser emission end is assembled with clean gas cavity, the outside of clean gas cavity is assembled with coaxial gas outlet cavity, by the hidden cleaning mechanism being configured at the outside of gas channel, utilize the square reserved mouth of separation ring gas guide cover side wall and accommodate cleaning assembly, so that it is completely hidden in sealing ring cavity when welding, does not disturb gas flow field uniformity, when cleaning, the magnetic repulsion of second electric control magnetic attraction module is used to push the cleaning mechanism into gas guide cavity, realize non-contact drive, both avoid the physical interference of mechanical drive component to gas path, and can thoroughly remove adhering material in deep pipeline, can effectively reduce the compensation gas increment demand caused by blockage, maintain long-term efficient operation of throttle system.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, and more particularly to an air-saving automobile parts welding robot. Background Art

[0002] Auto parts welding robots are core equipment in modern intelligent manufacturing. They are mainly used for automated welding of key components such as body structures and chassis parts. The laser welding gun is controlled by a robotic arm, and the coaxial nozzle outputs inert gas to form a concentric air curtain surrounding the laser beam, symmetrically covering the molten pool area. This effectively isolates the welding gun from air during operation, prevents welding oxidation, reduces porosity defects, and ensures consistent welding quality.

[0003] However, under actual working conditions, especially in gas-saving welding systems designed to reduce inert gas consumption, oil residues are generated during the welding process. As the workload increases and the equipment ages, the residues will continue to adhere to the inner wall of the nozzle and the gas pipeline, causing the gas path diameter to gradually shrink, making the gas path of the coaxial nozzle increasingly unstable. In order to compensate for the resulting pressure loss, the existing technology usually adopts the method of externally increasing the flow threshold to maintain the shielding gas coverage intensity, but this goes against the original design intention of the gas-saving welding system.

[0004] What is more serious is that frequent flow compensation will increase the accumulation rate of pollutants on the inner wall of the pipeline, forming a vicious cycle of blockage, pressurization, and more prone to blockage. Fundamentally, the crux of the gas line blockage lies in the lag of traditional maintenance methods. Existing cleaning technologies rely on shutdown to disassemble nozzles or external flushing equipment, such as high-pressure gas purging, which not only interrupts continuous production, but also makes it difficult to completely remove adhesions deep in the bent pipeline. However, if attempts are made to integrate active cleaning mechanisms such as mechanical scrapers inside the gas line, it will interfere with the uniformity of the gas flow field and cause the molten pool protection to fail. Especially in the welding process of automotive parts, batch welding has high requirements and is more prone to oil and dirt. Summary of the Invention

[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide a power-saving automobile parts welding robot, aiming to solve the above technical problems.

[0006] To solve the above problems, the present invention adopts the following technical solutions.

[0007] A gas-saving automobile parts welding robot includes a multi-axis servo mechanical arm, wherein an inert gas supply terminal, a welding laser emitting terminal, and a gas-saving module are configured at the output end of the multi-axis servo mechanical arm; a clear gas cavity is assembled at the output end of the welding laser emitting terminal, and a coaxial gas outlet cavity is assembled outside the clear gas cavity;

[0008] A coaxial separating annular air guide hood is fixedly installed inside the clean air chamber, and a coaxial laser beam passage tube is fixedly installed inside the separating annular air guide hood; the separating annular air guide hood divides the clean air chamber into an outer sealing ring chamber and an inner air guide chamber; the laser beam passage tube is connected to the output end of the welding laser emission end to connect the emitted laser; a second electrically controlled magnetic suction module is configured in the sealing ring chamber outside the separating annular air guide hood;

[0009] Among them, two square reserved openings 180 degrees apart and leading to the sealing ring cavity are provided on the side wall of the separating circular ring air guide cover. A cleaning liquid supply mechanism is provided on the outer surface of the laser beam channel tube. The cleaning liquid supply mechanism includes two groups of limiting arms 180 degrees apart, and each group of limiting arms is provided with a cleaning mechanism. The cleaning mechanism is hidden and accommodated in the sealing ring cavity outside the separating circular ring air guide cover through the square reserved opening, and the cleaning mechanism is pushed into the air guide cavity to work through the repulsive force generated by the second electrically controlled magnetic suction module.

[0010] As a further solution of the present invention: a notch is provided on the outer surface of the laser beam channel tube, and the cleaning liquid supply mechanism also includes an annular cavity movably mounted on the outer surface of the laser beam channel tube through the notch, and the outer surface of the annular cavity is flush with the outer surface of the laser beam channel tube; two groups of limiting arms 180 degrees apart are fixedly mounted on the outer surface of the annular cavity, and each group of limiting arms is a whole of two parallel bracket structures, and the protruding end of each bracket is attached to the inner wall of the separating annular air guide cover, and a card slot is provided on the inner wall of each bracket, and the sides of the card slot are provided with interconnected tube cavities, and a trigger module is arranged at a position between the two parallel brackets of each group of limiting arms on the outer surface of the annular cavity.

[0011] As a further solution of the present invention: the cleaning mechanism includes an arc-shaped cavity plate slidably mounted on each group of limit arms, and blocks for sliding into the card slots are fixedly mounted on both side edges of the arc-shaped cavity plate, a second servo motor is fixedly mounted on the outer arc surface of the arc-shaped cavity plate, a linear motor is fixedly mounted on the output end of the second servo motor, a fitting sleeve is mounted on the linear output end of the linear motor, two L-shaped extension rods 180 degrees apart are fixedly connected to the outside of the fitting sleeve, a buffer spring rod is fixedly mounted on the protruding end of the L-shaped extension rod, and an airbag sleeve is fixedly mounted on the outer telescopic end of the buffer spring rod.

[0012] As a further solution of the present invention: the airbag cover is a disc structure as a whole, and an electronically controlled inflation device is arranged at the inner center end position for real-time air replenishment; a washing cover is fixedly installed on the outer surface of the airbag cover, and an annular spray cover is fixedly installed on the outer edge of the washing cover; a plurality of spray ports are arranged on the circular edge of the annular spray cover; a suction reset airbag is fixedly installed on the outer end surface of the linear motor; a first hose connected to the airbag covers on both sides is fixedly installed on the outer surface of the suction reset airbag; a second hose connected to the airbag covers on both sides is fixedly installed on the side of the suction reset airbag away from the first hose; the second hose penetrates into the inner cavity of the arc-shaped cavity plate and passes out through the block position on one side.

[0013] As a further solution of the present invention: a magnetic coating is provided on the outer surface of the arc-shaped cavity plate, a one-way valve is provided inside the first hose to control the one-way entry of the liquid in the suction reset airbag into the airbag sleeve, the second hose is also provided with an injection valve to replenish the reagent, and the second hose is also provided inside the one-way valve to control the one-way entry of the liquid in the annular cavity into the suction reset airbag, the part of the second hose passing through the card block is sleeved inside the nanotube cavity, the upper inner side of the annular cavity is a cavity structure, and the second hose sleeved inside the nanotube cavity is connected to the cavity on the upper inner side of the annular cavity, two disassembly door covers 180 degrees apart are pressed and installed on the side wall of the clear air cavity, and an elastic push plate facing the suction reset airbag is fixedly installed on the fitting card sleeve, and the elastic push plate as a whole is a bent geometric elastic structure.

[0014] As a further solution of the present invention: a circular guide rail is fixedly installed in the sealing ring cavity separated by the separating circular air guide cover inside the clean air cavity, a circular frame is movably installed on the circular guide rail, two square slot frames 180 degrees apart are fixedly installed on the circular frame, and a second electrically controlled magnetic module is fixedly installed on the outer side of each square slot frame, the magnetic ends of the second electrically controlled magnetic modules are all facing the center of the clean air cavity, and a magnetic sheet is fixedly installed on the top of the second electrically controlled magnetic module.

[0015] As a further solution of the present invention: a first servo motor is fixedly installed on the outer edge of the clean air chamber, a gear plate is fixedly installed on the output end of the first servo motor, a coaxial gear ring is movably installed on the top of the clean air chamber, and the side of the gear ring is engaged with the gear plate, two side panels 180 degrees apart are fixedly installed on the side of the gear ring, and a first electrically-controlled magnetic module is fixedly installed on the surface of each side panel, and the magnetic end of the first electrically-controlled magnetic module faces one end of the clean air chamber to adsorb the second electrically-controlled magnetic module with a magnetic sheet.

[0016] As a further solution of the present invention: the interior of the air outlet cavity is a cavity structure, and a circular opening is provided at the center of the bottom circle of the air outlet cavity for the separating circular air guide hood to discharge gas and for the laser beam channel tube to emit laser. The bottom of the arc-shaped cavity plate is also provided with a secondary cleaning module extending into both sides of the cavity in the air outlet cavity.

[0017] As a further solution of the present invention: the secondary cleaning module includes an L-shaped bracket fixedly connected to the bottom of the arc-shaped cavity plate, the bottom of the L-shaped bracket extends as a whole into the two sides of the cavity in the air outlet cavity, and a reset slot is provided on the protruding end, and a sleeve rod is fixedly installed inside the reset slot, and a fitting sleeve is slidably installed on the reset slot through the sleeve rod, and a reset spring is also provided on the outer surface of the sleeve rod. Under the action of the reset force of the reset spring, the fitting sleeve is placed as a whole at the outermost end of the bottom of the L-shaped bracket.

[0018] As a further solution of the present invention: a semi-circular cleaning plate is fixedly installed on the bottom of the engaging sleeve, a toughness brush is configured on the surface of the semi-circular cleaning plate, and a third electrically controlled magnetic suction module is fixedly installed on both sides of the semi-circular cleaning plate.

[0019] Compared with the prior art, the above technical solution provided by the present invention has at least the following beneficial effects:

[0020] (1) This invention arranges a hidden cleaning mechanism on the outside of the airway, and uses the square reserved opening on the side wall of the separating circular air guide cover to accommodate the cleaning component, so that it is completely hidden in the sealing ring cavity during welding, without interfering with the uniformity of the gas flow field. During cleaning, the cleaning mechanism is pushed into the air guide cavity by the magnetic repulsion of the second electrically controlled magnetic module, realizing non-contact drive, which not only avoids the physical interference of the mechanical drive component on the air path, but also can thoroughly remove the adhesions deep in the pipeline, which can effectively reduce the compensatory gas increment demand caused by blockage and maintain the long-term efficient operation of the air-saving system.

[0021] (2) The residual heat of the laser is used to heat the reagent in the cleaning liquid supply mechanism. The heated reagent is sprayed onto the inner wall of the air guide cavity through the airbag sleeve and the annular spray sleeve. Combined with the flexible contact of the buffer spring rod and the mechanical friction of the washing sleeve, efficient decontamination is achieved. Through the coordinated control of the multi-axis servo robot arm, the gear ring and the electric-controlled magnetic suction module, surround-type dynamic cleaning can be achieved synchronously, which not only reduces the additional energy consumption, but also improves the cleaning effect by heat-activating the reagent, and can significantly reduce the waste of protective gas caused by gas path pollution.

[0022] (3) While cleaning the air guide cavity, the air outlet cavity is cleaned synchronously by using the secondary cleaning module linked to the bottom of the arc-shaped cavity plate: when the cleaning mechanism is pushed out by the magnetic force, the L-shaped card holder drives the embedded card sleeve to move, and the third electrically controlled magnetic suction module adsorbs the semi-circular cleaning plates on both sides to form a complete disc, and the bottom of the air outlet cavity is rotated and brushed. After cleaning, the magnetic attraction is released, and the reset spring automatically withdraws the component to its original position to avoid interfering with welding. It can achieve seamless switching from welding to cleaning mode, and complete all-round maintenance of key parts without stopping the machine, which not only ensures the stable coverage of the molten pool shielding gas, but also maximizes the continuous operation capability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable one skilled in the art to make and use the invention.

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the air-clearing cavity of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure inside the air-clearing cavity of the present invention;

[0027] Figure 4 This is a schematic structural diagram of a half-section view of the air-clearing chamber of the present invention;

[0028] Figure 5 This is a schematic structural diagram of the separated annular air guide cover of the present invention;

[0029] Figure 6 This is a schematic structural diagram of the cleaning liquid supply mechanism of the present invention in a disassembled cross-sectional state;

[0030] Figure 7 This is a schematic structural diagram of a cross-sectional view of a limit arm of the present invention;

[0031] Figure 8 Schematic diagram of the structure of the circular frame of the present invention;

[0032] Figure 9 This is a schematic structural diagram of a cross-sectional view of the arc-shaped cavity plate of the present invention;

[0033] Figure 10 for Figure 9 Schematic diagram of the enlarged structure at A in the middle;

[0034] Figure 11 This is a schematic structural diagram of the bottom of the air-clearing cavity of the present invention;

[0035] Figure 12This is a structural diagram of the secondary cleaning module of the present invention in a disassembled state.

[0036] Reference numerals:

[0037] 1. Multi-axis servo robotic arm; 2. Inert gas supply end; 3. Welding laser emission end; 4. Air saving module;

[0038] 5. Clear air cavity; 6. Exhaust air cavity; 7. Separation ring air guide cover; 8. Laser beam channel tube;

[0039] 9. Cleaning liquid supply mechanism; 91. Annular cavity; 92. Limiting arm; 93. Card slot; 94. Tube cavity; 95. Trigger module;

[0040] 10. Side panel; 11. First servo motor; 12. Gear plate; 13. Gear ring; 14. First electric-controlled magnetic module; 15. Door cover removal; 16. Ring guide rail; 17. Ring frame; 18. Square notch frame; 19. Second electric-controlled magnetic module; 20. Magnetic sheet;

[0041] 21. Cleaning mechanism; 211. Arc-shaped cavity plate; 212. Clamping block; 213. Second servo motor; 214. Linear motor; 215. Fitting sleeve; 216. L-shaped extension rod; 217. Buffer spring rod; 218. Airbag sleeve; 219. Scrubbing sleeve; 2110. Annular spray sleeve; 2111. Suction reset airbag; 2112. First hose; 2113. Elastic push plate; 2114. Second hose;

[0042] 22. Square reserved opening;

[0043] 23. Secondary cleaning module; 231. L-shaped bracket; 232. Reset notch; 233. Sleeve rod; 234. Reset spring; 235. Fitting sleeve; 236. Semi-circular cleaning plate; 237. Third electric-controlled magnetic suction module.

[0044] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0045] The following describes in detail a gas-saving automotive parts welding robot provided by the present invention, with reference to the accompanying drawings and specific embodiments. It is also noted that, for the sake of completeness, the following embodiments are best and preferred embodiments, and those skilled in the art may employ alternative implementations. Furthermore, the accompanying drawings are intended only to further illustrate the embodiments and are not intended to limit the present invention.

[0046] like Figures 1 to 12 As shown, an embodiment of the present invention provides an air-saving automobile parts welding robot, comprising a multi-axis servo robot arm 1, wherein an inert gas supply end 2, a welding laser emitting end 3, and an air-saving module 4 are configured at the output end of the multi-axis servo robot arm 1, a clear gas cavity 5 is assembled at the output end of the welding laser emitting end 3, and a coaxial air outlet cavity 6 is assembled on the outer side of the clear gas cavity 5;

[0047] A coaxial separating annular air guide hood 7 is fixedly installed inside the clean air chamber 5, and a coaxial laser beam passage tube 8 is fixedly installed inside the separating annular air guide hood 7; the separating annular air guide hood 7 divides the clean air chamber 5 into an outer sealing annular cavity and an inner air guide cavity; the laser beam passage tube 8 is connected to the output end of the welding laser emitting end 3 to connect the emitted laser; a second electrically controlled magnetic attraction module 19 is disposed in the sealing annular cavity outside the separating annular air guide hood 7;

[0048] Among them, two square reserved openings 22 are provided on the side wall of the separating circular air guide cover 7, which are 180 degrees apart and lead to the sealing ring cavity. A cleaning liquid supply mechanism 9 is provided on the outer surface of the laser beam channel tube 8. The cleaning liquid supply mechanism 9 includes two groups of limiting arms 92 separated by 180 degrees, and each group of limiting arms 92 is provided with a cleaning mechanism 21. The cleaning mechanism 21 is hidden and accommodated in the sealing ring cavity outside the separating circular air guide cover 7 through the square reserved opening 22. The cleaning mechanism 21 is pushed into the air guide cavity to work through the repulsive force generated by the second electrically controlled magnetic suction module 19.

[0049] In order to solve the technical problem of how to achieve gas path cleaning without interfering with the uniformity of the gas flow field in the air-saving welding system, the above-mentioned technical solution is now adopted to solve the problem. The above-mentioned technical solution is mainly composed of a multi-axis servo robot arm 1, an inert gas supply end 2, a welding laser emitting end 3, a air-saving module 4, a clear air chamber 5, an air outlet chamber 6, a separating ring air guide cover 7, a laser beam channel tube 8, a cleaning liquid supply mechanism 9, a second electrically controlled magnetic suction module 19, a cleaning mechanism 21, and a square reserved opening 22. The multi-axis servo robot arm 1 is a robot arm structure capable of multi-angle servo drive in the prior art, and the configured inert gas supply end 2, welding laser emitting end 3, and air-saving module 4 are all conventional structures configured on the laser welding system in the prior art, wherein the inert gas supply end 2 and the air-saving module 4 are used to stably provide inert gas to the outside. The clean air chamber 5 and the air outlet chamber 6 are installed in combination one above and one below, which is equivalent to the coaxial nozzle structure in the prior art. The separating annular air guide cover 7 is arranged on the clean air chamber 5, and the sealing ring chamber outside the clean air chamber 5 and the air guide chamber inside. The outer sealing ring chamber is used to accommodate the hidden cleaning mechanism 21 and drive the cleaning mechanism 21, while the inner air guide chamber is annular as a whole and is arranged on the periphery of the laser beam channel tube 8. Combined with the inert gas supplied by the inert gas supply end 2, a concentric air curtain surrounding the laser beam is formed on the outside of the laser beam channel tube 8. The laser generated from the welding laser emitting end 3 is emitted outward through the laser beam channel tube 8. During the emission process, the laser beam channel tube 8 itself will generate a lot of heat. Therefore, the laser beam channel tube 8 is made of high heat-resistant material in the prior art, and the generated heat is transmitted to the cleaning liquid supply mechanism 9 on the outside, and is heated by the reagent stored in the cleaning liquid supply mechanism 9, and then the heated reagent is transported to the cleaning mechanism 21 for reverse heat utilization.

[0050] Among them, the square reserved opening 22 opened on the side wall of the separating circular air guide hood 7 is used to accommodate the cleaning mechanism 21. The cleaning mechanism 21 is placed at the position of the square reserved opening 22. On the one hand, it is used to block the square reserved opening 22 to ensure the stability of the airway cavity. On the other hand, the cleaning mechanism 21 is stored on the outside of the separating circular air guide hood 7 through the square reserved opening 22 without interfering with the normal supply of inert gas. The whole is controlled by the remote magnetic attraction force and the magnetic repulsion force through the second electrically controlled magnetic attraction module 19 to push the cleaning mechanism 21 hidden on the outside into the interior of the separating circular air guide hood 7, avoiding the use of driving components inside the separating circular air guide hood 7, to solve the problem of how to achieve the gas path cleaning technology that does not interfere with the uniformity of the gas flow field in the gas-saving welding system, clean up the impurities on the inner wall, and further assist the gas-saving effect of the gas-saving module 4 in supplying gas.

[0051] like Figures 1 to 12As shown, the outer surface of the laser beam channel tube 8 is provided with a recess, and the cleaning liquid supply mechanism 9 also includes an annular cavity 91 movably mounted on the outer surface of the laser beam channel tube 8 through the recess, and the outer surface of the annular cavity 91 is flush with the outer surface of the laser beam channel tube 8; two groups of limiting arms 92 180 degrees apart are fixedly mounted on the outer surface of the annular cavity 91, and each group of limiting arms 92 is a whole of two parallel bracket structures, and the protruding end of each bracket is attached to the inner wall of the separating annular air guide cover 7, and a card slot 93 is provided on the inner wall of each bracket, and a communicating tube cavity 94 is provided on the side of the card slot 93, and a trigger module 95 is arranged at a position between the two parallel brackets of each group of limiting arms 92 on the outer surface of the annular cavity 91.

[0052] Among them, the configured trigger module 95 is a high-heat-resistant contact module in the existing technology. It can perform real-time detection of the external contact surface during operation. When squeezed or contacted, it will send a signal to the system for real-time detection of whether there is a fitting end on the outer surface of the annular cavity 91, so as to perform subsequent control nodes.

[0053] like Figures 1 to 12 As shown, the cleaning mechanism 21 includes an arc-shaped cavity plate 211 slidably mounted on each group of limiting arms 92, and a card block 212 for slidingly engaging in the card slot 93 is fixedly mounted on both sides of the arc-shaped cavity plate 211. A second servo motor 213 is fixedly mounted on the outer arc surface of the arc-shaped cavity plate 211, and a linear motor 214 is fixedly mounted on the output end of the second servo motor 213. A fitting sleeve 215 is mounted on the linear output end of the linear motor 214, and two L-shaped extension rods 216 180 degrees apart are fixedly connected to the outside of the fitting sleeve 215. A buffer spring rod 217 is fixedly mounted on the protruding end of the L-shaped extension rod 216, and an airbag sleeve 218 is fixedly mounted on the outer telescopic end of the buffer spring rod 217.

[0054] The linear motor 214, a conventional drive motor structure with a side-mounted output, drives a sleeve 215, which is attached to the output end, in a linear reciprocating servo motion during operation. The side of the arc-shaped cavity plate 211 is aligned with the inner wall of the separating annular air guide hood 7. The plate is supported by a limiting arm 92 on the inner wall of the separating annular air guide hood 7, allowing it to rotate along the inner wall of the separating annular air guide hood 7. The buffer spring rod 217 and airbag cover 218 are configured to buffer the extrusion force on the contact surface during subsequent wiping, ensuring that the airbag cover 218 adheres more gently and tightly to the target surface during operation.

[0055] like Figures 1 to 12As shown, the airbag cover 218 is a disc structure as a whole, and an electronically controlled inflation device is provided at the inner center end position for real-time air replenishment. A washing cover 219 is fixedly installed on the outer surface of the airbag cover 218, and an annular spray cover 2110 is fixedly installed on the outer edge of the washing cover 219. The annular edge of the annular spray cover 2110 is provided with several spray ports. A suction reset airbag 2111 is fixedly installed on the outer end surface of the linear motor 214, and a first hose 2112 is fixedly installed on the outer surface of the suction reset airbag 2111, which is respectively connected to the airbag covers 218 on both sides. A second hose 2114 is fixedly installed on the side of the suction reset airbag 2111 away from the first hose 2112. The second hose 2114 penetrates into the inner cavity of the arc-shaped cavity plate 211 and passes out through the position of the block 212 on one side.

[0056] The first hose 2112, after being connected to the airbag sleeves 218 on both sides, is connected to the annular spray sleeve 2110 outside the airbag sleeves 218, respectively, for injecting liquid into the annular spray sleeves 2110. The suction reset airbag 2111 is a conventional airbag structure capable of restoring itself under no pressure due to its inherent resilience. When squeezed, the reagent stored within it is squeezed into the annular spray sleeve 2110 through the first hose 2112. A one-way valve prevents the reagent in the annular spray sleeve 2110 from flowing back into the annular spray sleeve 2110. A second hose 2114, located outside the suction reset airbag 2111, is used to inject liquid into the suction reset airbag 2111. A one-way valve is also provided on the second hose 2114 to prevent the reagent in the suction reset airbag 2111 from entering the second hose 2114 during squeezing.

[0057] like Figures 1 to 12 As shown, the outer surface of the arc-shaped cavity plate 211 is provided with a magnetic coating, the interior of the first hose 2112 is provided with a one-way valve to control the liquid in the suction reset airbag 2111 to enter the airbag sleeve 218 in one direction, the second hose 2114 is also provided with an injection valve to replenish the reagent, and the interior of the second hose 2114 is also provided with a one-way valve to control the liquid in the annular cavity 91 to enter the suction reset airbag 2111 in one direction, and the second hose 2114 passes through the block 212. The part is sleeved inside the nanotube cavity 94, the inner upper side of the annular cavity 91 is a cavity structure, and the second hose 2114 sleeved inside the nanotube cavity 94 is connected to the cavity on the inner upper side of the annular cavity 91, and two disassembly door covers 15 180 degrees apart are pressed and installed on the side wall of the air-clearing cavity 5, and an elastic push plate 2113 facing the suction reset airbag 2111 is fixedly installed on the sleeve 215, and the elastic push plate 2113 is a bent geometric elastic structure as a whole.

[0058] The elastic push plate 2113 is a bent, geometrically shaped elastic structure. During the pushing process, the elastic push plate 2113 deforms and then compresses the outer suction and reset airbag 2111, ensuring a relatively stable and gentle force during the pushing and squeezing of the suction and reset airbag 2111. The disassembly door 15 can be opened outward, allowing for quick and convenient maintenance of components within the outer annular cavity.

[0059] like Figures 1 to 12 As shown, a circular guide rail 16 is fixedly installed in the sealed ring cavity separated by the separating circular air guide cover 7 inside the clean air cavity 5, and a circular frame 17 is movably installed on the circular guide rail 16. Two square slot frames 18 separated by 180 degrees are fixedly installed on the circular frame 17, and a second electrically controlled magnetic module 19 is fixedly installed on the outer side of each square slot frame 18. The magnetic ends of the second electrically controlled magnetic modules 19 are all facing the center of the clean air cavity 5, and a magnetic sheet 20 is fixedly installed on the top of the second electrically controlled magnetic module 19.

[0060] The second electrically controlled magnetic module 19 is a structure capable of magnetic attraction control in the prior art. Through electronic control, the magnetic attraction state at the output end can be changed, i.e., the magnetic attraction state is present or absent, and the magnetic attraction force at the output end can be servo-controlled to increase or decrease. The magnetic attraction states are the adsorption state and the repulsion state, i.e., the positive and negative poles of the magnetic pole. The magnetic sheet 20 is a metal sheet with magnetic attraction in the prior art.

[0061] like Figures 1 to 12 As shown, a first servo motor 11 is fixedly mounted on the outer side of the clean air chamber 5, a gear plate 12 is fixedly mounted on the output end of the first servo motor 11, a coaxial gear ring 13 is movably mounted on the top of the clean air chamber 5, and the side of the gear ring 13 is engaged with the gear plate 12, two side panels 10 180 degrees apart are fixedly mounted on the side of the gear ring 13, and a first electrically-controlled magnetic module 14 is fixedly mounted on the surface of each side panel 10, and the magnetic end of the first electrically-controlled magnetic module 14 faces one end of the clean air chamber 5 to adsorb the second electrically-controlled magnetic module 19 with a magnetic sheet 20.

[0062] The first electrically controlled magnetic attraction module 14 and the second electrically controlled magnetic attraction module 19 have the same structure and function.

[0063] like Figures 1 to 12 As shown, the interior of the air outlet cavity 6 is a cavity structure, and a circular opening is provided at the center of the bottom circle of the air outlet cavity 6 for the separating circular air guide hood 7 to discharge gas, and for the laser beam channel tube 8 to emit laser. The bottom of the arc-shaped cavity plate 211 is also provided with a secondary cleaning module 23 extending into both sides of the cavity in the air outlet cavity 6.

[0064] like Figures 1 to 12 As shown, the secondary cleaning module 23 includes an L-shaped bracket 231 fixedly connected to the bottom of the arc-shaped cavity plate 211, and the bottom of the L-shaped bracket 231 extends as a whole into the two sides of the cavity in the air outlet cavity 6, and a reset slot 232 is provided on the protruding end, and a sleeve rod 233 is fixedly installed inside the reset slot 232, and a fitting sleeve 235 is slidably installed on the reset slot 232 through the sleeve rod 233, and a reset spring 234 is also sleeved on the outer surface of the sleeve rod 233. Under the reset force of the reset spring 234, the fitting sleeve 235 is placed as a whole at the outermost end of the bottom of the L-shaped bracket 231.

[0065] Among them, the configured return spring 234 is used to drive the outer sliding fitting of the embedded sleeve 235 to be pushed outward, so that the embedded sleeve 235 is pushed to the outermost end of the bottom of the L-shaped bracket 231, that is, the side end of the cavity in the air outlet cavity 6, so as to avoid interfering with the normal operation of the separating annular air guide cover 7 and the laser beam channel tube 8.

[0066] like Figures 1 to 12 As shown, a semi-circular cleaning plate 236 is fixedly installed on the bottom of the engaging sleeve 235, a toughness brush is provided on the surface of the semi-circular cleaning plate 236, and a third electrically controlled magnetic suction module 237 is fixedly installed on both sides of the semi-circular cleaning plate 236.

[0067] The specific working principle of the configured cleaning mechanism 21 is as follows:

[0068] First, through the servo adjustment action of the multi-axis servo robot arm 1, the clean air chamber 5 and the air outlet chamber 6 at the output end are controlled to align with the part to be welded, the welding laser emitting end 3 is opened, and the laser emitted by the welding laser emitting end 3 enters the laser beam channel tube 8, and the inert gas supply end 2 is synchronously coordinated to supply gas to the outside. The supplied gas enters the throttle module 4, and after being controlled by the air control valve of the throttle module 4, it enters the inner ring of the separating circular ring air guide cover 7 of the clean air chamber 5, forming a circular air channel wrapped around the outside of the laser beam channel tube 8, and laser welding is performed on the target area following the laser emitted from the laser beam channel tube 8.

[0069] Then, after completing one stage of welding, during the cooling process of the welding laser emitting end 3, a magnetic force is generated by the output end of the second electrically controlled magnetic module 19 separating the outer side of the annular air guide cover 7, and the cleaning mechanism 21 outside the output end is pushed along the limit arm 92 toward one end of the annular cavity 91, that is, the arc-shaped cavity plate 211 with a magnetic coating is pushed by the magnetic force generated by the output end of the second electrically controlled magnetic module 19, and the arc-shaped cavity plate 211 moves from the position of the square reserved openings 22 on both sides of the separating annular air guide cover 7 toward one end of the annular cavity 91 until it is completely close to and fits on the outer surface of the annular cavity 91, at this time, the first servo is turned on. The motor 11 drives the meshing gear ring 13 to rotate through the gear plate 12 at the output end of the first servo motor 11, so that the first electrically controlled magnetic module 14 at the upper side plate 10 end of the gear ring 13 adsorbs the magnetic plate 20 of the second electrically controlled magnetic module 19, driving the second electrically controlled magnetic module 19 to rotate in a circle along the circular guide rail 16. At this time, the linear motor 214 controls the sleeve 215 to move outward in a servo manner, so that the airbag cover 218 on the outside of the L-shaped extension rod 216 is attached to the inner wall of the separating circular air guide cover 7, and rotates with the rotation of the system, thereby scrubbing the inner wall of the separating circular air guide cover 7 in all directions.

[0070] Then, because in the process of the laser beam channel tube 8 at the output end of the welding laser emitting end 3 emitting laser, the outer surface of the laser beam channel tube 8 will generate heat, and the generated heat will be transferred to the annular cavity 91 outside the laser beam channel tube 8, and finally heat the reagent inside the annular cavity 91, and then the sleeve 215 at the output end of the linear motor 214 will be further pushed outward. After the multi-layer buffering action of the buffer spring rod 217 and the airbag sleeve 218, the airbag sleeve 218 responsible for brushing will be further tightly attached to the inner wall of the separating annular air guide cover 7, and in the process of the sleeve 215 being further pushed outward, the elastic push plate 2113 on the side of the sleeve 215 will further squeeze the suction reset airbag 2111, so that the suction reset airbag 2111 is squeezed out of the inside. The reagent is squeezed out and enters the annular spray sleeve 2110 through the first hose 2112, and is finally sprayed out through the annular spray sleeve 2110 to act on the brushing end of the airbag sleeve 218, further assisting the internal airway cleaning effect and ensuring the airway fluidity. After the reagent in the suction reset airbag 2111 is squeezed out, the sleeve 215 is retracted by the linear motor 214 to reset the suction reset airbag 2111. During the resetting process, the suction reset airbag 2111 will introduce the heated reagent inside the annular cavity 91 into its interior for cleaning during the next shutdown and heat dissipation process, and it will be carried out back and forth in sequence. After the reagent at the storage end is completely consumed, the disassembly door cover 15 can be opened to introduce the reagent from the injection valve on the second hose 2114.

[0071] Finally, since the air outlet cavity 6 is the part closest to the welding end, it is also the part where impurities and oil mist are most seriously generated. If this continues for a long time, it will interfere with the laser emission effect of the laser beam channel tube 8. Therefore, each time the first servo motor 11 links the cleaning mechanism 21 to perform a surround cleaning process, its arc-shaped cavity plate 211 will be pushed out by the second electric-controlled magnetic module 19. It will synchronously pull the secondary cleaning module 23 at the bottom of the arc-shaped cavity plate 211 to perform a secondary cleaning on the bottom center of the air outlet cavity 6. The arc-shaped cavity plate 211 pulls the L-shaped bracket 231. When the arc-shaped cavity plate 211 is completely attached to the outer surface of the laser beam channel tube 8, the arc-shaped cavity plate 211 will be pulled out. When the surface is cleaned, the third electrically-controlled magnetic modules 237 on the L-shaped brackets 231 on both sides are opened. The magnetic attraction force generated by the third electrically-controlled magnetic modules 237 is mutually attracted. The attraction force is greater than the reset force of the reset spring 234, and the engaging sleeve 235 on the outer end of the reset groove 232 will be pulled to the position of the center of the bottom of the air outlet cavity 6. The semi-circular cleaning plate 236 at the end of the L-shaped bracket 231 at the bottom will fit together to form a complete disc structure, which will be mounted on the bottom of the center of the air outlet cavity 6. After forming a complete disc, it can rotate with the rotation of the cleaning mechanism 21, and perform all-round rotary cleaning synchronously.

[0072] Among them, when welding is required, the magnetic state of the third electrically controlled magnetic module 237 can be canceled. At this time, the third electrically controlled magnetic module 237 is released from adsorption. After the adsorption state is released, under the action of the reset force of the reset spring 234, the engaging sleeve 235 will be pushed to the outside of the reset groove 232 so as not to interfere with the state of the bottom of the laser beam channel tube 8.

[0073] The present invention encompasses any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention. To provide a thorough understanding of the present invention, specific details are described in detail below in connection with the preferred embodiments of the present invention, but those skilled in the art will be able to fully understand the present invention without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of the present invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0074] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A power-saving automobile parts welding robot, comprising a multi-axis servo robot arm, characterized in that: The output end of the multi-axis servo robot arm is equipped with an inert gas supply end, a welding laser emitting end and an air-saving module. The output end of the welding laser emitting end is assembled with a clear gas cavity, and a coaxial gas outlet cavity is assembled on the outer side of the clear gas cavity. A coaxial separating annular air guide hood is fixedly installed inside the clean air chamber, and a coaxial laser beam passage tube is fixedly installed inside the separating annular air guide hood; the separating annular air guide hood divides the clean air chamber into an outer sealing ring chamber and an inner air guide chamber; the laser beam passage tube is connected to the output end of the welding laser emission end to connect the emitted laser; a second electrically controlled magnetic suction module is configured in the sealing ring chamber outside the separating annular air guide hood; Among them, two square reserved openings 180 degrees apart and leading to the sealing ring cavity are provided on the side wall of the separating circular ring air guide cover. A cleaning liquid supply mechanism is provided on the outer surface of the laser beam channel tube. The cleaning liquid supply mechanism includes two groups of limiting arms 180 degrees apart, and each group of limiting arms is provided with a cleaning mechanism. The cleaning mechanism is hidden and accommodated in the sealing ring cavity outside the separating circular ring air guide cover through the square reserved opening, and the cleaning mechanism is pushed into the air guide cavity to work through the repulsive force generated by the second electrically controlled magnetic suction module.

2. The air-saving automobile parts welding robot according to claim 1, characterized in that: A notch is provided on the outer surface of the laser beam channel tube, and the cleaning liquid supply mechanism also includes an annular cavity movably mounted on the outer surface of the laser beam channel tube through the notch, and the outer surface of the annular cavity is flush with the outer surface of the laser beam channel tube; two groups of limiting arms 180 degrees apart are fixedly mounted on the outer surface of the annular cavity, and each group of limiting arms is a whole of two parallel bracket structures, and the protruding end of each bracket is attached to the inner wall of the separating annular air guide cover, and a card slot is provided on the inner wall of each bracket, and the sides of the card slot are provided with interconnected tube cavities, and a trigger module is arranged at the position between the two parallel brackets of each group of limiting arms on the outer surface of the annular cavity.

3. The air-saving automobile parts welding robot according to claim 2, characterized in that: The cleaning mechanism includes an arc-shaped cavity plate slidably mounted on each group of limit arms, and blocks for sliding into the card slots are fixedly mounted on both sides of the arc-shaped cavity plate. A second servo motor is fixedly mounted on the outer arc surface of the arc-shaped cavity plate, and a linear motor is fixedly mounted on the output end of the second servo motor. A fitting sleeve is mounted on the linear output end of the linear motor, and two L-shaped extension rods 180 degrees apart are fixedly connected to the outside of the fitting sleeve. A buffer spring rod is fixedly mounted on the protruding end of the L-shaped extension rod, and an airbag sleeve is fixedly mounted on the outer telescopic end of the buffer spring rod.

4. The air-saving automobile parts welding robot according to claim 3, characterized in that: The airbag cover is a disc structure as a whole, and an electronically controlled inflation device is provided at the inner center end position for real-time air replenishment. A washing cover is fixedly installed on the outer surface of the airbag cover, and an annular spray cover is fixedly installed on the outer edge of the washing cover. A number of spray ports are provided on the circular edge of the annular spray cover. A suction reset airbag is fixedly installed on the outer end surface of the linear motor, and a first hose connected to the airbag covers on both sides is fixedly installed on the outer surface of the suction reset airbag. A second hose that is connected to the airbag covers on both sides is fixedly installed on the side of the suction reset airbag away from the first hose. The second hose penetrates into the inner cavity of the arc-shaped cavity plate and passes out through the block position on one side.

5. The air-saving automobile parts welding robot according to claim 4, characterized in that: A magnetic coating is provided on the outer surface of the arc-shaped cavity plate, a one-way valve is provided inside the first hose to control the one-way entry of the liquid in the suction reset airbag into the airbag sleeve, the second hose is also provided with an injection valve to replenish the reagent, and the second hose is also provided inside the one-way valve to control the one-way entry of the liquid in the annular cavity into the suction reset airbag, the part of the second hose passing through the block is sleeved inside the nanotube cavity, the upper inner side of the annular cavity is a cavity structure, and the second hose sleeved inside the nanotube cavity is connected to the cavity on the upper inner side of the annular cavity, two disassembly door covers 180 degrees apart are pressed and installed on the side wall of the clear air cavity, and an elastic push plate facing the suction reset airbag is fixedly installed on the fitting sleeve, and the elastic push plate is a bent geometric elastic structure as a whole.

6. The air-saving automobile parts welding robot according to claim 5, characterized in that: A circular guide rail is fixedly installed in the sealing ring cavity separated by the separating circular air guide cover inside the clean air cavity, and a circular frame is movably installed on the circular guide rail. Two square slot frames 180 degrees apart are fixedly installed on the circular frame, and a second electrically controlled magnetic module is fixedly installed on the outer side of each square slot frame. The magnetic ends of the second electrically controlled magnetic modules are all facing the center of the clean air cavity, and a magnetic sheet is fixedly installed on the top of the second electrically controlled magnetic module.

7. The air-saving automobile parts welding robot according to claim 6, characterized in that: A first servo motor is fixedly mounted on the outer side of the clean air chamber, a gear plate is fixedly mounted on the output end of the first servo motor, a coaxial gear ring is movably mounted on the top of the clean air chamber, and the side of the gear ring is engaged with the gear plate, two side panels 180 degrees apart are fixedly mounted on the side of the gear ring, and a first electrically-controlled magnetic module is fixedly mounted on the surface of each side panel, and the magnetic end of the first electrically-controlled magnetic module faces one end of the clean air chamber to adsorb the second electrically-controlled magnetic module with a magnetic sheet.

8. The air-saving automobile parts welding robot according to claim 7, characterized in that: The interior of the air outlet cavity is a cavity structure, and a circular opening is provided at the center of the bottom circle of the air outlet cavity for the separating circular air guide cover to discharge gas and for the laser beam channel tube to emit laser. The bottom of the arc-shaped cavity plate is also provided with a secondary cleaning module extending into both sides of the cavity in the air outlet cavity.

9. The air-saving automobile parts welding robot according to claim 8, characterized in that: The secondary cleaning module includes an L-shaped bracket fixedly connected to the bottom of the arc-shaped cavity plate, the bottom of the L-shaped bracket extends as a whole into both sides of the cavity in the air outlet cavity, and a reset slot is provided on the protruding end, a sleeve rod is fixedly installed inside the reset slot, and a fitting sleeve is slidably installed on the reset slot through the sleeve rod, and a reset spring is also sleeved on the outer surface of the sleeve rod. Under the action of the reset force of the reset spring, the fitting sleeve is placed as a whole at the outermost end of the bottom of the L-shaped bracket.

10. The air-saving automobile parts welding robot according to claim 9, characterized in that: A semi-circular cleaning plate is fixedly installed on the bottom of the engaging sleeve, a toughness brush is configured on the surface of the semi-circular cleaning plate, and a third electrically controlled magnetic suction module is fixedly installed on both sides of the semi-circular cleaning plate.

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