Welding manipulator convenient to adjust

Abstract

The invention relates to the technical field of welding, in particular to a welding manipulator convenient to adjust. The clamping assembly is used for clamping a welding piece; the driving assembly comprises a welding manipulator, and the welding manipulator is driven to move above the driving assembly; and the detection assembly comprises a second detection block arranged above the welding piece and a first detection block arranged below the welding piece. The thickness change of a welded plate is dynamically detected through the contact wheel, physical deformation is converted into an electric signal (voltage change), the magneto-rheological fluid coupling is linked to automatically adjust the welding speed, welding is accelerated in a thin plate area to avoid burnthrough, welding is accelerated in a thick plate area to ensure the fusion depth, self-adaptive regulation and control in the welding process are achieved, and the welding quality is improved. According to the mechanism, the uniformity and stability of weld joints are remarkably improved, and the defect problem caused by uneven thickness in traditional welding is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and in particular to a welding manipulator which is easy to adjust. Background Art

[0002] A welding robot is an automated device primarily used to perform welding operations. It is typically composed of multiple joints and equipped with spacers to simulate manual operation. It includes articulated robots and rectangular coordinate robots, and is suitable for various welding methods, such as arc welding, laser welding, and spot welding.

[0003] During the welding process, welding quality stability and ease of operation are core challenges in the field of automated welding. Conventional welding robots often fail to adjust welding parameters in real time when dealing with uneven plate thickness, resulting in burn-through or insufficient fusion. While existing technologies (such as the patent publication CN113579603B, which discloses a welding robot based on a pre-action principle to facilitate slag removal) inhibit slag adhesion by pre-coating with talcum powder, this limitation only addresses post-weld cleanup and fails to overcome the difficulty of controlling weld penetration caused by thickness variations during welding.

[0004] When welding thin plate areas, a fixed welding speed will cause excessive heat concentration, resulting in weld burn-through or deformation, seriously affecting the welding quality. In thick plate areas, a fixed welding speed cannot provide sufficient heat input, resulting in insufficient penetration, inadequate weld fusion, and even defects such as incomplete penetration.

[0005] Existing technologies lack the ability to detect plate thickness in real time, and the welding process relies on preset parameters. This makes it impossible to respond to changes in the surface roughness of the workpiece (such as depressions or protrusions), resulting in large fluctuations in welding quality. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a welding robot that is easy to adjust, which can effectively solve the problem that the prior art has no adjustment for the thickness of the welding plate.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] The present invention provides a welding manipulator that is easy to adjust, comprising:

[0009] floor;

[0010] A clamping assembly, wherein the clamping assembly is used to clamp the weldment;

[0011] A driving assembly, wherein the driving assembly includes a welding manipulator, and the welding manipulator is driven to move above the driving assembly;

[0012] The detection component includes a second detection block arranged above the welding part and a first detection block arranged below the welding part, a rotating shaft is rotatably installed in the second detection block and the first detection block, a second arc-shaped tooth plate and a first arc-shaped tooth plate are equidistantly slidably installed in the second detection block and the first detection block, the outer wall of the rotating shaft is equidistantly sleeved with two outer gear sleeves, a second coil spring is arranged between the outer gear sleeve and the rotating shaft, the inner and outer ends of the second coil spring are fixedly connected to the outer gear sleeve and the rotating shaft respectively, the outer gear sleeve is meshed with the second arc-shaped tooth plate and the first arc-shaped tooth plate, the second The lower end surface of the detection block and the upper end surface of the first detection block are both fixedly installed with a conductive device, and contact plates are fixedly installed on both sides of the conductive device, and a sliding contact portion is integrally formed on the end of the contact plate away from the conductive device, and the sliding contact portion slides in contact with the side edges of the second arcuate tooth plate and the first arcuate tooth plate respectively, and the conductive device is connected to a controller, and the second arcuate tooth plate and the first arcuate tooth plate are connected to a relay, and the relay is electrically connected to the controller, and side plates are fixedly installed on the outer walls of the second arcuate tooth plate and the first arcuate tooth plate, and a contact wheel is rotatably installed on one side of the side plate.

[0013] Preferably, a first bracket and a second bracket are symmetrically installed above the floor, an external block is fixedly installed on the side of the first bracket close to the second bracket, a limit block is fixedly installed on the opposite side of the external block, a rotating rod is fixedly installed on both sides of the external block, a rotating frame is rotatably installed on the outer wall of the rotating rod, a first support plate is fixedly installed between the rotating frames, and a nut is threadedly installed on the outer wall of the rotating rod.

[0014] Preferably, a second support plate is fixedly mounted on the upper end surface of the second bracket, a block is symmetrically mounted on the opposite side of the first support plate and the second support plate, a sliding box is fixedly mounted on the upper end surface of the block, a first torsion rod is threadedly mounted on the inner surface of the sliding box, a splint is slidably mounted in the sliding box, and the splint is threadedly connected to the outer wall of the first torsion rod.

[0015] Preferably, a drive box is fixedly installed on the lower end surface of the floor, a first threaded rod is rotatably installed in the drive box, a moving block is threadedly installed on the outer wall of the first threaded rod, the moving block is slidingly connected to the inner wall of the drive box, an L-shaped frame is fixedly installed on one side of the moving block, a mounting plate is fixedly installed on one side of the L-shaped frame, and a welding robot is fixedly installed on one side of the mounting plate.

[0016] Preferably, a rotating drive member is fixedly installed on one side of the drive box, and a magnetorheological fluid coupling is fixedly installed on the output end of the rotating drive member. The output end of the magnetorheological fluid coupling passes through the drive box and is fixedly connected to the first threaded rod. The magnetorheological fluid coupling includes a coupling body, magnetorheological fluid arranged in the coupling body, and an electromagnetic device acting on the magnetorheological fluid, and the electromagnetic device is electrically connected to the relay.

[0017] Preferably, two vertical rods are symmetrically installed on the upper end surface of the floor and between the first bracket and the second bracket, the upper end surface of the vertical rod is fixedly installed with a slide rail, a sliding seat is slidably installed on the inner wall of the slide rail, and two sets of rollers are symmetrically and rotatably installed on the lower end surface of the sliding seat, a fixed box is embedded in the upper end surface of the sliding seat, an adjustment box is slidably installed in the fixed box, a lifting block is slidably installed on the inner wall of the adjustment box, and a second torsion rod is installed on the inner wall of the lifting block for damping rotation, and one end of the second torsion rod is fixedly connected to the first detection block.

[0018] Preferably, a connecting block is fixedly installed on the outer wall of the welding manipulator, a short shaft is rotatably installed on one side of the connecting block, a connecting rod is fixedly installed on the outer wall of the short shaft, a barrel is fixedly installed on one side of the connecting block and on the outer wall of the short shaft, a first coil spring is provided in the barrel, the inner and outer ends of the first coil spring are respectively fixedly connected to the short shaft and the barrel, a connecting plate is fixedly installed on one side of the connecting rod, and one side of the connecting plate is rotatably connected to the second detection block;

[0019] An arc-shaped plate is fixedly mounted on one side of the second detection block and the first detection block, an electromagnet is fixedly mounted on one side of the arc-shaped plate, and the electromagnet is electrically connected to the controller.

[0020] Preferably, a second threaded rod is rotatably installed in the fixed box, the outer wall of the second threaded rod is threadedly connected to the adjusting box, a rotating head is rotatably installed on one side of the fixed box, one end of the rotating head passes through the fixed box and is fixedly connected to the second threaded rod, and screws are symmetrically installed on one side of the lifting block.

[0021] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0022] First, the contact wheel dynamically detects changes in the thickness of the welded plate, converts the physical deformation into an electrical signal (voltage change), and links the magnetorheological fluid coupling to automatically adjust the welding speed. This accelerates welding in thin plate areas to avoid burn-through, and slows down welding in thick plate areas to ensure fusion depth, thus achieving adaptive control of the welding process. This mechanism significantly improves the uniformity and stability of the weld, effectively solving the defects caused by uneven thickness in traditional welding.

[0023] Second, the clamping assembly flexibly adjusts the angle of the welded parts (such as tilt welding) through structures such as rotating frames and torsion rods. The detection assembly achieves fine adjustment of height and position through threaded rods and lifting blocks, ensuring that the detection module accurately fits welding surfaces of different shapes. The coordinated adjustment of the drive and detection systems greatly reduces manual intervention, which is especially suitable for batch welding of workpieces with multiple angles and variable thicknesses, significantly improving production efficiency and operational convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the clamping assembly of the present invention;

[0027] Figure 3 It is a structural schematic diagram of the drive assembly of the present invention;

[0028] Figure 4 Schematic diagram of the structure of the slide rail of the present invention;

[0029] Figure 5 It is a structural schematic diagram of the sliding seat of the present invention;

[0030] Figure 6 Schematic diagram of the structure of the connecting rod of the present invention;

[0031] Figure 7 Schematic diagram of the structure of the conductive device of the present invention;

[0032] Figure 8 It is a structural schematic diagram of the rotating shaft of the present invention.

[0033] Figure numerals: 1, floor; 2, clamping assembly; 201, first bracket; 202, rotating frame; 203, first support plate; 204, rotating rod; 205, nut; 206, external block; 207, limit block; 208, second bracket; 209, second support plate; 210, block; 211, first torsion rod; 212, sliding box; 213, clamping plate; 3, driving assembly; 301, driving box; 302, first threaded rod; 303, rotating driving member; 304, magnetorheological fluid coupling; 305, moving block; 306, L-shaped frame; 307, mounting plate; 308, welding manipulator; 4, detection assembly; 401, vertical rod; 402 , slide rail; 403, sliding seat; 404, roller; 405, fixed box; 406, second threaded rod; 407, rotating head; 408, adjusting box; 409, lifting block; 410, second torsion rod; 411, first detection block; 412, connecting block; 413, short shaft; 414, sleeve barrel; 415, connecting rod; 416, connecting plate; 417, second detection block; 418, rotating shaft; 419, arc plate; 420, electromagnet; 421, first arc tooth plate; 422, second arc tooth plate; 423, outer gear sleeve; 424, second coil spring; 425, conductive device; 426, contact plate; 427, side plate; 428, contact wheel. DETAILED DESCRIPTION

[0034] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] The present invention will be further described below with reference to the embodiments.

[0036] Example: Refer to Figures 1 to 8 , a welding manipulator that is easy to adjust, comprising:

[0037] Floor 1;

[0038] The multi-angle adjustment capability of the clamping component 2 (such as tilt welding) combined with the dynamic fitting design of the detection component 4 can adapt to complex welding scenarios such as curved surfaces and special-shaped workpieces, expanding the application range of the manipulator. The clamping component 2 is used to clamp welded parts;

[0039] The driving assembly 3 includes a welding manipulator 308. The welding manipulator 308 is an existing device, and the technology and method of using the device are relatively mature, so no further details are given here. The welding manipulator 308 is driven to move above the driving assembly 3;

[0040] Detection component 4, the real-time feedback mechanism of detection component 4 ensures the precise matching of welding path and workpiece thickness, reduces welding defects (such as welding through and lack of fusion) caused by parameter mismatch, and at the same time, the stability of welding quality reduces the rework rate and improves material utilization. Detection component 4 includes a second detection block 417 arranged above the welding part and a first detection block 411 arranged below the welding part. The second detection block 417 is rotatably installed with a rotating shaft 418 in the first detection block 411. The second detection block 417 and the first detection block 411 are rotatably installed with a rotating shaft 418. The second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 are equidistantly installed in the block 411. The outer wall of the rotating shaft 418 is equidistantly sleeved with two outer tooth sleeves 423. A second coil spring 424 is provided between the outer tooth sleeve 423 and the rotating shaft 418. The inner and outer ends of the second coil spring 424 are fixedly connected to the outer tooth sleeve 423 and the rotating shaft 418 respectively. The outer tooth sleeve 423 is meshed with the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421. The lower end surface of the second detection block 417 and the upper end surface of the first detection block 411 are fixedly installed. Conductive device 425, conductive device 425 and two sides are fixedly installed with contact plates 426, the contact plate 426 is integrally formed with a sliding contact portion at one end away from the conductive device 425, and the sliding contact portion is in sliding contact with the side of the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 respectively, the conductive device 425 is connected to a controller, the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 are connected to a relay, the relay is electrically connected to the controller, and the relay is an electrical control device that can control a relatively high current through a low current control signal. For high-current circuits, a side plate 427 is fixedly mounted on the outer walls of the second curved tooth plate 422 and the first curved tooth plate 421. A contact wheel 428 is rotatably mounted on one side of the side plate 427. When the thickness of the welding plate changes, the contact wheel 428 moves up and down with the plate thickness, driving the first curved tooth plate 421 and the second curved tooth plate 422 to slide, changing the contact area with the conductive device 425. The voltage output by the conductive device 425 changes accordingly. The controller then controls the magnetorheological fluid coupling 304 to adjust the welding speed based on the voltage change.

[0041] By fixing the contact wheel 428 in front of the moving direction of the welding gun of the welding manipulator 308 (leading distance 10-50mm), the contact wheel 428 is first contacted with the surface of the plate 426 to detect thickness changes. Its physical position is precisely locked by the length of the connecting rod 415 and moves synchronously with the welding gun. After the detection signal is converted into voltage change by the conductive device 425, the controller calculates the time and displacement relationship based on the moving speed of the welding gun and the leading distance, and completes the torque adjustment of the magnetorheological fluid coupling 304 before the welding gun reaches the detection point, thereby dynamically controlling the welding speed. This leading design not only avoids the high temperature arc on the contact wheel 426, but also prevents the high temperature arc from damaging the contact wheel 426. 8. The damage of the sliding contact part is avoided, and a buffer window is provided for signal processing (taking 50-200ms), ensuring that the welding parameters take effect immediately at the thickness mutation point. The synchronous moving mechanism (connecting block 412, short shaft 413, first coil spring and electromagnet 420) makes the detection component 4 rigidly linked with the welding gun. At the same time, the elastic reset function of the first coil spring compensates for the offset caused by the undulation of the weld. The magnetic attraction of the electromagnet 420 further ensures the tracking accuracy of the upper and lower contact wheels 428 during tilt welding, and finally realizes closed-loop control of accelerating to prevent burn-through in the thin plate area and decelerating to maintain the penetration depth in the thick plate area, which significantly reduces the welding defect rate caused by uneven thickness.

[0042] Reference Figure 2 A first bracket 201 and a second bracket 208 are symmetrically installed above the floor 1. An external block 206 is fixedly installed on the side of the first bracket 201 close to the second bracket 208, and a limit block 207 is fixedly installed on the opposite side of the external block 206. A rotating rod 204 is fixedly installed on both sides of the external block 206. A rotating frame 202 is rotatably installed on the outer wall of the rotating rod 204. A first support plate 203 is fixedly installed between the rotating frames 202, and a nut 205 is threadedly installed on the outer wall of the rotating rod 204.

[0043] Reference Figure 2 A second support plate 209 is fixedly mounted on the upper end surface of the second bracket 208, and a block 210 is symmetrically mounted on the opposite side of the first support plate 203 and the second support plate 209. A sliding box 212 is fixedly mounted on the upper end surface of the block 210, and a first torsion rod 211 is mounted on the inner thread of the sliding box 212. A clamping plate 213 is slidably mounted in the sliding box 212, and the clamping plate 213 is threadedly connected to the outer wall of the first torsion rod 211;

[0044] By rotating the nut 205, the angle of rotation of the rotating frame 202 around the rotating rod 204 can be adjusted; the limit block 207 ensures that the rotating frame 202 is stably fixed within the set angle to avoid deviation. By twisting the first torsion rod 211, the clamping plate 213 can be driven downward to firmly clamp the workpiece on the first support plate 203 and the second support plate 209 to form the required welding inclination angle.

[0045] Reference Figure 3A driving box 301 is fixedly installed on the lower end surface of the floor 1, and a first threaded rod 302 is rotatably installed in the driving box 301. A moving block 305 is threadedly installed on the outer wall of the first threaded rod 302. The moving block 305 is slidingly connected to the inner wall of the driving box 301. An L-shaped frame 306 is fixedly installed on one side of the moving block 305, and a mounting plate 307 is fixedly installed on one side of the L-shaped frame 306. A welding robot 308 is fixedly installed on one side of the mounting plate 307.

[0046] Reference Figure 3 A rotary drive member 303 is fixedly installed on one side of the drive box 301. The rotary drive member 303 uses an existing servo motor. A magnetorheological fluid coupling 304 is fixedly installed on the output end of the rotary drive member 303. The output end of the magnetorheological fluid coupling 304 passes through the drive box 301 and is fixedly connected to the first threaded rod 302. The magnetorheological fluid coupling 304 is an existing device. The magnetorheological fluid coupling 304 is a coupling that uses the mechanical properties of magnetorheological fluid to adjust torque transmission. Its working principle is based on the fact that the viscosity of magnetorheological fluid will change controllably under the action of a magnetic field. The magnetorheological fluid itself is composed of ferromagnetic particles suspended in a liquid. When a magnetic field is applied, the particles will rearrange, increase the viscosity of the liquid, change the flow properties of the fluid, and thus adjust the transmitted torque. The magnetorheological fluid coupling 304 includes a coupling body, magnetorheological fluid arranged in the coupling body, and an electromagnetic device acting on the magnetorheological fluid. The electromagnetic device is electrically connected to the relay.

[0047] Reference Figures 1 to 5 Two vertical rods 401 are symmetrically installed on the upper end surface of the floor 1 and between the first bracket 201 and the second bracket 208. A sliding rail 402 is fixedly installed on the upper end surface of the vertical rod 401, and a sliding seat 403 is slidably installed on the inner wall of the sliding rail 402. Two sets of rollers 404 are symmetrically and rotatably installed on the lower end surface of the sliding seat 403. A fixed box 405 is embedded on the upper end surface of the sliding seat 403, and an adjusting box 408 is slidably installed in the fixed box 405. A lifting block 409 is slidably installed on the inner wall of the adjusting box 408. A second torsion rod 410 is installed on the inner wall of the lifting block 409 for damping rotation. One end of the second torsion rod 410 is fixedly connected to the first detection block 411.

[0048] Reference Figures 5 to 7, a connecting block 412 is fixedly installed on the outer wall of the welding manipulator 308, and a short shaft 413 is rotatably installed on one side of the connecting block 412, and a connecting rod 415 is fixedly installed on the outer wall of the short shaft 413, and a sleeve barrel 414 is fixedly installed on one side of the connecting block 412 and on the outer wall of the short shaft 413, and a first coil spring is provided in the sleeve barrel 414, and the inner and outer ends of the first coil spring are respectively fixedly connected to the short shaft 413 and the sleeve barrel 414, and a connecting plate 416 is fixedly installed on one side of the connecting rod 415, and one side of the connecting plate 416 is rotatably connected to the second detection block 417. The first coil spring can drive the short shaft 413 to rotate in the opposite direction through its torsional elastic force when the second detection block 417 of the detection assembly 4 is deflected by the fluctuation of the weld, so that the connecting rod 415 and the connecting plate 416 drive the second detection block 417 to quickly reset to the horizontal detection position, ensuring that the contact wheel 428 always presses the weld surface vertically to avoid detection deviation caused by mechanical vibration or uneven workpiece;

[0049] When the welding robot 308 moves, the short shaft 413 is driven to rotate by the connecting block 412. The elastic deformation of the first coil spring buffers the inertial impact of the detection component 4, and works in conjunction with the magnetic attraction of the electromagnet 420 to keep the first detection block 411 and the second detection block 417 in synchronous motion (see FIG. Figure 6 ), ensuring that the upper and lower contact wheels 428 track the weld seam synchronously (especially suitable for inclined welding scenarios);

[0050] In angle welding mode, when the clamping assembly 2 adjusts the plate inclination, the first coil spring allows the second detection block 417 to swing slightly around the short axis 413, avoiding a rigid collision between the detection mechanism and the workpiece, protecting the structural integrity of the second curved tooth plate 422, the first curved tooth plate 421, and the contact wheel 428, and extending the service life of the equipment;

[0051] An arc-shaped plate 419 is fixedly mounted on one side of the second detection block 417 and the first detection block 411 . An electromagnet 420 is fixedly mounted on one side of the arc-shaped plate 419 . The electromagnet 420 is electrically connected to the controller.

[0052] Reference Figure 5 A second threaded rod 406 is rotatably installed in the fixed box 405, and the outer wall of the second threaded rod 406 is threadedly connected to the adjusting box 408. A rotating head 407 is rotatably installed on one side of the fixed box 405. One end of the rotating head 407 passes through the fixed box 405 and is fixedly connected to the second threaded rod 406. Screws are symmetrically installed on one side of the lifting block 409;

[0053] The second threaded rod 406 is rotated by rotating the rotating head 407 → the adjustment box 408 is lifted and lowered in the fixed box 405 → the lifting block 409 drives the first detection block 411 to adjust its height.

[0054] The damped rotation of the second torsion bar 410 allows manual fine-tuning of the angle of the detection block, ensuring that the contact wheel 428 always fits closely to the workpiece surface and adapts to uneven welds;

[0055] When welding different areas:

[0056] Thin plate area: The contact wheel 428 detects that the thickness of the welding plate decreases → the sliding contact area of ​​the arc-shaped tooth plate increases → the voltage increases → the relay increases the current of the electromagnetic device → the viscosity of the magnetorheological fluid increases → the torque transmitted by the coupling increases → the drive component 3 accelerates rotation → the welding robot 308 moves faster to avoid burn-through.

[0057] Thick plate area: The contact wheel 428 detects that the plate thickness increases → the sliding contact area of ​​the arc-shaped tooth plate decreases → the voltage decreases → the relay reduces the current of the electromagnetic device → the viscosity of the magnetorheological fluid decreases → the torque transmitted by the coupling decreases → the drive component 3 slows down → the movement speed of the welding robot 308 slows down to ensure the penetration depth;

[0058] The sliding contact part of the contact plate 426 is made of copper-graphite alloy (resistivity ≤ 0.5 μΩ·m), which has high conductivity, self-lubrication and high temperature resistance (≤ 400°C) to ensure stable sliding;

[0059] The side surfaces of the second curved tooth plate 422 and the first curved tooth plate 421 are plated with hard chromium stainless steel (plating ≥ 50 μm), with a hardness ≥ 800 HV and a friction coefficient ≤ 0.15, which are wear-resistant and rust-resistant;

[0060] The conductive device 425 resistance track uses boron carbon resistance sheets (0–100Ω linear variation), which are arc-resistant and provide accurate signals.

[0061] The working principle of the present invention is as follows:

[0062] Horizontal welding: by placing the two plates to be welded horizontally above the first support plate 203 and the second support plate 209 and reserving a weld seam, the lower end surface of the welded plate is prevented from contacting the contact wheel 428 of the detection assembly 4 set above the first detection block 411. The two contact wheels 428 are respectively in contact with the two welded plates on both sides of the weld seam, and drive the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 to slide slightly in the first detection block 411. The second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 will engage with the outer gear sleeve 423, driving the outer gear sleeve 423 to rotate and wind up the second coil spring 424 to store energy;

[0063] By twisting the first torsion rod 211, the clamping plate 213 is driven to slide down in the sliding box 212 to squeeze and fix the welding plate above the first support plate 203 and the second support plate 209. By opening the rotary drive member 303, the magnetorheological fluid coupling 304 is driven to rotate. The magnetorheological fluid coupling 304 drives the first threaded rod 302 to drive the moving block 305 to slide in the driving box 301. By driving the welding manipulator 308, the welding head is aligned with the weld to perform welding. When the welding manipulator 308 is driven close to the weld, it will drive the connecting rod 415 to move together. When the connecting rod 415 moves, it drives the second detection block 417 close to the weld through the connecting plate 416. Figure 6 The contact wheel 428 provided below the second detection block 417 will contact the welding plate on both sides of the weld respectively. After the contact wheel 428 contacts the welding plate as the welding manipulator 308 descends, it will drive the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 to slide slightly within the second detection block 417 and engage with the outer gear sleeve 423 to wind up the second coil spring 424 to store energy.

[0064] It should be noted that before welding, voltage is input to the electromagnet 420 and the conductive device 425 respectively through the controller, so that the electromagnet 420 generates magnetic force. When the welding robot 308 moves the welding head to align the weld for welding, the electromagnet 420 arranged on the side of the second detection block 417 will magnetically cooperate with the electromagnet 420 arranged on the side of the first detection block 411 and attract each other. Therefore, in the process of the welding robot 308 moving to weld the welding plate, the electromagnet 420 attracted by each other drives the sliding seat 403 to slide in the slide rail 402, the first detection block 411 will move synchronously with the second detection block 417, and the roller 404 set will roll the auxiliary roller 404 in the slide rail 402 to move; when voltage is input to the conductive device 425, the conductive device 425 will contact the second arc-shaped tooth plate 42 through the sliding contact portion. 2 is connected to the side of the first arc-shaped tooth plate 421 for sliding connection to transmit voltage to the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421. The voltage transmitted to the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 is detected by a relay. When the area of ​​the sliding contact portion and the sliding of the side of the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 changes, the voltage transmitted to the relay will also change synchronously. The relay controls the voltage input to the electromagnetic device through the voltage change, so that the magnetic force generated by the electromagnetic device acts on the magnetorheological fluid and controls the viscosity of the magnetorheological fluid to increase or decrease, so that the transmission force of the rotating drive member 303 → the transmission force of the magnetorheological fluid coupling 304 → the transmission force of the rotation of the first threaded rod 302 changes, and the first threaded rod 302 drives the welding manipulator 308 to make corresponding changes to the welding movement speed of the welding plate.

[0065] When the thickness of the upper or lower parts of the welding plate changes (this change refers to the change in the thickness of the welding plate, for example, the thickness of the welding point of the two welding plates decreases, and the thickness of the welding point of the two welding plates increases. This thickness change can be that the lower end face or the lower end face of the welding plate remains unchanged, and the upper end face or the lower end face is concave or protruding, resulting in a thickness change at the welding point of the welding plate), the second coil spring 424 that has been wound up will be released, and drive the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 to slide in the first detection block 411 and the second detection block 417. When the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 slide, it will drive the side plate 427 and the contact wheel 428 upward into the concave part of the welding plate, refer to Figure 8 , the second arc-shaped tooth plate 422 sliding upward or downward and the first arc-shaped tooth plate 421 will increase the contact area with the sliding contact part, and the voltage on the conductive device 425 transmitted to the first arc-shaped tooth plate 421 and the voltage on the first arc-shaped tooth plate 421 through the sliding contact part will also change (the larger the sliding area between the sliding contact part and the first arc-shaped tooth plate 421 and the side of the first arc-shaped tooth plate 421, the greater the transmitted voltage). The relay increases the voltage control to increase the voltage transmitted to the electromagnetic device, and the magnetic force acting on the magnetorheological fluid increases, so that the viscosity of the magnetorheological fluid increases, so that the rotating drive member 303 drives the first threaded rod 302 to rotate faster through the magnetorheological fluid coupling 304, and the first threaded rod 302 controls the movement speed of the driving welding robot 308 faster, so that the welding robot 308 can speed up the welding of the thinner thickness of the welding plate, and avoid welding defects caused by long-term welding at the thinner thickness. When the thickness of the welding plate increases, the contact wheel 428 will contact the protruding part of the welding plate. The second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 are in contact with each other, and the second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 are driven to slide in the first detection block 411 and the second detection block 417. The second arc-shaped tooth plate 422 and the first arc-shaped tooth plate 421 are meshed and wound with the outer gear sleeve 423. The contact area between the second arc-shaped tooth plate 422, the first arc-shaped tooth plate 421 and the sliding contact portion is correspondingly reduced. The voltage on the conductive device 425 is transmitted to the first arc-shaped tooth plate 421 through the sliding contact portion, and the voltage on the first arc-shaped tooth plate 421 is also reduced. The relay By reducing the voltage, the voltage input to the electromagnetic device is correspondingly reduced, and the magnetic force acting on the magnetorheological fluid is reduced, so that the viscosity of the magnetorheological fluid is reduced, and the rotation speed of the first threaded rod 302 driven by the rotary drive member 303 through the magnetorheological fluid coupling 304 is reduced. The first threaded rod 302 controls the movement speed of the welding manipulator 308 to reduce, thereby allowing the welding manipulator 308 to slow down the welding at the location where the thickness of the welding plate increases, so that the thicker location of the welding plate can be welded and formed uniformly;

[0066] Angle welding: By fixing the welding plates above the first support plate 203 and the second support plate 209 respectively, twisting the nut 205, the rotating frame 202 can be rotated on the outer wall of the rotating rod 204, and the side of the rotating frame 202 will contact the limit block 207, so that the welding plate in the fixed bottom of the first support plate 203 and the second support plate 209 fixed on the second support plate 209 can be welded at a certain inclined angle (the formed angle must not be less than 130°, and only at an angle of more than 130° can the contact wheel 428 effectively contact the welding plate and perform detection), by twisting the rotating head 407 to drive the second threaded rod 406 to rotate, the second threaded rod 406 drives the adjusting box 408 to slide in the fixed box 405, and the first detection block 411 can be adjusted to move to the corresponding position below the angle formed by the welding plates, and by twisting the screw and rotating the second torsion rod 410 to drive the second torsion rod 410 to rotate. When a detection block 411 rotates, the contact wheel 428 arranged above the first detection block 411 can contact the lower end surface of the welding plate after forming an angle. During the rotation of the first detection block 411, the arc plate 419 and the electromagnet 420 will be synchronously driven to rotate, and the welding plate after forming the angle will be welded by driving the welding robot 308. When the welding robot 308 moves, it will drive the connecting rod 415 to move synchronously. The electromagnet 420 arranged on one side of the second detection block 417 will be magnetically attracted to the electromagnet 420 arranged on one side of the first detection block 411 and rotate. The contact wheel 428 arranged below the second detection block 417 rotates through the second detection block 417 and is parallel to the contact wheel 428 arranged above the first detection block 411, thereby symmetrically rolling in contact with the welding plate above and below, and performing detection when the welding robot 308 welds.

[0067] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A welding manipulator that is easy to adjust, characterized in that: include: Floor (1); A clamping assembly (2), the clamping assembly (2) being used for clamping a weldment; A drive assembly (3), the drive assembly (3) comprising a welding manipulator (308), the welding manipulator (308) being driven to move above the drive assembly (3); A detection assembly (4), the detection assembly (4) comprising a second detection block (417) arranged above the welded part and a first detection block (411) arranged below the welded part, a rotation shaft (418) being rotatably mounted in the second detection block (417) and the first detection block (411), a second arc-shaped tooth plate (422) and a first arc-shaped tooth plate (421) being equidistantly slidably mounted in the second detection block (417) and the first detection block (411), an outer wall of the rotation shaft (418) being equidistantly sleeved with two outer tooth sleeves (423), a second coil spring (424) being arranged between the outer tooth sleeve (423) and the rotation shaft (418), an inner and outer ends of the second coil spring (424) being fixedly connected to the outer tooth sleeve (423) and the rotation shaft (418), respectively, the outer tooth sleeve (423) and the second arc-shaped tooth plate (422) and the first arc-shaped tooth plate (421) being equidistantly sleeved. 21) meshing, the lower end surface of the second detection block (417) and the upper end surface of the first detection block (411) are both fixedly mounted with a conductive device (425), the conductive device (425) and the two sides are fixedly mounted with contact plates (426), the end of the contact plate (426) away from the conductive device (425) is integrally formed with a sliding contact portion, the sliding contact portion is in sliding contact with the side edges of the second arc-shaped tooth plate (422) and the first arc-shaped tooth plate (421), the conductive device (425) is connected to a controller, the second arc-shaped tooth plate (422) and the first arc-shaped tooth plate (421) are connected to a relay, the relay is electrically connected to the controller, the outer walls of the second arc-shaped tooth plate (422) and the first arc-shaped tooth plate (421) are fixedly mounted with a side plate (427), and a contact wheel (428) is rotatably mounted on one side of the side plate (427).

2. The welding manipulator that is easy to adjust according to claim 1 is characterized in that: A first bracket (201) and a second bracket (208) are symmetrically mounted above the floor (1); an external block (206) is fixedly mounted on a side of the first bracket (201) close to the second bracket (208); a limit block (207) is fixedly mounted on an opposite side of the external block (206); a rotating rod (204) is fixedly mounted on both sides of the external block (206); a rotating frame (202) is rotatably mounted on the outer wall of the rotating rod (204); a first support plate (203) is fixedly mounted between the rotating frames (202); and a nut (205) is threadedly mounted on the outer wall of the rotating rod (204).

3. The welding manipulator that is easy to adjust according to claim 2, characterized in that: A second support plate (209) is fixedly mounted on the upper end surface of the second bracket (208); a block (210) is symmetrically mounted on the opposite side of the first support plate (203) and the second support plate (209); a sliding box (212) is fixedly mounted on the upper end surface of the block (210); a first torsion rod (211) is internally threadedly mounted on the sliding box (212); a clamping plate (213) is slidably mounted inside the sliding box (212); and the clamping plate (213) is threadedly connected to the outer wall of the first torsion rod (211).

4. The welding manipulator that is easy to adjust according to claim 1 is characterized in that: A drive box (301) is fixedly mounted on the lower end surface of the floor (1), a first threaded rod (302) is rotatably mounted in the drive box (301), a moving block (305) is threadedly mounted on the outer wall of the first threaded rod (302), the moving block (305) is slidably connected to the inner wall of the drive box (301), an L-shaped frame (306) is fixedly mounted on one side of the moving block (305), a mounting plate (307) is fixedly mounted on one side of the L-shaped frame (306), and a welding manipulator (308) is fixedly mounted on one side of the mounting plate (307).

5. The welding manipulator that is easy to adjust according to claim 4 is characterized in that: A rotary drive member (303) is fixedly mounted on one side of the drive box (301); a magnetorheological fluid coupling (304) is fixedly mounted on the output end of the rotary drive member (303); the output end of the magnetorheological fluid coupling (304) passes through the drive box (301) and is fixedly connected to the first threaded rod (302); the magnetorheological fluid coupling (304) comprises a coupling body, magnetorheological fluid disposed in the coupling body, and an electromagnetic device acting on the magnetorheological fluid; the electromagnetic device is electrically connected to a relay.

6. The welding manipulator that is easy to adjust according to claim 4 is characterized in that: Two vertical rods (401) are symmetrically installed on the upper end surface of the floor (1) and between the first bracket (201) and the second bracket (208); a slide rail (402) is fixedly installed on the upper end surface of the vertical rod (401); a slide seat (403) is slidably installed on the inner wall of the slide rail (402); two sets of rollers (404) are symmetrically rotatably installed on the lower end surface of the slide seat (403); a fixed box (405) is embedded on the upper end surface of the slide seat (403); an adjustment box (408) is slidably installed in the fixed box (405); a lifting block (409) is slidably installed on the inner wall of the adjustment box (408); a second torsion rod (410) is installed on the inner wall of the lifting block (409) for damping rotation; one end of the second torsion rod (410) is fixedly connected to the first detection block (411).

7. The easily adjustable welding manipulator according to claim 6, characterized in that: A connecting block (412) is fixedly mounted on the outer wall of the welding manipulator (308), a short shaft (413) is rotatably mounted on one side of the connecting block (412), a connecting rod (415) is fixedly mounted on the outer wall of the short shaft (413), a sleeve barrel (414) is fixedly mounted on one side of the connecting block (412) and on the outer wall of the short shaft (413), a first coil spring is arranged in the sleeve barrel (414), the inner and outer ends of the first coil spring are fixedly connected to the short shaft (413) and the sleeve barrel (414), a connecting plate (416) is fixedly mounted on one side of the connecting rod (415), and one side of the connecting plate (416) is rotatably connected to the second detection block (417); An arc-shaped plate (419) is fixedly mounted on one side of the second detection block (417) and the first detection block (411), and an electromagnet (420) is fixedly mounted on one side of the arc-shaped plate (419), and the electromagnet (420) is electrically connected to the controller.

8. The welding manipulator that is easy to adjust according to claim 6, characterized in that: A second threaded rod (406) is rotatably mounted in the fixing box (405), and an outer wall of the second threaded rod (406) is threadably connected to the adjustment box (408). A rotating head (407) is rotatably mounted on one side of the fixing box (405), and one end of the rotating head (407) passes through the fixing box (405) and is fixedly connected to the second threaded rod (406). Screws are symmetrically mounted on one side of the lifting block (409).

Images