A welding robot with easy adjustment

Abstract

The present application relates to the technical field of welding, in particular to a welding manipulator convenient to adjust, comprising: a floor; a clamping assembly for clamping a welding piece; a driving assembly comprising a welding manipulator driven to move above the driving assembly; a detection assembly comprising a second detection block arranged above the welding piece and a first detection block arranged below the welding piece. The present application dynamically detects the thickness variation of the welding plate through the contact wheel, converts the physical deformation into an electrical signal (voltage variation), and automatically adjusts the welding speed through the magnetic rheological fluid coupling, accelerates the welding in the thin plate area to avoid burning through, and slows down in the thick plate area to ensure the fusion depth, realizes the self-adaptive regulation and control of the welding process, significantly improves the weld uniformity and stability, and effectively solves the defect problem caused by uneven thickness in traditional welding.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and more specifically to a welding robot that is easy to adjust. Background Technology

[0002] A welding robot is an automated device mainly used to perform welding operations. It typically consists of multiple joints and spacers to simulate human operation. These include articulated robots and Cartesian robots, and are suitable for various welding methods such as arc welding, laser welding, and spot welding.

[0003] In the welding process, the stability of welding quality and ease of operation are the core challenges in the field of automated welding. When dealing with plates of uneven thickness, traditional welding robots often suffer from burn-through or insufficient fusion due to the inability to adjust welding parameters in real time. Although existing technologies (such as a welding robot based on the principle of pre-action for easy slag removal disclosed in patent CN113579603B) inhibit slag adhesion by pre-coating talc powder, their limitation is that they only solve the problem of post-weld cleaning and fail to overcome the problem of penetration control caused by thickness changes during the welding process.

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

[0005] Existing technologies lack real-time detection capabilities for plate thickness, and the welding process relies on preset parameters, making it unable to respond to changes in the surface of the workpiece (such as depressions or protrusions), resulting in significant 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 does not allow for adjustment of the thickness of the welding plate.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] This invention provides an easily adjustable welding robot, comprising:

[0009] floor;

[0010] A clamping assembly for clamping welded parts;

[0011] A drive assembly, the drive assembly including a welding robot arm, the welding robot arm being driven to move above the drive assembly;

[0012] The detection assembly includes a second detection block positioned above the weldment and a first detection block positioned below the weldment. A rotating shaft is rotatably mounted within both the second and first detection blocks. A second arc-shaped toothed plate and a first arc-shaped toothed plate are equidistantly slidably mounted within the second and first detection blocks. Two external toothed sleeves are equidistantly sleeved on the outer wall of the rotating shaft. A second coil spring is positioned between the external toothed sleeves and the rotating shaft. The inner and outer ends of the second coil spring are fixedly connected to the external toothed sleeves and the rotating shaft, respectively. The external toothed sleeves mesh with the second and first arc-shaped toothed plates. Conductive devices are fixedly installed on the lower end face of the detection block and the upper end face of the first detection block. Contact plates are fixedly installed on both sides of the conductive devices. A sliding contact part is integrally formed on the end of the contact plate away from the conductive devices. The sliding contact part makes sliding contact with the side edges of the second arc-shaped toothed plate and the first arc-shaped toothed plate, respectively. The conductive devices are connected to a controller. Relays are connected to the second arc-shaped toothed plate and the first arc-shaped toothed plate. The relays are electrically connected to the controller. Side plates are fixedly installed on the outer walls of the second arc-shaped toothed plate and the first arc-shaped toothed plate. 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 near the second bracket, and a limit block is fixedly installed on the opposite side of the external block. Rotating rods are 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. A nut is threaded onto the outer wall of the rotating rod.

[0014] Preferably, a second support plate is fixedly installed on the upper end face of the second bracket, and blocks are symmetrically installed on the opposite side of the first support plate and the second support plate. A sliding box is fixedly installed on the upper end face of the blocks, and a first torsion rod is threadedly installed inside the sliding box. A clamping plate is slidably installed inside the sliding box, and the clamping plate is threadedly connected to the outer wall of the first torsion rod.

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

[0016] Preferably, a rotary drive component is fixedly installed on one side of the drive box, and a magnetorheological fluid coupling is fixedly installed at the output end of the rotary drive component. 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, a 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.

[0017] Preferably, two vertical rods are symmetrically installed on the upper surface of the floor between the first and second supports. A slide rail is fixedly installed on the upper surface of the vertical rods. A sliding seat is slidably installed on the inner wall of the slide rail. Two sets of rollers are symmetrically and rotatably installed on the lower surface of the sliding seat. A fixed box is embedded in the upper surface of the sliding seat. An adjusting box is slidably installed in the fixed box. A lifting block is slidably installed on the inner wall of the adjusting box. A second torsion rod is damped and rotatably installed on the inner wall of the lifting block. 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 robot, 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 sleeve 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 inside the sleeve, the inner and outer ends of the first coil spring are fixedly connected to the short shaft and the sleeve respectively, 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 installed on one side of the second detection block and the first detection block, and an electromagnet is fixedly installed on one side of the arc-shaped plate. The electromagnet is electrically connected to the controller.

[0020] Preferably, a second threaded rod is rotatably installed inside 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] The technical solution provided by this invention has the following advantages compared with the known prior art:

[0022] First, by dynamically detecting the thickness change of the welding plate through the contact wheel, the physical deformation is converted into an electrical signal (voltage change), and the magnetorheological fluid coupling is linked to automatically adjust the welding speed. In the thin plate area, the welding is accelerated to avoid burn-through, and in the thick plate area, the welding speed is reduced to ensure the fusion depth. This achieves adaptive control of the welding process. This mechanism significantly improves the uniformity and stability of the weld and effectively solves the defect problem caused by uneven thickness in traditional welding.

[0023] Secondly, the clamping assembly flexibly adjusts the angle of the welded parts (such as tilt welding) through structures such as rotating frames and torsion rods, while the detection assembly achieves precise adjustment of height and position through threaded rods and lifting blocks, ensuring that the detection module accurately fits the welding surfaces of different shapes. The coordinated adjustment of the drive and detection systems greatly reduces manual intervention, making it particularly suitable for batch welding of workpieces with multiple angles and varying thicknesses, significantly improving production efficiency and ease of operation. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

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

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

[0027] Figure 3 This is a schematic diagram of the structure of the driving component of the present invention;

[0028] Figure 4 This is a schematic diagram of the slide rail structure of the present invention;

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

[0030] Figure 6 This is a schematic diagram of the connecting rod of the present invention;

[0031] Figure 7 This is a schematic diagram of the conductive device of the present invention;

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

[0033] Reference 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. Limiting block; 208. Second bracket; 209. Second support plate; 210. Block; 211. First torsion rod; 212. Sliding box; 213. Clamping plate; 3. Drive assembly; 301. Drive box; 302. First threaded rod; 303. Rotary drive component; 304. Magnetorheological fluid coupling; 305. Moving block; 306. L-shaped frame; 307. Mounting plate; 308. Welding robot; 4. Detection assembly; 401. Vertical rod; 402. 403. Slide rail; 404. Sliding seat; 405. Roller; 406. Fixing box; 407. Second threaded rod; 408. Rotating head; 409. Adjusting box; 400. Lifting block; 410. Second torsion rod; 411. First detection block; 412. Connecting block; 413. Short shaft; 414. Sleeve; 415. Connecting rod; 416. Connecting plate; 417. Second detection block; 418. Rotating shaft; 419. Arc plate; 420. Electromagnet; 421. First arc toothed plate; 422. Second arc toothed plate; 423. Outer toothed sleeve; 424. Second coil spring; 425. Conductive device; 426. Contact plate; 427. Side plate; 428. Contact wheel. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

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

[0036] Example: Refer to Figures 1 to 8 An easily adjustable welding robot includes:

[0037] Floor 1;

[0038] The clamping component 2, with its multi-angle adjustment capability (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 irregularly shaped workpieces, thus expanding the application range of the robot. The clamping component 2 is used to clamp the welded parts.

[0039] Drive component 3 includes welding robot 308. Welding robot 308 is an existing device, and the technology and methods used in this device are relatively mature, so they will not be described in detail here. Welding robot 308 is driven to move above drive component 3.

[0040] The detection component 4, with its real-time feedback mechanism, ensures precise matching between the welding path and the workpiece thickness, reducing welding defects (such as burn-through and incomplete fusion) caused by parameter mismatch. Simultaneously, the stability of welding quality reduces rework rates and improves material utilization. The detection component 4 includes a second detection block 417 positioned above the weldment and a first detection block 411 positioned below the weldment. A rotating shaft 418 is rotatably mounted within both the second and first detection blocks 417 and 411. A second arc-shaped toothed plate 422 and a first arc-shaped toothed plate 421 are equidistantly slidably installed inside block 411. Two external toothed sleeves 423 are equidistantly sleeved on the outer wall of the rotating shaft 418. A second coil spring 424 is provided between the external toothed sleeves 423 and the rotating shaft 418. The inner and outer ends of the second coil spring 424 are fixedly connected to the external toothed sleeves 423 and the rotating shaft 418, respectively. The external toothed sleeves 423 mesh with the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421. The lower end face of the second detection block 417 and the upper end face of the first detection block 411 are both fixedly installed with... A conductive device 425 has contact plates 426 fixedly mounted on both sides. A sliding contact portion is integrally formed at the end of the contact plate 426 away from the conductive device 425. This sliding contact portion makes sliding contact with the sides of the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421, respectively. A controller is connected to the conductive device 425. Relays are connected to the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421. The relays are electrically connected to the controller. A relay is an electrical control device that can control a relatively large [current] through a low-current control signal. In a high-current circuit, a side plate 427 is fixedly installed on the outer wall of the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421. A contact wheel 428 is rotatably installed 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 change in plate thickness, which drives the first arc-shaped toothed plate 421 and the second arc-shaped toothed plate 422 to slide, which changes the contact area between them and the conductive device 425. The voltage output by the conductive device 425 changes accordingly. The controller adjusts the welding speed by linking the magnetorheological fluid coupling 304 according to the voltage change.

[0041] By fixing the contact wheel 428 in front of the welding torch of the welding robot 308 (leading distance 10-50mm), the contact wheel 428 makes the first contact 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 torch. 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 welding torch moving speed and leading distance. Before the welding torch reaches the detection point, the torque of the magnetorheological fluid coupling 304 is adjusted, thereby dynamically controlling the welding speed. This leading design avoids the high temperature arc from damaging the contact wheel 428. Damage to the sliding contact part provides a buffer window for signal processing (which takes 50-200ms), ensuring that welding parameters take effect immediately at the thickness change 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 weld undulation. The magnetic attraction of the electromagnet 420 further ensures the tracking accuracy of the upper and lower contact wheels 428 when welding at an angle. Finally, a closed-loop control is achieved to accelerate the prevention of burn-through in the thin plate area and decelerate the penetration 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 closest to the second bracket 208. A limit block 207 is fixedly installed on the opposite side of the external block 206. Rotating rods 204 are 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. Nuts 205 are threaded onto the outer wall of the rotating rod 204.

[0043] Reference Figure 2 A second support plate 209 is fixedly installed on the upper end face of the second bracket 208. A block 210 is symmetrically installed on the opposite side of the first support plate 203 and the second support plate 209. A sliding box 212 is fixedly installed on the upper end face of the block 210. A first torsion rod 211 is threadedly installed inside the sliding box 212. A clamping plate 213 is slidably installed inside the sliding box 212. 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 limiting 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 to press down, firmly clamping the workpiece on the first support plate 203 and the second support plate 209 to form the required welding tilt angle.

[0045] Reference Figure 3A drive box 301 is fixedly installed on the lower end face of the floor 1. A first threaded rod 302 is rotatably installed inside the drive box 301. A moving block 305 is threadedly installed 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 installed on one side of the moving block 305. An 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 component 303 is fixedly installed on one side of the drive box 301. The rotary drive component 303 uses an existing servo motor. A magnetorheological fluid coupling 304 is fixedly installed at the output end of the rotary drive component 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 the magnetorheological fluid will change controllably under the action of a magnetic field. The magnetorheological fluid itself consists of ferromagnetic particles suspended in the liquid. When a magnetic field is applied, the particles will rearrange, increasing the viscosity of the liquid and changing the fluid's flow properties, thereby adjusting the transmitted torque. The magnetorheological fluid coupling 304 includes a coupling body, a 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.

[0047] Reference Figures 1 to 5 Two vertical rods 401 are symmetrically installed on the upper surface of the floor 1 between the first support 201 and the second support 208. A slide rail 402 is fixedly installed on the upper surface of the vertical rods 401. A sliding 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 surface of the sliding seat 403. A fixed box 405 is embedded in the upper surface of the sliding seat 403. 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 damped and rotatably installed on the inner wall of the lifting block 409. One end of the second torsion rod 410 is fixedly connected to the first detection block 411.

[0048] Reference Figures 5 to 7A connecting block 412 is fixedly installed on the outer wall of the welding robot 308. A short shaft 413 is rotatably installed on one side of the connecting block 412. A connecting rod 415 is fixedly installed on the outer wall of the short shaft 413. A sleeve 414 is fixedly installed on one side of the connecting block 412 and on the outer wall of the short shaft 413. A first coil spring is provided inside the sleeve 414. The inner and outer ends of the first coil spring are fixedly connected to the short shaft 413 and the sleeve 414, respectively. A connecting plate 416 is fixedly installed on one side of the connecting rod 415. One side of the connecting plate 416 is rotatably connected to the second detection block 417. When the second detection block 417 of the detection assembly 4 is deflected due to the undulation of the weld, the first coil spring can drive the short shaft 413 to rotate in the opposite direction through its torsional elasticity, so that the connecting rod 415 and the connecting plate 416 can drive the second detection block 417 to quickly return to the horizontal detection position, ensuring that the contact wheel 428 always presses the weld surface vertically, avoiding detection deviations caused by mechanical vibration or uneven workpieces.

[0049] When the welding robot 308 moves, it drives the short shaft 413 to rotate via the connecting block 412. The elastic deformation of the first coil spring buffers the inertial impact of the detection component 4. Working in conjunction with the magnetic attraction of the electromagnet 420, it ensures that the first detection block 411 and the second detection block 417 always maintain synchronous movement (see...). Figure 6 This ensures 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 tilt angle of the plate, the first coil spring allows the second detection block 417 to swing slightly around the short axis 413, avoiding rigid collision between the detection mechanism and the workpiece, protecting the structural integrity of the second arc-shaped toothed plate 422, the first arc-shaped toothed plate 421 and the contact wheel 428, and extending the equipment life.

[0051] An arc-shaped plate 419 is fixedly installed on one side of the second detection block 417 and the first detection block 411. An electromagnet 420 is fixedly installed 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 inside the fixed box 405. 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] Rotating the rotating head 407 drives the second threaded rod 406 to rotate → the adjusting box 408 rises and falls within the fixed box 405 → the lifting block 409 drives the first detection block 411 to adjust the height.

[0054] The damped rotation of the second torsion bar 410 allows for manual fine-tuning of the angle of the detection block, ensuring that the contact wheel 428 always fits tightly against the workpiece surface, adapting to uneven welds.

[0055] When welding different areas:

[0056] Thin plate area: Contact wheel 428 detects a decrease in the thickness of the welding plate → the sliding contact area of ​​the arc-shaped toothed 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 is enhanced → the drive assembly 3 accelerates its rotation → the welding robot 308 moves faster to avoid burn-through.

[0057] Thick plate area: Contact wheel 428 detects increased plate thickness → arc toothed plate sliding contact area decreases → voltage decreases → relay reduces electromagnetic device current → magnetorheological fluid viscosity decreases → coupling transmission torque weakens → drive assembly 3 decelerates rotation → welding robot 308 moves slower to ensure penetration depth;

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

[0059] The side surfaces of the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 are plated with hard chrome stainless steel (plating layer ≥50μm), with a hardness ≥800 HV, a friction coefficient ≤0.15, and are wear-resistant and rust-proof.

[0060] The 425 resistance rail of the conductive device uses boron carbon resistance elements (0–100Ω linear variation), which are resistant to electric arc impact and provide accurate signals.

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

[0062] Horizontal welding: By placing two plates to be welded horizontally above the first support plate 203 and the second support plate 209 and leaving a weld seam, the lower end face of the welding plate will contact the contact wheel 428 of the detection component 4 set above the first detection block 411. The two contact wheels 428 will contact the two welding plates on both sides of the weld seam respectively, and drive the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 to slide slightly within the first detection block 411. The second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 will mesh with the outer toothed sleeve 423, driving the outer toothed sleeve 423 to rotate and coil the second coil spring 424 to store energy.

[0063] By twisting the first torsion rod 211, the clamping plate 213 slides and descends within the sliding box 212, pressing and fixing the welding plate above the first support plate 203 and the second support plate 209. By opening the rotary drive component 303, the magnetorheological fluid coupling 304 rotates. The magnetorheological fluid coupling 304 drives the first threaded rod 302, causing the moving block 305 to slide within the drive box 301. The welding robot 308 is driven to align its welding head with the weld seam for welding. When the welding robot 308 is driven close to the weld seam, it moves the connecting rod 415 along with it. During this movement, the connecting rod 415, through the connecting plate 416, moves the second detection block 417 closer to the weld seam. Figure 6 The contact wheel 428 located below the second detection block 417 will contact the welding plate on both sides of the weld. After the welding robot 308 descends and contacts the welding plate, the contact wheel 428 will drive the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 to slide slightly within the second detection block 417 and engage with the outer toothed 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 both the electromagnet 420 and the conductive device 425 via the controller, causing the electromagnet 420 to generate magnetic force. When the welding robot 308 moves the welding head to align with the weld seam, the electromagnet 420 located on one side of the second detection block 417 will magnetically engage and attract the electromagnet 420 located on one side of the first detection block 411. Therefore, during the welding process of the welding robot 308 moving to weld the plate, the mutually magnetically attracted electromagnets 420 drive the sliding seat 403 to slide within the slide rail 402. The first detection block 411 will move synchronously with the second detection block 417, and the roller 404 will roll within the slide rail 402 to assist in the movement. When voltage is input to the conductive device 425, the conductive device 425 will contact the second arc-shaped toothed plate 42 through the sliding contact part. 2. The first arc-shaped toothed plate 421 is slidably connected to the side of the first arc-shaped toothed plate 422 to supply voltage to the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421. The voltage supplied to the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 is detected by a relay. When the sliding contact area between the second arc-shaped toothed plate 422 and the side of the first arc-shaped toothed plate 421 changes, the voltage supplied to the relay also changes 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. This changes the transmission force of the rotary drive 303 → the transmission force of the magnetorheological fluid coupling 304 → the rotation of the first threaded rod 302. The first threaded rod 302 drives the welding robot 308 to change the welding speed of the welding plate accordingly.

[0065] When the thickness of the welding plate changes above or below (this change refers to a change in the thickness of the welding plate, for example, the thickness at the weld joint of two welding plates decreases or increases; this thickness change can result in the lower end face of the welding plate remaining unchanged while the upper end face or lower end face shows a depression or protrusion, leading to a change in the thickness at the weld joint), the already wound second coil spring 424 will release, causing the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 to slide within the first detection block 411 and the second detection block 417. As the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 slide, they will cause the side plate 427 and the contact wheel 428 to move upwards into the depression of the welding plate, as shown in the reference. Figure 8 The upward or downward sliding of the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 increases the contact area with the sliding contact part. The voltage on the conductive device 425, transmitted through the sliding contact part to the first arc-shaped toothed plate 421, also changes (the larger the sliding area between the sliding contact part and the side of the first arc-shaped toothed plate 421, the larger the transmitted voltage). The relay controls the increased voltage transmitted to the electromagnetic device, increasing the magnetic force acting on the magnetorheological fluid, thus increasing the viscosity of the magnetorheological fluid. This causes the rotary drive 303 to drive the first threaded rod 302 to rotate faster via the magnetorheological fluid coupling 304. The first threaded rod 302 then controls the faster movement of the welding robot 308, allowing the welding robot 308 to accelerate welding at locations with thinner welding plates, avoiding welding defects caused by prolonged welding at thinner areas. When the thickness of the welding plate increases, the contact wheel 428 will engage with the protruding parts of the welding plate. When the sliding contact occurs, the second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 slide within the first detection block 411 and the second detection block 417. The second arc-shaped toothed plate 422 and the first arc-shaped toothed plate 421 engage and retract with the outer toothed sleeve 423. The contact area between the second arc-shaped toothed plate 422, the first arc-shaped toothed plate 421, and the sliding contact portion decreases accordingly. Consequently, the voltage transmitted from the conductive device 425 to the first arc-shaped toothed plate 421 through the sliding contact portion also decreases. The relay... The voltage input to the electromagnetic device is reduced by reducing the voltage control, which in turn reduces the magnetic force acting on the magnetorheological fluid, thereby reducing the viscosity of the magnetorheological fluid. This reduces the rotational speed of the first threaded rod 302 driven by the rotary drive 303 through the magnetorheological fluid coupling 304. The first threaded rod 302 controls the reduction of the movement speed of the welding robot 308, thus slowing down the welding of the welding robot 308 at the location where the thickness of the welding plate increases, allowing the thicker parts of the welding plate to be welded evenly.

[0066] Angle welding: By fixing the welding plates above the first support plate 203 and the second support plate 209 respectively, and twisting the nut 205, the rotating frame 202 can rotate on the outer wall of the rotating rod 204. The side of the rotating frame 202 will contact the limiting block 207, so that the welding plate fixed in the base of the first support plate 203 and the fixed on the second support plate 209 form a certain angle for welding (the angle formed shall not be less than 130°, and only when the angle is greater than 130° can the contact wheel 428 effectively contact the welding plate and perform detection). By twisting the rotating head 407, the second threaded rod 406 is driven to rotate, so that the second threaded rod 406 drives the adjusting box 408 to slide in the fixed box 405, which can adjust the first detection block 411 to move to the corresponding position below the angle formed by the welding plate. By twisting the screw, the second torsion rod 410 is rotated to drive the first detection block 411 to rotate. When the first detection block 411 rotates, the contact wheel 428 located above the first detection block 411 contacts the lower end face 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 rotate synchronously. The welding robot 308 will then weld the welding plate after forming the angle. When the welding robot 308 moves, it will drive the connecting rod 415 to move synchronously. The electromagnet 420 located on one side of the second detection block 417 will rotate due to magnetic attraction with the electromagnet 420 located on one side of the first detection block 411. The contact wheel 428 located below the second detection block 417 will become parallel to the contact wheel 428 located above the first detection block 411 after the second detection block 417 rotates. Thus, the contact wheel 428 will roll symmetrically above and below the welding plate and be detected during the welding robot 308 welding.

[0067] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A welding robot that is easy to adjust, characterized in that, include: Floor (1); Clamping assembly (2), the clamping assembly (2) is used to clamp the welded part; The drive assembly (3) includes a welding robot (308) which is driven to move above the drive assembly (3); The detection component (4) includes a second detection block (417) disposed above the weldment and a first detection block (411) disposed below the weldment. A rotating shaft (418) is rotatably mounted inside the second detection block (417) and the first detection block (411). A second arc-shaped toothed plate (422) and a first arc-shaped toothed plate (421) are equidistantly mounted inside the second detection block (417) and the first detection block (411). Two external toothed sleeves (423) are equidistantly sleeved on the outer wall of the rotating shaft (418). A second coil spring (424) is disposed between the external toothed sleeve (423) and the rotating shaft (418). The inner and outer ends of the second coil spring (424) are fixedly connected to the external toothed sleeve (423) and the rotating shaft (418) respectively. The external toothed sleeve (423) is connected to the second arc-shaped toothed plate (422) and the first arc-shaped toothed plate (411). 21) Engagement, a conductive device (425) is fixedly installed on the lower end face of the second detection block (417) and the upper end face of the first detection block (411). The conductive device (425) is fixedly installed with contact plates (426) on both sides. A sliding contact part is integrally formed at the end of the contact plate (426) away from the conductive device (425). The sliding contact part slides in contact with the side of the second arc-shaped toothed plate (422) and the first arc-shaped toothed plate (421). The conductive device (425) is connected to a controller. The second arc-shaped toothed plate (422) and the first arc-shaped toothed plate (421) are connected to a relay. The relay is electrically connected to the controller. A side plate (427) is fixedly installed on the outer wall of the second arc-shaped toothed plate (422) and the first arc-shaped toothed plate (421). A contact wheel (428) is rotatably installed on one side of the side plate (427).

2. The easily adjustable welding robot according to claim 1, characterized in that, 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) near the second bracket (208). A limit block (207) is fixedly installed on the opposite side of the external block (206). Rotating rods (204) are 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). A nut (205) is threaded onto the outer wall of the rotating rod (204).

3. The easily adjustable welding robot according to claim 2, characterized in that, A second support plate (209) is fixedly installed on the upper end face of the second bracket (208). A block (210) is symmetrically installed on the opposite side of the first support plate (203) and the second support plate (209). A sliding box (212) is fixedly installed on the upper end face of the block (210). A first torsion rod (211) is threadedly installed inside the sliding box (212). A clamping plate (213) is slidably installed inside the sliding box (212). The clamping plate (213) is threadedly connected to the outer wall of the first torsion rod (211).

4. The easily adjustable welding robot according to claim 1, characterized in that, A drive box (301) is fixedly installed on the lower end face of the floor (1). A first threaded rod (302) is rotatably installed inside the drive box (301). A moving block (305) is threadedly installed 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 installed on one side of the moving block (305). An 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).

5. The easily adjustable welding robot according to claim 4, characterized in that, A rotary drive component (303) is fixedly installed on one side of the drive box (301). A magnetorheological fluid coupling (304) is fixedly installed at the output end of the rotary drive component (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) includes a coupling body, a 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 easily adjustable welding robot according to claim 4, characterized in that, Two vertical rods (401) are symmetrically installed on the upper surface of the floor (1) between the first support (201) and the second support (208). A slide rail (402) is fixedly installed on the upper surface of the vertical rod (401). A sliding 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 surface of the sliding seat (403). A fixed box (405) is embedded in the upper surface of the sliding seat (403). 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 damped and rotatably installed on the inner wall of the lifting block (409). One end of the second torsion rod (410) is fixedly connected to the first detection block (411).

7. The easily adjustable welding robot according to claim 6, characterized in that, A connecting block (412) is fixedly installed on the outer wall of the welding robot (308). A short shaft (413) is rotatably installed on one side of the connecting block (412). A connecting rod (415) is fixedly installed on the outer wall of the short shaft (413). A sleeve (414) is fixedly installed on one side of the connecting block (412) and on the outer wall of the short shaft (413). A first coil spring is provided inside the sleeve (414). The inner and outer ends of the first coil spring are fixedly connected to the short shaft (413) and the sleeve (414) respectively. A connecting plate (416) is fixedly installed on one side of the connecting rod (415). One side of the connecting plate (416) is rotatably connected to the second detection block (417). An arc plate (419) is fixedly installed on one side of the second detection block (417) and the first detection block (411). An electromagnet (420) is fixedly installed on one side of the arc plate (419). The electromagnet (420) is electrically connected to the controller.

8. The easily adjustable welding robot according to claim 6, characterized in that, A second threaded rod (406) is rotatably installed inside the fixed box (405). 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).

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