A multi-degree-of-freedom welding robot based on training target machining

Abstract

This invention belongs to the field of target welding technology, specifically a multi-degree-of-freedom welding robotic arm based on training target machining. It includes a machining table, a welding robotic arm, and a target machine. The target machine is placed on top of the machining table. An orientation control device is provided on the machining table. The orientation control device includes an annular guide rail located on top of the machining table, with annular grooves on opposite sides of the annular guide rail. A rotary screw is installed on top of the machining table, with a rotary clamping block threaded onto the screw, and the target machine positioned along the movement path of the rotary clamping block. A positioning cross block is located on top of the machining table, with a driving cylinder mounted on top of the positioning cross block. The orientation control device improves the welding accuracy of the target machine, reduces the limitations of welding operations, and thus enhances the welding effect of the target machine.

Description

Technical Field

[0001] This invention belongs to the field of target welding technology, specifically a multi-degree-of-freedom welding robotic arm based on training target machining. Background Technology

[0002] Welding is a key process in the manufacturing of training target machines, used to achieve a firm connection between the target material and the back plate. It is a crucial step in the formation of the target machine structure. This process is usually completed by a multi-degree-of-freedom welding robot arm, which can achieve high-precision and high-efficiency welding of complex welds with its flexible multi-axis motion.

[0003] However, existing equipment has obvious limitations: during the welding process, it is impossible to actively adjust the welding robot arm to different positions of the workpiece. It can only adjust the welding positions of different sides of the workpiece to the working range of the robot arm by rotating the workpiece. This adjustment method is prone to deviation of the target machine position, which not only reduces the welding accuracy of the robot arm to the target machine, but also makes the welding operation of the robot arm very limited, ultimately affecting the welding effect of the target machine. Summary of the Invention

[0004] In view of the above situation and to overcome the defects of the prior art, the present invention provides a multi-degree-of-freedom welding robotic arm based on training target machining, which effectively solves the problems in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-degree-of-freedom welding robotic arm based on a training target machine, comprising a processing table, a welding robotic arm, and a target machine; the target machine is placed on top of the processing table; an orientation control device is provided on the processing table for adjusting the overall orientation of the welding robotic arm; the orientation control device includes an annular guide rail, which is disposed on top of the processing table; annular grooves are provided on both sides of the annular guide rail.

[0006] A rotary lead screw is installed on the top of the processing table; a rotary clamping block is threaded onto the rotary lead screw, and the target machine is located at the moving path of the rotary clamping block;

[0007] A positioning block is located on the top of the processing table; a driving cylinder is installed on the top of the positioning block, and a positioning and anti-movement component is provided on the driving cylinder, which is used to limit the position of the welding robot arm during use; the positioning and anti-movement component includes a driving toothed column, which slides in cooperation with the driving cylinder; the driving cylinder and the driving toothed column are fitted together.

[0008] A gas-generating box is installed on the side of the positioning block; a limited stop execution unit is provided on the gas-generating box, which is used to fix the position of the welding robot arm; the limited stop execution unit includes a gas-generating plate, which is slidably connected to the gas-generating box and the two fit together; a rotating sliding column is installed on the processing table, which is connected through the rotating clamping block and the two slide together.

[0009] Preferably, it includes a first square seat; two first square seats are installed on the side of the positioning cross block near the processing table; the two first square seats are symmetrically arranged with the annular guide rail as the axis of symmetry; a drive wheel is installed in the first square seat and contacts the top of the processing table; a first motor is also installed on the first square seat and its output end is rotatably connected to the drive wheel.

[0010] A telescopic cylinder is installed on the side of the positioning block away from the processing table; a bearing base is installed on the output end of the telescopic cylinder, and a welding robot arm is installed on the bearing base; a number of limiting cylinders are provided on the side of the bearing base near the positioning block; the number of limiting cylinders are connected through the positioning block, and the two are in sliding fit.

[0011] Preferably, it includes a retaining circular block connected to the side of the positioning horizontal block away from the telescopic cylinder; the bottom of the retaining circular block is also provided with a retaining rotating groove, and the two are coaxial in center;

[0012] A retaining ring is fitted into a retaining groove; the retaining groove and the retaining ring are rotatably engaged; two retaining bases are symmetrically installed on the side of the retaining ring near the processing table; the retaining bases are located within an annular guide rail.

[0013] A retaining cylinder is connected through the side of the retaining base near the annular groove; retaining limiting plates are provided at the opposite ends of the two retaining cylinders; the retaining cylinders and the retaining base are in sliding fit.

[0014] Preferably, it includes a drive shaft connected to a first square base; a drive roller is installed at one end of the drive shaft, which is located inside the first square base and in contact with a drive wheel; a rotating disk is installed at the other end of the drive shaft, which is on the same side as the first motor; a brake column is installed at the edge of the rotating disk away from the drive shaft.

[0015] The first base plate is mounted on the first square base; two symmetrical brake sliding pillars are installed through the top of the first base plate and are slidably engaged; one end of the two brake sliding pillars is connected to a brake torque block, and the other end passes through the gas-generating square box and is connected to the gas-generating square plate.

[0016] A braking torque block is located on the same side as the braking column; the side of the braking torque block closest to the rotating disc is provided with a through braking torque groove, which slides in conjunction with the braking column.

[0017] Preferably, an inlet valve and an outlet valve are symmetrically installed on both sides of the gas generating box; ventilation pipes are installed on both sides of the gas generating box; the two ventilation pipes are connected to the two outlet valves; the two ventilation pipes are connected to a conversion chamber, which is installed on the gas generating box; a bent flexible hose is installed on the conversion chamber; the end of the bent flexible hose away from the conversion chamber is connected to the drive cylinder, and a drive spring is provided inside it; one end of the drive spring is fixedly connected to the drive gear column, and the other end is fixedly connected to the inner bottom surface of the drive cylinder.

[0018] Preferably, the device includes a retaining spring sleeved on a retaining cylinder; one end of the retaining spring is fixedly connected to a retaining limiting plate, and the other end is fixedly connected to a retaining base; a second square seat is installed at the opposite ends of the two retaining cylinders, and the annular groove is located at the moving path of the second square seat; a positioning wheel is installed in the second square seat, and the sidewall of the annular groove is located at the moving path of the positioning wheel; an electric telescopic device is connected to the top and bottom of the second square seat, and a third square seat is installed on the output end of each of the two electric telescopic devices, and a limiting wheel is provided in the third square seat, with the inner bottom surface and inner top surface of the annular groove located at the moving path of the limiting wheel; a second motor is installed on the second square seat, and its output end is connected to the positioning wheel.

[0019] Preferably, a bent square plate is installed at the end of the drive gear column away from the drive cylinder, and the bent square plate is located at the top of the processing table; a positioning cylinder is connected through the side of the bent square plate away from the processing table, and a positioning lock block is installed at the end of the cylinder near the processing table; the bent square plate and the positioning cylinder are in sliding fit; a positioning spring is sleeved on the positioning cylinder, one end of which is fixedly connected to the bent square plate, and the other end is fixedly connected to the positioning lock block; a rubber pad is provided on the side of the positioning lock block near the processing table, and its initial position is in contact with the top of the processing table.

[0020] Preferably, the retaining ring is provided with an elastic locking mechanism; the elastic locking mechanism includes locking slots; a plurality of the locking slots are disposed on the outer wall of the retaining ring.

[0021] A locking post is fixedly installed on the outer wall of the positioning ring; a locking block is slidably connected to the locking post.

[0022] A locking pin is fixedly connected to the locking block on the side near the retaining block; one of the locking slots is located in the moving path of the locking pin.

[0023] Preferably, a locking limit plate is installed at the end of the locking block away from the fixing ring; a locking cylinder is fixedly installed on the locking block, the locking cylinder is connected through the locking limit plate, and the two are slidably engaged; a locking spring is sleeved on the locking cylinder, one end of which is fixedly connected to the locking block, and the other end is fixedly connected to the locking limit plate.

[0024] Preferably, it includes drive gears; two drive gears are located on both sides of a drive spur; the drive spur is meshed with the two drive gears;

[0025] A drive shaft is mounted on a drive gear; a second base plate is mounted on the drive cylinder and is rotatably connected to the drive shaft.

[0026] Anti-moving U-block; both ends of the drive shaft are connected to the anti-moving U-block, and the drive gear is located inside the opening of the anti-moving U-block; an anti-moving horizontal plate is installed on the anti-moving U-block, and a buffer pad is provided on the anti-moving horizontal plate, whose initial position is in contact with the welding robot arm.

[0027] As can be seen from the above, the multi-degree-of-freedom welding robotic arm based on training target machine processing provided by the present invention has the effect of improving the multi-degree-of-freedom performance of the welding robotic arm. It enables the equipment to actively adjust the welding robotic arm as a whole to different positions of the workpiece, i.e., the target machine, during the welding process, avoiding the limitation of only being able to adjust the welding position of different surfaces of the workpiece to the working range of the welding robotic arm by rotating the workpiece. This reduces the limitations of the welding robotic arm during welding operations and avoids the deviation of the target machine position caused by rotating the workpiece to adjust its position. Thus, the welding accuracy of the welding robotic arm on the target machine is improved, and the welding effect on the target machine is also improved. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0029] In the attached diagram:

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the welding robotic arm structure of the present invention;

[0032] Figure 3 This is a schematic diagram of the positioning lock block structure of the present invention;

[0033] Figure 4 This is a schematic diagram of the locking pin structure of the present invention;

[0034] Figure 5 This is a schematic diagram of the drive wheel structure of the present invention;

[0035] Figure 6 This is a schematic diagram of the anti-movement horizontal plate structure of the present invention;

[0036] Figure 7 This is a schematic diagram of the gas-generating square plate structure of the present invention;

[0037] Figure 8This is a schematic diagram of the fixed-position rotating ring structure of the present invention;

[0038] Figure 9 This is a schematic diagram of the annular groove structure of the present invention;

[0039] Figure 10 This is a cross-sectional view of the driving cylinder of the present invention;

[0040] Figure 11 This is an exploded cross-sectional view of the retaining groove of the present invention;

[0041] In the diagram: 1. Processing table; 2. Welding robotic arm; 3. Target machine; 4. Circular guide rail; 5. Circular slide rail; 6. Rotating lead screw; 7. Rotating clamping block; 8. Positioning cross block; 9. Drive cylinder; 10. Drive gear column; 11. Gas generating box; 12. Gas generating plate; 13. Rotating slide column; 14. First square base; 15. Drive wheel; 16. First motor; 17. Telescopic cylinder; 18. Support base; 19. Limiting cylinder; 20. Fixing block; 21. Fixing groove; 22. Fixing ring; 23. Fixing base; 24. Fixing cylinder; 25. Fixing limiting plate; 26. Drive shaft; 27. Drive roller; 28. Rotating turntable; 29. ​​Braking column; 30. First base plate; 31. Braking slide column; 32. Braking cylinder; 33. Braking wheel; 44. Circular guide rail; 5. Circular slide rail; 6. Circular guide rail; 7. Circular guide rail; 8. Circular slide rail; 9. Circular guide rail; 10. Circular guide rail; 11. Circular guide rail; 12. Circular slide rail; 13. Circular guide rail; 14. Circular guide rail; 15. Circular guide rail; 16. Circular guide rail; 17. Circular guide rail; 18. Circular guide rail; 19. Circular guide rail; 20. Circular guide rail; 10. Circular guide rail; 11. Circular guide rail; 22. Circular guide rail; 13. Circular guide rail; 14. Circular guide rail; 15. Circular guide rail; 16. Circular guide rail; 17. Circular guide rail 33. Momentum block; 34. Braking torque groove; 35. Ventilation pipe; 36. Conversion chamber; 37. Bending hose; 38. Drive spring; 39. Retention spring; 40. Second square seat; 41. Positioning wheel; 42. Electric telescopic device; 43. Third third seat; 44. Limiting wheel; 45. Second motor; 46. Bending square plate; 47. Positioning cylinder; 48. Positioning lock block; 49. Positioning spring; 50. Rubber pad; 51. Locking slot; 52. Locking square post; 53. Locking square block; 54. Locking insert; 55. Locking limit plate; 56. Locking cylinder; 57. Locking spring; 58. Drive gear; 59. Drive shaft; 60. Second base plate; 61. Anti-movement U-block; 62. Anti-movement cross plate; 63. Buffer pad. Detailed Implementation

[0042] 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 embodiments of the present invention, and not all embodiments. 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.

[0043] Implementation examples, by Figures 1 to 11The present invention includes a processing table 1, a welding robotic arm 2, and a target machine 3; the target machine 3 is placed on top of the processing table 1; the processing table 1 is provided with an orientation control device for adjusting the overall orientation of the welding robotic arm 2; the orientation control device includes an annular guide rail 4, which is provided on top of the processing table 1; the annular guide rail 4 has annular grooves 5 on both sides facing inward; a welding torch is provided on the output end of the welding robotic arm 2;

[0044] A rotary lead screw 6 is installed on the top of the processing table 1; a rotary clamping block 7 is threadedly connected to the rotary lead screw 6, and the target machine 3 is located at the moving path of the rotary clamping block 7;

[0045] Positioning block 8 is located on top of processing table 1; a driving cylinder 9 is installed on top of positioning block 8, and a positioning anti-movement component is provided on the driving cylinder 9, which is used to limit the position of welding robot arm 2 during use.

[0046] A gas supply box 11 is installed on the side of the positioning block 8; a limited stop execution unit is provided on the gas supply box 11, which is used to fix the position of the welding robot arm 2.

[0047] First square seat 14; two first square seats 14 are installed on the side of the positioning horizontal block 8 near the processing table 1; the two first square seats 14 are symmetrically arranged with the annular guide rail 4 as the axis of symmetry; a drive wheel 15 is installed in the first square seat 14, which contacts the top of the processing table 1; a first motor 16 is also installed on the first square seat 14, and its output end is rotatably connected to the drive wheel 15.

[0048] A telescopic cylinder 17 is installed on the side of the positioning block 8 away from the processing table 1; a bearing base 18 is installed on the output end of the telescopic cylinder 17, and the welding robot arm 2 is installed on the bearing base 18; a plurality of limiting cylinders 19 are provided on the side of the bearing base 18 near the positioning block 8; the plurality of limiting cylinders 19 are connected through the positioning block 8, and the two are slidably engaged.

[0049] The positioning block 20 is connected to the side of the positioning block 8 away from the telescopic cylinder 17; the bottom of the positioning block 20 is also provided with a positioning groove 21, and the two are coaxial.

[0050] A retaining rotating ring 22 is fitted into a retaining rotating groove 21; the retaining rotating groove 21 and the retaining rotating ring 22 are rotatably engaged; two retaining bases 23 are symmetrically installed on the side of the retaining rotating ring 22 near the processing table 1; the retaining bases 23 are located within the annular guide rail 4;

[0051] A retaining cylinder 24 is connected through the side of the retaining base 23 near the annular groove 5; a retaining limiting plate 25 is provided at the opposite ends of the two retaining cylinders 24; the retaining cylinders 24 and the retaining base 23 are in sliding fit.

[0052] A retaining spring 38 is sleeved on a retaining cylinder 24; one end of the retaining spring 38 is fixedly connected to a retaining limiting plate 25, and the other end is fixedly connected to a retaining base 23; a second square seat 39 is installed at the opposite ends of the two retaining cylinders 24, and the annular groove 5 is located at the moving path of the second square seat 39; a positioning wheel 40 is installed in the second square seat 39, and the side wall of the annular groove 5 is located at the moving path of the positioning wheel 40; an electric telescopic device 41 is connected to the top and bottom of the second square seat 39, and a third third seat 42 is installed on the output end of the two electric telescopic devices 41; a limiting wheel 43 is provided in the third third seat 42, and the inner bottom surface and inner top surface of the annular groove 5 are located at the moving path of the limiting wheel 43; a second motor 44 is installed on the second square seat 39, and its output end is connected to the positioning wheel 40;

[0053] When the equipment is in use, rotating the screw 6 causes the rotating clamp 7 to fix the target machine 3 to be welded onto the processing table 1. Then, by operating the welding robotic arm 2, the welding torch at its output end can perform welding operations on the fixed target machine 3. At the same time, the telescopic cylinder 17 can be operated so that its output end can drive the support base 18 to move up or down. The welding robotic arm 2 is mounted on the support base 18, which can be used to adjust the overall height of the welding robotic arm 2, increase the usable range of the welding torch at its output end, reduce the limitations of the welding robotic arm 2 when in use, and make its multi-degree-of-freedom use effect better. At the same time, when the welding robotic arm 2 adjusts its overall height through the support base 18, the limiting cylinder 19 on it moves to the upper limit of the positioning block 8 to limit the welding robotic arm 2 when adjusting the height, so as to avoid the welding robotic arm 2 shaking when moving up and down and reducing its welding accuracy, thereby improving the stability of the welding robotic arm 2 when adjusting the height.

[0054] When the equipment is used further, for example, after completing the welding operation at the welding point in this position, it is necessary to adjust the overall position of the welding robotic arm 2 to different positions of the target machine 3. At this time, by starting the first motor 16 and the second motor 44, the output ends of the two motors drive the drive wheel 15 and the positioning wheel 40 to rotate respectively. The drive wheel 15 is located on the top of the processing table 1 and is in contact with the target machine 3. The positioning wheel 40 is located in the annular groove 5 and is in contact with its side wall. Both the drive wheel 15 and the positioning wheel 40 are mounted on the positioning horizontal block 8, which allows the positioning horizontal block 8 to move along the annular guide rail 4. The drive wheel 15 and the positioning wheel 40 guide and provide power to the positioning horizontal block 8, allowing the welding robotic arm 2 on the positioning horizontal block 8 to move in a limited position at the annular groove 5. The annular groove 5 is located on the top of the processing table 1, and the fixed target machine 3 is located in the annular groove 5, which drives the welding robot to rotate. The robotic arm 2 is moved as a whole to different positions on the target machine 3, allowing it to perform welding operations on the target machine 3 from various angles. This increases the welding range of the robotic arm 2, avoids dead angles that could affect its use and welding effect, and further enhances its multi-degree-of-freedom performance. The equipment can actively adjust the robotic arm 2 to different positions on the workpiece (target machine 3) during the welding process, avoiding the limitation of only being able to adjust the welding position of different surfaces of the workpiece to the working range of the robotic arm 2. This reduces the limitations of the robotic arm 2 during welding operations and avoids deviations in the target machine 3 caused by rotating the workpiece to adjust its position. This improves the welding accuracy and welding effect of the robotic arm 2 on the target machine.

[0055] It is worth mentioning that when the welding robotic arm 2 needs to be installed on the processing table 1 to weld the fixed target machine 3, by aligning the positioning block 8 on the welding robotic arm 2 with the annular slide groove 5, the two first square seats 14 on the positioning block 8 are located on both sides of the annular slide groove 5. At the same time, the driving wheel 15 on the first square seat 14 can also be used to actively adjust the position of the welding robotic arm 2. Under the action of the fixing block 20, the fixing groove 21 and the fixing ring 22, the fixing base 23 on the fixing ring 22 can be inserted into the annular guide rail 4. It is worth mentioning that the initial position of the retaining cylinder 24 on the retaining base 23 is parallel to the annular guide rail 4. That is, if the annular guide rail 4 extends vertically in the initial position, the positioning block 8 extends horizontally, making the positioning block 8 and the retaining cylinder 24 in the initial position perpendicular. After the retaining base 23 is located in the annular guide rail 4, by rotating the retaining ring 22, it can be limited to rotate within the retaining groove 21, thereby adjusting the rotation of the retaining base 23 on the retaining ring 22 until the retaining cylinder 24 on it is adjusted to be parallel to the positioning block 8. The blocks 8 are arranged in parallel. When they rotate, the positioning wheel 40 on the fixed cylinder 24 contacts the side wall of the annular groove 5, which puts pressure on the second seat 39 on the positioning wheel 40. This causes the fixed cylinder 24 to move at the fixed base 23, putting the fixed spring 38 in a buffer state. This allows the positioning wheel 40 to be tightly pressed against the side wall of the annular groove 5. At the same time, the fixed spring 38 in a buffer state ensures the strength and friction of the connection between the positioning wheel 40 and the annular groove 5. This allows the positioning block 8 to be fixedly installed on the processing table 1. The positioning wheel 40 can also be used to control the movement position of the positioning block 8. When the positioning block 8 moves to the turning position, if the arc of the annular slide 5 changes, a gap will be formed between its side wall and the positioning wheel 40. This will cause the retaining spring 38, which is in a buffer state, to reset, so that the positioning wheel 40 can always be in contact with and fit the annular slide 5, thus ensuring the installation position of the positioning block 8 and preventing the welding robot arm 2 on it from dislodging during position adjustment, which would lead to a decrease in welding accuracy. This ensures that the positioning wheel 40 on the positioning block 8 can always be engaged in the annular slide 5.During the snap-fit ​​process, the electric telescopic device 41 can be activated, causing its output end to drive the limiting wheel 43 on the third seat 42 to contact the bottom and top surfaces of the annular groove 5 respectively. This limits and fixes the second seat 39 on the positioning wheel 40 within the annular groove 5, further improving the installation effect of the positioning block 8 and preventing it from shaking or dislodging during movement, which could affect the stability of the welding robot arm 2. This improves the welding effect of the welding robot arm 2, allowing the positioning block 8 to move the welding robot arm 2 within the path of the annular guide rail 4 and the annular groove 5. This allows the welding robot arm 2 to move around the target machine 3 and perform welding work, adjusting the overall working position of the welding robot arm 2, increasing its welding range, and reducing the limitations of the welding robot arm 2 during welding and use.

[0056] The limited stop execution unit of this embodiment includes a gas-generating square plate 12, which is slidably connected to the gas-generating square box 11 and the two fit together; a rotating sliding column 13 is installed on the processing table 1, which is connected through the rotating clamping block 7 and the two slide together.

[0057] A drive shaft 26 is connected to a first square base 14; a drive roller 27 is installed at one end of the drive shaft 26, which is located inside the first square base 14 and in contact with the drive wheel 15; a rotating disk 28 is installed at the other end of the drive shaft 26, which is on the same side as the first motor 16; a brake column 29 is installed at the edge of the rotating disk 28 away from the drive shaft 26.

[0058] The first substrate 30 is mounted on the first square base 14; two symmetrical brake sliding pins 31 are installed through the top of the first substrate 30 and are slidably engaged; one end of the two brake sliding pins 31 is connected to a brake block 32, and the other end passes through the gas-generating square box 11 and is connected to the gas-generating square plate 12.

[0059] Braking torque block 32 is on the same side as the brake column 29; the side of the braking torque block 32 near the rotating disk 28 is provided with a through braking torque groove 33, which slides with the brake column 29.

[0060] The gas generating box 11 has an inlet valve and an outlet valve symmetrically installed on both sides; the gas generating box 11 has ventilation pipes 34 installed on both sides, each containing a valve; the two ventilation pipes 34 are connected to the two outlet valves; the two ventilation pipes 34 are connected to a conversion chamber 35, which is installed on the gas generating box 11; the conversion chamber 35 has a bent hose 36 installed on it; the end of the bent hose 36 away from the conversion chamber 35 is connected to the drive cylinder 9, which contains a drive spring 37; one end of the drive spring 37 is fixedly connected to the drive gear 10, and the other end is fixedly connected to the inner bottom surface of the drive cylinder 9.

[0061] A bent square plate 45 is installed at the end of the drive gear column 10 away from the drive cylinder 9, and the bent square plate 45 is located at the top of the processing table 1; a positioning cylinder 46 is connected through the side of the bent square plate 45 away from the processing table 1, and a positioning locking block 47 is installed at the end of the cylinder 46 near the processing table 1; the bent square plate 45 and the positioning cylinder 46 are in sliding fit; a positioning spring 48 is sleeved on the positioning cylinder 46, one end of which is fixedly connected to the bent square plate 45, and the other end is fixedly connected to the positioning locking block 47; a rubber pad 49 is provided on the side of the positioning locking block 47 near the processing table 1, and its initial position is in contact with the top of the processing table 1;

[0062] When the welding robotic arm 2 moves along the annular guide rail 4 via the positioning block 8 to adjust its overall working position, the positioning block 8 moves along the annular guide rail 4 on the processing table 1 via the drive wheel 15, causing the drive wheel 15 to rotate. The transmission roller 27 is in contact with the drive wheel 15, thus driving the transmission roller 27 to rotate. This causes the transmission roller 27 to rotate via the transmission shaft 26, which in turn drives the rotating turntable 28 to rotate. This causes the brake column 29 on the turntable to reciprocate within the brake torque groove 33, and causes the brake torque block 32 on the turntable to reciprocate via the brake slide 31 at the first base plate 30. This causes the gas generating plate 12 to reciprocate within the gas generating box 11, and the gas generating plate 12 moves back and forth through the cooperation of the inlet valve and the outlet valve. The reciprocating movement of the gas-generating square plate 12 allows gas to continuously enter the gas-generating square box 11 and be discharged to the ventilation pipe 34, causing gas to continuously flow into the conversion chamber 35. The gas enters the drive cylinder 9 through the bent hose 36, gradually increasing the internal pressure. This pressure pushes against the drive tooth column 10 inside the drive cylinder 9, limiting its movement at the drive cylinder 9. This puts the drive spring 37 in a buffer state, allowing it to move the bent square plate 45 on the drive tooth column 10 away from the processing table 1. As the bent square plate 45 is lifted, it moves the positioning lock block 47 away from the top of the processing table 1 through the action of the positioning cylinder 46 and the positioning spring 48, so as to avoid obstructing the movement of the positioning horizontal block 8 on the processing table 1.

[0063] It is worth mentioning that there is an inlet valve and an outlet valve on both sides of the gas generating box 11. When the gas generating plate 12 moves within the gas generating box 11, the inlet valve on the moving side of the gas generating plate 12 closes and the outlet valve opens, allowing the gas in the gas generating box 11 to enter the ventilation pipe 34 through the outlet valve, and then be sent into the conversion chamber 35. At this time, the outlet valve on the other side closes and the inlet valve opens, allowing the gas to be drawn into the gas generating box 11 through the inlet valve on the other side. When the gas generating plate 12 returns to its original position, the gas drawn in is sent into the conversion chamber 35, and the outlet valve on one side closes and the inlet valve opens. Initially, one side begins to draw in gas to wait for the gas generating plate 12 to move again and continue to send gas into the conversion chamber 35. The reciprocating movement of the gas-generating square plate 12 within the switching chamber 35 causes the gas-generating square box 11 to alternately release gas from both sides into the switching chamber 35, ensuring that the switching chamber 35 is always in an air-intake state. In other words, when the positioning horizontal block 8 is in a moving state, the gas-generating square box 11 continuously generates gas through the cooperation of the air inlet valve and the air outlet valve respectively provided on both sides, and this gas continuously enters the drive cylinder 9, keeping its interior under pressure. This keeps the drive gear column 10 continuously away from the processing table 1 to avoid hindering the orientation adjustment of the welding robot arm 2. It also prevents the pressure inside the drive cylinder 9 from disappearing when the welding robot arm 2 is adjusting its working position, thus avoiding the reset of the positioning lock block 47 and affecting the movement of the positioning horizontal block 8. This reduces the limitations of the welding robot arm 2 during welding and use.

[0064] Once the processing orientation of the welding robotic arm 2 on the positioning block 8 has been adjusted, it indicates that the welding robotic arm 2 has been adjusted to different positions on the target machine 3. At this time, the positioning block 8 stops at its current position to allow the welding robotic arm 2 to perform welding operations on the target machine 3. This causes the drive wheel 15 to stop rotating and no longer drives the transmission roller 27 to rotate. This causes the gas-generating plate 12 in the gas-generating box 11 to stop reciprocating, thereby stopping the gas supply to the drive cylinder 9 and putting the drive spring 37 in its current buffer state. At this time, by opening the valves in the gas-generating box 11 and the valves in the ventilation pipe 34, Furthermore, the drive cylinder 9, the bent hose 36, the conversion chamber 35, and the ventilation pipe 34 are interconnected. When the valves are opened, the high-pressure gas inside the drive cylinder 9 has a release channel, causing the drive spring 37, which is in a buffer state, to be no longer limited and reset. The reset drive spring 37 can drive the drive gear column 10 to reset and move, thus squeezing the gas inside the drive cylinder 9 into the gas generating box 11, and allowing it to flow out from the valve inside the gas generating box 11. This causes the bent square plate 45 on the drive gear column 10 to reset and move, so that it can be driven by the positioning cylinder 46 and the positioning spring 48. The positioning locking block 47 moves close to and contacts the top of the processing table 1, thereby limiting the positioning horizontal block 8 to its current position. This also causes the rubber pad 49 on the positioning locking block 47 to contact the top of the processing table 1, increasing the friction between the positioning locking block 47 and the top of the processing table 1. This enhances the limiting effect on the positioning horizontal block 8, preventing the welding robotic arm 2 on the positioning horizontal block 8 from experiencing overall positional deviations due to non-human factors or impacts generated during welding, thus affecting its welding accuracy. This improves the welding accuracy and effect of the welding robotic arm 2 and reduces its limitations in welding and use. It is worth mentioning that the strength of the drive spring 37 is greater than that of the positioning spring 48. After the positioning lock block 47 has contacted the top of the processing table 1, the reset of the drive spring 37 continues to drive the bending square plate 45 to move downward, causing it to move at the upper limit of the positioning cylinder 46. This puts the positioning spring 48 in a buffer state, thereby strengthening the contact strength and friction between the positioning lock block 47 and the top of the processing table 1, further improving the overall limiting effect of the welding robot arm 2, avoiding the overall position of the welding robot arm 2 from shifting during use and affecting the welding effect on the target machine 3, and improving the overall stability of the welding robot arm 2 during use.

[0065] The positioning and anti-movement component of this embodiment includes a drive toothed column 10, which is slidably engaged with a drive cylinder 9; the drive cylinder 9 and the drive toothed column 10 are fitted together.

[0066] Drive gears 57; two drive gears 57 are located on both sides of drive gear 10; drive gear 10 is meshed with the two drive gears 57.

[0067] A drive shaft 58 is mounted on a drive gear 57; a second base plate 59 is mounted on the drive cylinder 9 and is rotatably connected to the drive shaft 58.

[0068] Anti-moving U-block 60; both ends of the drive shaft 58 are connected to the anti-moving U-block 60, and the drive gear 57 is located in the opening of the anti-moving U-block 60; an anti-moving horizontal plate 61 is installed on the anti-moving U-block 60, and a buffer pad 62 is provided on the anti-moving horizontal plate 61, whose initial position is in contact with the welding robotic arm 2;

[0069] When the welding robotic arm 2 is adjusting its orientation, the positioning block 8 on it moves along the annular guide rail 4 on the processing table 1, causing the drive gear 10 to move away from the processing table 1. This causes the drive gear 10 to mesh with two drive gears 57 and rotate, causing the drive shaft 58 to rotate and drive the anti-movement U-block 60 to rotate. This prevents the anti-movement horizontal plate 61 from contacting the base of the welding robotic arm 2. As the two anti-movement horizontal plates 61 rotate in opposite directions, they simultaneously release the limiting settings on the welding robotic arm 2, preventing contact and avoiding the side effects of "unnecessary rigid constraints." Since the welding robotic arm 2 may wobble during the overall working orientation adjustment process, continuous contact with the welding robotic arm 2 during this time would damage it due to the dynamic force of movement. Therefore, high precision is not required during the movement phase, and clamping is meaningless; thus, there is no need for the anti-movement horizontal plate 61 to contact the welding robotic arm. Arm 2 maintains its accuracy through contact. Conversely, continuous clamping can cause the welding robot arm 2 to be "forced to correct" due to the slight displacement during movement, generating additional internal stress. Over time, this can easily lead to component deformation, which in turn affects the accuracy during subsequent work. If clamping continues, the welding robot arm 2 and the anti-movement horizontal plate 61 may experience continuous friction due to the relative movement (even if slight) of the former, causing wear on the contact surfaces (such as the clamping surface of the anti-movement horizontal plate 61 or the robot arm shell). In other words, reducing mechanical damage during movement is crucial. When the positioning horizontal block 8 moves the welding robot arm 2 as a whole, its instability can easily lead to severe friction between the anti-movement horizontal plate 61 and the robot arm, reducing the robot arm's lifespan. By separating the two anti-movement horizontal plates 61 from the welding robot arm 2 as described above, the above phenomena can be avoided, deformation of the welding robot arm 2 can be prevented, and the service life of the welding robot arm 2 can be extended.

[0070] It is worth mentioning that when the welding robot arm 2 completes the overall orientation adjustment and stops moving, the positioning block 8 on it is limited to the current position, so that the drive spring 37 in the buffer state drives the drive gear 10 to reset and move, so that it meshes with the drive gear 57 on both sides to reset and rotate, thereby driving the two anti-movement U-blocks 60 to reset and rotate relative to each other, so that the two anti-movement horizontal plates 61 rotate relative to each other and move close to both sides of the welding robot arm 2. The two anti-movement horizontal plates 61 are located on both sides of the welding robot arm 2, so that it can be clamped and set to prevent the welding robot arm 2 from shaking during welding, which would reduce the welding accuracy. Furthermore, the anti-movement horizontal plate 61 is also equipped with a buffer pad 62, which contacts the welding robotic arm 2. The resulting buffering performance is applied to the welding robotic arm 2 to reduce the impact force on the welding robotic arm 2 during use, thereby improving the stability of the welding robotic arm 2 during use. The anti-movement horizontal plate 61 and the buffer pad 62 clamp the welding robotic arm 2 to provide restraint, eliminate the shaking caused by the welding robotic arm 2 itself or externally, and ensure the precise movement of the welding robotic arm 2, avoid welding deviations (such as incomplete welding or off-center welding), improve welding quality, and thus further reduce the limitations of the welding robotic arm 2 during welding.

[0071] In this embodiment, the retaining ring 22 is provided with an elastic locking mechanism; the elastic locking mechanism includes a locking slot 50; a plurality of the locking slots 50 are provided on the outer wall of the retaining circular block 20;

[0072] A locking post 51 is fixedly installed on the outer wall of the fixing ring 22; a locking block 52 is slidably connected to the locking post 51.

[0073] The locking pin 53 is fixedly connected to the locking block 52 on the side near the retaining block 20; one of the locking slots 50 is located in the moving path of the locking pin 53.

[0074] A locking limit plate 54 is installed at the end of the locking block 51 away from the fixing ring 22; a locking cylinder 55 is fixedly installed on the locking block 52, the locking cylinder 55 is connected through the locking limit plate 54, and the two are slidably engaged; a locking spring 56 is sleeved on the locking cylinder 55, one end of which is fixedly connected to the locking block 52, and the other end is fixedly connected to the locking limit plate 54.

[0075] When the welding robot arm 2 needs to be installed on the processing table 1 for use, the positioning block 8 on the welding robot arm 2 needs to be installed on the annular guide rail 4. At this time, the positioning ring 22 needs to be rotated to move the positioning wheel 40 on it into the annular slide groove 5 to limit the position of the positioning block 8. Then, by pulling the locking block 52 outward, it will be limited to move at the locking post 51, and at the same time, the locking post 55 on the locking block 52 will be limited to move at the locking limit plate 54, so that the locking spring 56 is in a buffer state. Thus, the locking insert 53 on the locking block 52 is no longer connected to the locking slot 50, thereby releasing the limiting setting of the positioning ring 22. It can then be limited to rotate in the positioning groove 21, so that the position of the positioning wheel 40 can be adjusted into the annular slide groove 5, and the positioning block 8 can be engaged with the annular guide rail 4 for movement. Thus, the welding robot arm 2 can be moved by positioning. The horizontal block 8 is installed on the processing table 1 for use. After the welding robot arm 2 is installed on the processing table 1, the locking block 52 is released. The locking spring 56 resets the locking pin 53 on the locking block 52 and moves it to one of the locking slots 50, thereby limiting the positioning ring 22. This prevents the welding robot arm 2 from dislodging due to non-human factors after installation, improving the installation and welding effect of the welding robot arm 2. It also prevents the positioning wheel 40 from being affected by the rotation of the positioning ring 22, thus reducing the limitations of the welding robot arm 2 in use and improving its welding effect on the target machine 3. At the same time, it facilitates the quick and easy installation and removal of the welding robot arm 2 on the processing table 1, making it convenient for operators to maintain or replace it, and reducing the limitations of the equipment in use.

[0076] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0077] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom welding robotic arm based on a training target machine, comprising a processing table, a welding robotic arm, and a target machine; wherein the target machine is placed on top of the processing table; characterized in that: The processing table is equipped with an orientation control device for adjusting the overall orientation of the welding robot arm; the orientation control device includes an annular guide rail, which is located on the top of the processing table; the annular guide rail has annular grooves on both sides of its inner side. A rotary lead screw is installed on the top of the processing table; a rotary clamping block is threaded onto the rotary lead screw, and the target machine is located at the moving path of the rotary clamping block; A positioning block is located on the top of the processing table; a driving cylinder is installed on the top of the positioning block, and a positioning and anti-movement component is provided on the driving cylinder, which is used to limit the position of the welding robot arm during use; the positioning and anti-movement component includes a driving toothed column, which slides in cooperation with the driving cylinder; the driving cylinder and the driving toothed column are fitted together. A gas-generating box is installed on the side of the positioning block; a limited stop execution unit is provided on the gas-generating box, which is used to fix the position of the welding robot arm; the limited stop execution unit includes a gas-generating plate, which is slidably connected to the gas-generating box and the two fit together; a rotating sliding column is installed on the processing table, which is connected through the rotating clamping block and the two slide together.

2. The multi-degree-of-freedom welding robotic arm based on training target machining according to claim 1, characterized in that: Includes a first square seat; two first square seats are installed on the side of the positioning cross block near the processing table; the two first square seats are symmetrically arranged with the annular guide rail as the axis of symmetry; a drive wheel is installed inside the first square seat and contacts the top of the processing table; a first motor is also installed on the first square seat and its output end is rotatably connected to the drive wheel. A telescopic cylinder is installed on the side of the positioning block away from the processing table; a bearing base is installed on the output end of the telescopic cylinder, and a welding robot arm is installed on the bearing base; a number of limiting cylinders are provided on the side of the bearing base near the positioning block; the number of limiting cylinders are connected through the positioning block, and the two are in sliding fit.

3. The multi-degree-of-freedom welding robotic arm based on training target machining according to claim 2, characterized in that: It includes a retaining circular block, which is connected to the side of the positioning horizontal block away from the telescopic cylinder; the bottom of the retaining circular block is also provided with a retaining rotating groove, and the two are coaxial in center; A retaining ring is fitted into a retaining groove; the retaining groove and the retaining ring are rotatably engaged; two retaining bases are symmetrically installed on the side of the retaining ring near the processing table; the retaining bases are located within an annular guide rail. A retaining cylinder is connected through the side of the retaining base near the annular groove; retaining limiting plates are provided at the opposite ends of the two retaining cylinders; the retaining cylinders and the retaining base are in sliding fit.

4. The multi-degree-of-freedom welding robotic arm based on training target machining according to claim 3, characterized in that: It includes a drive shaft connected to a first square base; a drive roller is installed at one end of the drive shaft, which is located inside the first square base and in contact with a drive wheel; a rotating disk is installed at the other end of the drive shaft, which is on the same side as the first motor; a brake column is installed at the edge of the rotating disk away from the drive shaft. The first base plate is mounted on the first square base; two symmetrical brake sliding pillars are installed through the top of the first base plate and are slidably engaged; one end of the two brake sliding pillars is connected to a brake torque block, and the other end passes through the gas-generating square box and is connected to the gas-generating square plate. A braking torque block is located on the same side as the braking column; the side of the braking torque block closest to the rotating disc is provided with a through braking torque groove, which slides in conjunction with the braking column.

5. A multi-degree-of-freedom welding robotic arm based on training target machining according to claim 4, characterized in that: Each side of the gas generating box is symmetrically equipped with an inlet valve and an outlet valve; each side of the gas generating box is equipped with a ventilation pipe; the two ventilation pipes are connected to the two outlet valves; the two ventilation pipes are connected to a conversion chamber, which is installed on the gas generating box; a bent flexible hose is installed on the conversion chamber; the end of the bent flexible hose away from the conversion chamber is connected to the drive cylinder, and a drive spring is provided inside it; one end of the drive spring is fixedly connected to the drive gear column, and the other end is fixedly connected to the inner bottom surface of the drive cylinder.

6. The multi-degree-of-freedom welding robotic arm based on training target machining according to claim 3, characterized in that: The device includes a retaining spring sleeved on a retaining cylinder; one end of the retaining spring is fixedly connected to a retaining limiting plate, and the other end is fixedly connected to a retaining base; a second square seat is installed at the opposite ends of the two retaining cylinders, and an annular groove is located at the moving path of the second square seat; a positioning wheel is installed in the second square seat, and the side wall of the annular groove is located at the moving path of the positioning wheel; electric telescopic devices are connected to the top and bottom of the second square seat, and a third square seat is installed on the output end of each of the two electric telescopic devices, with a limiting wheel inside the third square seat, and the inner bottom surface and inner top surface of the annular groove are located at the moving path of the limiting wheel; a second motor is installed on the second square seat, and its output end is connected to the positioning wheel.

7. A multi-degree-of-freedom welding robotic arm based on training target machining according to claim 5, characterized in that: A bent square plate is installed at the end of the drive gear column away from the drive cylinder, and the bent square plate is located on the top of the processing table; a positioning cylinder is connected through the side of the bent square plate away from the processing table, and a positioning lock block is installed at the end of the cylinder near the processing table; the bent square plate and the positioning cylinder are in sliding fit; a positioning spring is sleeved on the positioning cylinder, one end of which is fixedly connected to the bent square plate, and the other end is fixedly connected to the positioning lock block; a rubber pad is provided on the side of the positioning lock block near the processing table, and its initial position is in contact with the top of the processing table.

8. A multi-degree-of-freedom welding robotic arm based on training target machining according to claim 3, characterized in that: The retaining ring is provided with an elastic locking mechanism; the elastic locking mechanism includes a locking slot; a plurality of the locking slots are provided on the outer wall of the retaining ring; A locking post is fixedly installed on the outer wall of the positioning ring; a locking block is slidably connected to the locking post. A locking pin is fixedly connected to the side of the locking block near the retaining circle; one of the locking slots is located in the moving path of the locking pin.

9. A multi-degree-of-freedom welding robotic arm based on training target machining according to claim 8, characterized in that: A locking limit plate is installed at the end of the locking block away from the fixed rotating ring; a locking cylinder is fixedly installed on the locking block, the locking cylinder is connected through the locking limit plate, and the two are slidably engaged; a locking spring is sleeved on the locking cylinder, one end of which is fixedly connected to the locking block, and the other end is fixedly connected to the locking limit plate.

10. A multi-degree-of-freedom welding robotic arm based on training target machining according to claim 1, characterized in that: Includes drive gears; two drive gears are located on both sides of a drive gear post; the drive gear post is meshed with the two drive gears; A drive shaft is mounted on a drive gear; a second base plate is mounted on the drive cylinder and is rotatably connected to the drive shaft. Anti-moving U-block; both ends of the drive shaft are connected to the anti-moving U-block, and the drive gear is located inside the opening of the anti-moving U-block; an anti-moving horizontal plate is installed on the anti-moving U-block, and a buffer pad is provided on the anti-moving horizontal plate, whose initial position is in contact with the welding robot arm.

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