A flexible multi-degree-of-freedom mechanical arm of an extra-high voltage tower welding robot

Abstract

The present application relates to welding equipment technical field, specifically to a kind of ultra-high voltage iron tower welding robot multi-freedom flexible mechanical arm, including multiple mechanical arm body and welding torch assembly, welding torch assembly is rotatably installed in the execution end of mechanical arm body, welding torch assembly includes welding torch body, pull cap and nozzle;The present application is provided with a fan blade in the nozzle, the blade surface of the fan blade can block the welding slag to reach the exhaust hole along the axial direction of the fan blade to the fan blade, the welding seam splashes and impacts the surface of the fan blade, and then rebounds in the fan blade, the positive pressure shielding gas acts on the welding slag, guides the welding slag to impact on the inner side wall of the fan blade, reduces the splashing speed of the welding slag, changes the splashing direction of the welding slag, thereby reduces the probability of the welding slag splashing to the exhaust hole, reduces the problem that the exhaust hole is blocked or ablated by the welding slag, thereby ensures the discharge efficiency of the shielding gas, and ensures the protection effect of the shielding gas on the weld.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding equipment, in particular to a multi-degree-of-freedom flexible mechanical arm of a super-high-voltage iron tower welding robot. BACKGROUND

[0002] The welding of tower feet and steel parts of a super-high-voltage iron tower is usually carried out in advance in a factory and then transported to a construction site for assembly and connection. When welding in the factory, a welding robot with a multi-degree-of-freedom flexible mechanical arm is often arranged to weld the tower feet and steel parts. The welding robot with a multi-degree-of-freedom flexible mechanical arm is an intelligent welding equipment specially used for welding high-voltage transmission tower parts, which combines high-precision welding, multi-axis cooperative control and flexible adaptation technology to meet the automatic operation requirements of complex space welds of large iron tower components, thereby ensuring the welding efficiency and quality of the tower feet and steel parts.

[0003] When welding the tower feet and steel parts, gas shielded welding process is required to ensure the welding quality of the weld. However, when the welding robot with a multi-degree-of-freedom flexible mechanical arm is used for vertical welding, the welding torch of the welding robot is in a vertical welding state. The welding slag generated during welding is easy to fall into the nozzle of the welding torch, causing the gas outlet hole of the protective gas to be blocked or ablated. In addition, the thickness of the tower foot plate is usually 20-30mm. Under high-power welding conditions, the welding slag generated during welding of the weld is more than that of thin plate welding, and the spatter distance of the weld is farther than that of thin plate welding. Furthermore, the steel parts are mostly hot-dipped galvanized steel, and the welding slag generated during welding is more than that of non-galvanized welds. The spattered welding slag is extremely easy to enter the nozzle, thereby causing the gas outlet hole to be blocked or ablated. Both cases will cause the discharge efficiency of the protective gas to decrease, thereby weakening the protection effect of the gas on the weld. SUMMARY

[0004] The present application aims to provide a multi-degree-of-freedom flexible mechanical arm of a super-high-voltage iron tower welding robot to solve the problem that the welding slag spatter is easy to enter the nozzle during welding of the tower feet and steel parts of a super-high-voltage iron tower, thereby causing the gas outlet hole to be blocked or ablated. Both cases will cause the discharge efficiency of the protective gas to decrease, thereby weakening the protection effect of the protective gas on the weld.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] The application discloses a flexible mechanical arm with multiple degrees of freedom of an ultrahigh-voltage iron tower welding robot, which comprises a mechanical arm body and a welding gun assembly.

[0007] During the welding process, the protective gas flows to the exhaust holes through the airflow channel, and the protective gas discharged from the exhaust holes flows to the inside of the nozzle. The protective gas is positive pressure gas. The protective gas flows to the first fan leaf. Since the blades in the first fan leaf are inclined, the protective gas flowing into the first fan leaf is affected by the inclined blades in the first fan leaf. The protective gas discharged from the first fan leaf is sprayed at an angle. The welding slag splashed into the nozzle is changed in movement direction under the action of the protective gas flow, so that the welding slag is guided to impact on the inner wall of the nozzle, the splashing speed of the welding slag is reduced, the splashing direction of the welding slag is changed, the probability of the welding slag splashing to the exhaust holes is reduced, and the problems of blockage of the exhaust holes by the welding slag or ablation of the exhaust holes by the welding slag are reduced. Further, although the positive pressure protective gas can reduce the splashing of the welding slag into the exhaust holes, part of the welding slag still splashes into the exhaust holes through the gaps between the blades in the first fan leaf. Therefore, by arranging the blades in the first fan leaf to have an axial projection area equal to the passing area of the inside of the nozzle, the blade surface of the first fan leaf can block the welding slag from passing through the first fan leaf in the axial direction of the first fan leaf to reach the exhaust holes, so that the probability of the welding slag splashing to the exhaust holes is further reduced. Further, if the welding seam splashes and impacts on the surface of the first fan leaf and rebounds in the first fan leaf, the positive pressure protective gas in the first fan leaf will act on the welding slag, so that the welding slag is guided to impact on the inner wall of the first fan leaf, the splashing speed of the welding slag is reduced, the splashing direction of the welding slag is changed, the probability of the welding slag splashing to the exhaust holes is reduced, the problems of blockage of the exhaust holes by the welding slag or ablation of the exhaust holes by the welding slag are reduced, the discharge efficiency of the protective gas is ensured, and the protection effect of the protective gas on the welding seam is ensured.

[0008] Preferably, the plurality of exhaust holes are tangent to the inner side wall of the mounting seat, and the axes of the plurality of exhaust holes are arranged at an angle to the axis of the mounting seat, the angle being in the range of 25° to 35°, the axes of the exhaust holes are arranged to be inclined downward, the cross section of the gas guide sleeve is in the shape of an "L", and a flow guide surface is arranged on the corner of the outer side wall of the gas guide sleeve, the lower end of the flow guide surface being flush with the lower end surface of the exhaust hole.

[0009] By arranging the exhaust holes to be tangent to the inner side wall of the mounting seat and inclined downward, when the protective gas flows to the exhaust hole through the gas guide sleeve, the protective gas will flow along the flow guide surface to the exhaust hole, so that the protective gas is more smoothly discharged, and the arrangement of the inclined downward exhaust hole causes the protective gas discharged from the exhaust hole to be inclined downward, so that the protective gas flows in the same direction as the flow direction of the first fan blade, thereby ensuring the flow speed of the protective gas and ensuring the impact force of the protective gas on the welding slag when it is discharged, reducing the splashing speed of the welding slag, changing the splashing direction of the welding slag, thereby reducing the probability of the welding slag splashing into the exhaust hole and reducing the problem of the exhaust hole being blocked or ablated by the splashing welding slag; further, the protective gas is introduced into the airflow channel, and the protective gas first flows along the airflow channel formed by the outer side wall of the gas guide sleeve and the inner side wall of the pull cap, and by arranging the flow guide surface on the gas guide sleeve, the protective gas can flow along the outer side wall of the gas guide sleeve and smoothly flow into the exhaust hole under the guidance of the flow guide surface, thereby avoiding the problem of the protective gas colliding directly with the inner side wall of the exhaust hole when flowing to the exhaust hole, thereby reducing the flow speed or changing the flow direction of the protective gas, ensuring that the protective gas can be smoothly discharged along the exhaust hole, further ensuring the discharge efficiency of the protective gas and ensuring the protection effect of the protective gas on the weld.

[0010] Preferably, the upper end surface of the first fan blade is provided with a flow guide platform, the inner side wall of the flow guide platform is in the shape of a cone, the small end of the cone is located on the lower side, and the diameter of the small end of the inner side wall of the flow guide platform is equal to the outer diameter of the blade in the first fan blade.

[0011] By setting the flow guide table on the upper side of the first fan blade, and the inner side wall of the flow guide table is set as a conical surface, when the protective gas passes through the first fan blade, the protective gas will flow along the inner side wall of the flow guide table, and the protective gas will gradually converge when flowing along the conical inner side wall of the flow guide table, thereby ensuring the flow speed of the protective gas discharged from the first fan blade, and reducing the turbulence generated after the protective gas hits the first fan blade, ensuring the discharge efficiency and pressure effect of the protective gas; further, by setting the small end diameter of the inner side wall of the flow guide table to be equal to the outer diameter of the blade in the first fan blade, the protective gas can flow smoothly along the inclined direction of the blade when flowing along the conical surface to the blade of the first fan blade, avoiding the problem that the protective gas directly collides with the blade when flowing to the blade, thereby causing the flow speed of the protective gas to decrease or the flow direction to change, ensuring that the protective gas can be smoothly discharged along the blade, and further ensuring the discharge efficiency of the protective gas.

[0012] Preferably, the blades in the first fan blade include a flow guide part, a compression part and a transition part, the flow guide part and the compression part are located on the upper side of the first fan blade respectively, the flow guide part and the compression part are connected by the transition part, the flow guide part and the compression part are both inclined, and the inclination direction is the same as the inclination direction of the exhaust hole, the transition part is arc-shaped, the wall thickness of the compression part gradually increases from top to bottom, the cross-sectional area of the upper and lower sides of the first fan blade is S1 and S2 respectively, and 0.6S1≤S2≤0.75S1.

[0013] By setting the blades in the first fan blade to include a guide portion, a compression portion and a transition portion, and the guide portion and the compression portion are both inclined, when the protective gas flows along the guide portion, it can flow along the inclined direction of the guide portion, when the protective gas flows to the compression portion, because the wall thickness of the compression portion gradually increases from top to bottom, the protective gas is gradually compressed in the compression portion, ensuring the pressure effect of the protective gas when it is discharged from the first fan blade, thereby improving the guiding effect of the protective gas on the welding slag, further avoiding the welding slag from splashing to the exhaust hole, reducing the problem of the exhaust hole being blocked or ablated by the welding slag, and ensuring the protection effect of the protective gas on the weld; at the same time, by setting the guide portion and the compression portion to be connected through the transition portion, and the transition portion is arc-shaped, so that when the protective gas flows along the guide portion to the compression portion, it can gradually change the flow direction along the arc of the transition portion, avoiding the protective gas from colliding directly with the compression portion when flowing to the compression portion, thereby causing the flow rate of the protective gas to decrease or the flow direction to change, ensuring that the protective gas can be smoothly discharged along the compression portion; further, by setting the cross-sectional area of the upper and lower sides of the first fan blade to S1 and S2, and satisfying 0.6S1≤S2≤0.75S1, so that the protective gas can gradually converge when flowing along the first fan blade, ensuring the discharge efficiency and pressure effect of the protective gas, at the same time, avoiding the cross-sectional area of the first fan blade changing too much, thereby causing the protective gas to produce turbulence when flowing, ensuring the discharge efficiency and pressure effect of the protective gas, and ensuring the protection effect of the protective gas on the weld.

[0014] Preferably, a second fan blade is rotatably connected to the outer side wall of the conductive nozzle, the second fan blade includes an inner ring, an outer ring and a plurality of guide vanes, the plurality of guide vanes are circumferentially distributed between the inner ring and the outer ring, the plurality of guide vanes are all inclined, and the inclination angle of the guide vanes is smaller than the inclination angle of the blades in the first fan blade.

[0015] The second fan blade is rotatably connected to the outer side wall of the conductive nozzle, and the second fan blade is designed to be rotatably connected to the outer side wall of the conductive nozzle. During the welding process, the second fan blade rotates under the driving of the shielding gas discharged from the first fan blade, and the guide vanes thereon can guide the shielding gas for the second time, so that the shielding gas is sprayed along the inclined direction of the guide vanes, further changing the movement trajectory of the welding slag splashed into the nozzle, slowing down the splashing speed of the welding slag, and guiding the welding slag to impact along the inner side wall of the nozzle, thereby effectively reducing the risk of welding slag splashing into the exhaust hole, reducing the problem of exhaust hole blockage or ablation caused by welding slag, ensuring the discharge efficiency of the shielding gas, and improving the protection effect of the shielding gas on the weld; further, after the welding slag entering the nozzle enters the second fan blade, since the fan blade is in a rotating state, the guide vanes actively impact the welding slag, and after the welding slag impacts on the guide vanes, the welding slag will be guided by the inclination angle of the guide vanes, changing the splashing direction of the welding slag, avoiding the welding slag passing through the second fan blade to reach the exhaust hole along the axial direction of the second fan blade, and further reducing the probability of the welding slag splashing into the exhaust hole; further, by setting the inclination angle of the guide vanes to be smaller than the inclination angle of the vanes in the first fan blade, when the shielding gas discharged from the first fan blade flows along the inclined direction of the guide vanes, the flow direction of the shielding gas is gradually changed, thereby ensuring the flow speed of the shielding gas, avoiding turbulence of the shielding gas in the second fan blade, ensuring the discharge efficiency and pressure effect of the shielding gas, and ensuring the protection effect of the shielding gas on the weld.

[0016] Preferably, a plurality of inner ring protrusions are coaxially arranged on the inner side wall of the second fan blade, and the plurality of inner ring protrusions are slidably connected to the outer side wall of the conductive nozzle. A plurality of outer ring protrusions are coaxially arranged on the outer side wall of the second fan blade, and the plurality of outer ring protrusions are slidably connected to the inner side wall of the nozzle. The outer side wall of the second fan blade is provided with a ring-shaped limiting protrusion at the lower end, and the limiting protrusion is slidably connected to the inner side wall of the nozzle.

[0017] The inner side wall of the second fan blade is provided with a plurality of inner ring protrusions, and the plurality of inner ring protrusions are in sliding connection with the outer side wall of the conductive nozzle; the outer side wall of the second fan blade is provided with a plurality of outer ring protrusions, and the plurality of outer ring protrusions are in sliding connection with the inner side wall of the nozzle; in the rotating process of the second fan blade, the second fan blade can stably rotate along the outer side wall of the conductive nozzle and the inner side wall of the nozzle, so that the second fan blade does not shake in the rotating process, the flow guiding effect of the second fan blade on the protective gas is ensured, and the operation stability of the equipment is ensured; further, the outer side wall of the second fan blade is provided with a ring-shaped limiting protrusion at the lower end, and the limiting protrusion is in sliding connection with the inner side wall of the outer nozzle; the rotating position of the second fan blade is limited, so that the second fan blade does not separate from the nozzle in the rotating process, and the use stability of the second fan blade is ensured; further, the setting of the inner ring protrusion and the outer ring protrusion optimizes the surface contact between the second fan blade and the conductive nozzle and the nozzle into line contact, reduces the friction between the second fan blade and the conductive nozzle and the nozzle, avoids the shaking of the second fan blade in the rotating process, ensures the flow guiding effect of the second fan blade on the protective gas, ensures the discharge efficiency and pressure effect of the protective gas, and ensures the protection effect of the protective gas on the weld.

[0018] Preferably, the lower end surface of the first fan blade is a barrier surface, and the barrier surface is provided with an anti-sticking layer made of one of a water-based anti-splashing coating, a PEA anti-slag coating or a cold galvanized paint layer.

[0019] By setting the lower end surface of the first fan blade as a barrier surface and the barrier surface being provided with an anti-sticking layer, in the welding process, the lower end surface of the first fan blade may be in contact with splashed welding slag; by setting the anti-sticking layer on the barrier surface and the anti-sticking layer being made of one of a water-based anti-splashing coating, a PEA anti-slag coating or a cold galvanized paint layer, the lower end surface of the first fan blade has an anti-sticking effect; when the welding slag splashes onto the lower end surface of the first fan blade, the welding slag does not adhere to the lower end surface of the first fan blade, but hits the barrier layer, changes the splashing direction of the welding slag, avoids the welding slag passing through the first fan blade along the axial direction of the first fan blade to reach the exhaust hole, further reduces the probability of the welding slag splashing to the exhaust hole, reduces the problem of the exhaust hole being blocked or ablated by the splashing welding slag, thereby ensuring the discharge efficiency of the protective gas and the protection effect of the protective gas on the weld.

[0020] Preferably, the upper side of the flow guiding vane is provided with a scraping vane, the scraping vane has the same inclination angle as the flow guiding vane, and the scraping vane is subjected to surface hardening treatment to 58-62HRC.

[0021] By setting the scraping blade on the upper side of the guide vane, and the scraping blade has the same inclination angle with the guide vane; during the welding process, when the second fan blade rotates under the driving of the protective gas, the scraping blade can rotate with the second fan blade, the scraping blade and the blocking surface form a scraping effect, the welding slag adhered on the blocking surface is scraped, the accumulation of welding slag on the guide vane is avoided, and the guide effect of the guide vane on the protective gas is affected; further, by surface hardening treatment of the scraping blade to 58-62HRC, the hardness and wear resistance of the scraping blade are improved, the service life of the scraping blade is guaranteed, at the same time, the scraping effect of the scraping blade on the welding slag on the guide vane is guaranteed, the accumulation of welding slag on the guide vane is avoided, the guide effect of the protective gas is affected, the discharge efficiency and pressure effect of the protective gas are guaranteed, and the protection effect of the protective gas on the weld is guaranteed.

[0022] Compared with the prior art, the beneficial effects of the present application are:

[0023] 1、The present application sets a first fan blade in the nozzle, the blade surface of the first fan blade can block the welding slag from passing through the first fan blade along the axial direction of the first fan blade to the exhaust hole, the welding slag rebounds in the first fan blade after splashing and impacting the surface of the first fan blade, the welding slag is guided to impact the inner side wall of the first fan blade under the action of the positive pressure protective gas, the splashing speed of the welding slag is reduced, and the splashing direction of the welding slag is changed, so that the probability of the welding slag splashing to the exhaust hole is reduced, the problems of the exhaust hole being blocked or ablated by the splashing welding slag are reduced, the discharge efficiency of the protective gas is guaranteed, and the protection effect of the protective gas on the weld is guaranteed.

[0024] 2、The present application sets the exhaust hole which is tangent to the inner side wall of the mounting seat and is inclined downward, and sets the gas guide sleeve of the guide surface, so that the protective gas can be discharged more smoothly along the exhaust hole, the flow speed and impact force of the protective gas are guaranteed, the probability of the welding slag splashing to the exhaust hole is further reduced, and the discharge efficiency and protection effect of the protective gas are guaranteed.

[0025] 3、The present application sets the blade in the first fan blade as including a guide part, a compression part and a transition part, and the guide part and the compression part are both inclined, so that the protective gas is gradually compressed in the compression part, the pressure effect of the protective gas when being discharged from the first fan blade is guaranteed, and the guiding effect of the protective gas on the welding slag is improved.

[0026] 4、The present application rotates the second fan blade on the outer side wall of the conductive nozzle, the guide vane on the second fan blade can guide the protective gas for the second time, further changes the movement track of the welding slag splashing into the nozzle, slows down the splashing speed of the welding slag, and guides the welding slag to impact along the direction of the inner side wall of the nozzle, effectively reduces the risk of the welding slag splashing to the exhaust hole. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is the structure schematic view of the multi-freedom flexible mechanical arm in the extra-high voltage iron tower welding robot of the application;

[0028] Figure 2 It is the structure schematic view of the welding torch assembly in the extra-high voltage iron tower welding robot of the application;

[0029] Figure 3 It is the partial sectional view of the welding torch assembly in the application;

[0030] Figure 4 It is Figure 3 The enlarged view of A in the figure;

[0031] Figure 5 It is the structure schematic view of the welding torch assembly in the application after removing the nozzle;

[0032] Figure 6 It is the structure schematic view of the first fan blade in the application;

[0033] Figure 7 It is the structure schematic view of the second fan blade in the application.

[0034] In the figure: 1, mechanical arm body; 2, welding torch assembly; 3, welding torch body; 4, conductive nozzle; 5, mounting seat; 501, exhaust hole; 6, nozzle; 7, gas guide sleeve; 701, flow guide surface; 8, pull cap; 801, air flow channel; 9, first fan blade; 901, flow guide part; 902, compression part; 903, transition part; 904, flow guide table; 905, barrier surface; 10, second fan blade; 1001, flow guide blade; 1002, scraping blade; 1003, inner ring protrusion; 1004, outer ring protrusion; 1005, limiting protrusion. DETAILED DESCRIPTION

[0035] Please refer to Figures 1 to 7 The application provides a multi-freedom flexible mechanical arm of an extra-high voltage iron tower welding robot, and the technical scheme is as follows:

[0036] A multi-freedom flexible mechanical arm of an extra-high voltage iron tower welding robot, please refer to Figure 1 , comprising a plurality of mechanical arm bodies 1 and a welding torch assembly 2, the welding torch assembly 2 is rotationally installed at the execution end of the mechanical arm body 1, please refer to Figure 2 and Figure 3 , the welding torch assembly 2 comprises a welding torch body 3, a pull cap 8 and a nozzle 6, the pull cap 8 is threadedly connected to the end of the welding torch body 3 away from the mechanical arm body 1, the nozzle 6 is threadedly connected to the end of the pull cap 8 away from the welding torch body 3, the end of the pull cap 8 inserted into the nozzle 6 is provided with a mounting seat 5, the end of the mounting seat 5 away from the welding torch body 3 is coaxially provided with a conductive nozzle 4, the side wall of the mounting seat 5 is provided with a plurality of exhaust holes 501 penetrating through the inner and outer sides of the mounting seat 5, the plurality of exhaust holes 501 are arranged in a ring array, please refer toFigures 3 to 5 The plurality of exhaust holes 501 are tangent to the inner side wall of the mounting seat 5, and the axes of the plurality of exhaust holes 501 are arranged at 30° to the axis of the mounting seat 5, and the axes of the exhaust holes 501 are arranged obliquely downward. The cross section of the gas guide sleeve 7 is in the shape of the letter "L", and a flow guide surface 701 is arranged on the corner of the outer side wall of the gas guide sleeve 7, and the lower end of the flow guide surface 701 is flush with the lower end surface of the exhaust hole 501. The gas guide sleeve 7 is coaxially arranged in the pull cap 8, and the outer side wall of the gas guide sleeve 7 and the inner side wall of the pull cap 8 form an air flow channel 801, which is in communication with the exhaust hole 501. The mounting seat 5 is coaxially fixedly connected to one end of the electrically conductive nozzle 4, and the mounting seat 5 is coaxially connected to the first fan blade 9. All the blades of the first fan blade 9 are arranged obliquely at 45° to the axis of the first fan blade 9, and the projection area of the blades in the first fan blade 9 in the axial direction of the first fan blade 9 is equal to the passage area inside the nozzle 6.

[0037] Please refer to Figure 4 and Figure 6 The upper end surface of the first fan blade 9 is provided with a flow guide platform 904, the inner side wall of the flow guide platform 904 is in the shape of a tapered surface, and the small end of the tapered surface is located on the lower side, and the diameter of the small end of the inner side wall of the flow guide platform 904 is equal to the outer diameter of the blades in the first fan blade 9. The blades in the first fan blade 9 include a flow guide portion 901, a compression portion 902, and a transition portion 903. The flow guide portion 901 and the compression portion 902 are respectively located on the upper side of the first fan blade 9, and the flow guide portion 901 and the compression portion 902 are connected by the transition portion 903. The flow guide portion 901 and the compression portion 902 are both arranged obliquely, and the oblique directions are the same as the oblique direction of the exhaust hole 501. The transition portion 903 is in the shape of an arc, the wall thickness of the compression portion 902 gradually increases from top to bottom, and the passage cross-sectional areas of the upper and lower sides of the first fan blade 9 are 300 mm² and 200 mm² respectively. The lower end surface of the first fan blade 9 is a blocking surface 905, and the blocking surface 905 is provided with an anti-sticking layer made of a PEA anti-welding slag coating process.

[0038] Please refer to Figure 4 and Figure 7The outer side wall of the conductive nozzle 4 is rotationally connected with a second fan blade 10, the second fan blade 10 comprises an inner ring, an outer ring and a plurality of guide vanes 1001, the plurality of guide vanes 1001 are circumferentially distributed between the inner ring and the outer ring, the plurality of guide vanes 1001 are all arranged in an inclined manner, and the inclination angle of the guide vanes 1001 is smaller than the inclination angle of the vanes in the first fan blade 9. A plurality of inner ring protrusions 1003 are coaxially arranged on the inner side wall of the second fan blade 10, the plurality of inner ring protrusions 1003 are slidingly connected with the outer side wall of the conductive nozzle 4, a plurality of outer ring protrusions 1004 are coaxially arranged on the outer side wall of the second fan blade 10, the plurality of outer ring protrusions 1004 are slidingly connected with the inner side wall of the nozzle 6, and a limit protrusion 1005 is arranged at the lower end of the outer side wall of the second fan blade 10, the limit protrusion 1005 is slidingly connected with the inner side wall of the nozzle 6. The upper side of the guide vane 1001 is provided with a scraping vane 1002, the scraping vane 1002 has the same inclination angle as the guide vane 1001, and the scraping vane 1002 is treated by surface hardening to 58-62HRC.

[0039] When working, please refer to Figures 1 to 7 The welding robot is started, the mechanical arm body 1 drives the welding gun assembly 2 to move to the part of the extra-high voltage iron tower to be welded, the welding gun body 3 is electrified to generate an electric arc, and the parts of the extra-high voltage iron tower are welded. In the welding process, the protective gas is continuously input into the airflow channel 801 through the welding gun body 3, the protective gas entering the airflow channel 801 flows along the guide surface 701 to the exhaust hole 501, the protective gas flowing out of the exhaust hole 501 flows into the nozzle 6, the protective gas entering the nozzle 6 flows along the inner side wall of the nozzle 6 to the first fan blade 9, the protective gas first flows to the guide table 904, the inner side wall of the guide table 904 guides the protective gas into the first fan blade 9; the protective gas entering the first fan blade 9 first flows to the guide part 901, the guide part 901 guides the flow direction of the protective gas, and guides the protective gas to the transition part 903, the protective gas reaching the transition part 903 flows to the compression part 902, the protective gas reaching the compression part 902 is compressed, the flow rate and pressure of the protective gas increase, and the protective gas is discharged out of the first fan blade 9; then, the protective gas enters the second fan blade 10, the second fan blade 10 rotates under the drive of the protective gas, the guide vanes 1001 thereon guide the protective gas for the second time, so that the protective gas is sprayed along the inclination direction of the guide vanes 1001; at the same time, the scraping vane 1002 rotates with the second fan blade 10, the scraping action is formed between the scraping vane 1002 and the blocking surface 905, and the welding slag adhered to the blocking surface 905 is scraped off; after the protective gas is guided by the first fan blade 9 and the second fan blade 10, the protective gas is discharged along the outlet end of the nozzle 6, and the weld is protected.

[0040] After the welding slag produced during welding splashes into the nozzle 6, the welding slag first reaches the lower side of the second fan blade 10, the protective gas discharged from the second fan blade 10 acts on the welding slag, the welding slag is affected by the protective gas and the splashing speed gradually decreases, the splashing direction of the welding slag changes, part of the welding slag hits the inner side wall of the nozzle 6 under the action of the protective gas and then is discharged out of the nozzle 6 under the action of the protective gas; the welding slag not discharged out of the nozzle 6 under the action of the protective gas enters the second fan blade 10, since the second fan blade 10 is in a rotating state, the guide vane 1001 in the rotating state actively hits the welding slag, the welding slag hit by the guide vane 1001 rebounds on the guide vane 1001, the splashing angle of the welding slag changes and the splashing speed decreases, the welding slag after the speed decreases hits the outer side wall of the guide vane 1001 under the guiding action of the protective gas in the second fan blade 10, the splashing speed of the welding slag is further reduced, until the welding seam is discharged out of the second fan blade 10 under the action of the protective gas and is discharged out of the nozzle 6 under the action of the protective gas; if the welding slag passes through the second fan blade 10 and reaches the first fan blade 9, part of the welding slag hits the blocking surface 905, the welding slag hitting the blocking surface 905 rebounds into the second fan blade 10, until the welding seam is discharged out of the second fan blade 10 under the action of the protective gas and is discharged out of the nozzle 6 under the action of the protective gas, and the welding slag passing through the first fan blade 9 hits the surface of the blade in the first fan blade 9 and rebounds in the first fan blade 9, the splashing angle of the welding slag changes and the splashing speed decreases, the welding slag after the speed decreases hits the outer side wall of the blade in the first fan blade 9 under the guiding action of the protective gas in the first fan blade 9, the splashing speed of the welding slag is further reduced, until the welding slag is discharged out of the first fan blade 9 under the action of the protective gas and is discharged into the second fan blade 10 under the action of the protective gas, and is discharged out of the second fan blade 10 under the guiding action of the protective gas in the second fan blade 10 and is discharged out of the nozzle 6 under the action of the protective gas, thereby reducing the probability of the welding slag splashing to the exhaust hole 501, reducing the problem of the exhaust hole 501 being blocked or ablated by the welding slag, further ensuring the discharge efficiency of the protective gas and ensuring the protection effect of the protective gas on the welding seam.

[0041] The above describes one specific embodiment of the present application in detail in combination with the drawings, but the present application is not limited to the above described embodiments. For those skilled in the art, various changes, modifications, replacements and variations of the embodiments without departing from the principles and ideas of the present application shall still fall within the protection scope of the present application.

Claims

1. A multi-degree-of-freedom flexible robotic arm for welding ultra-high voltage iron towers, comprising a robotic arm body (1) and a welding torch assembly (2), wherein the welding torch assembly (2) is rotatably mounted on the end effector of the robotic arm body (1), characterized in that, The welding torch assembly (2) includes a welding torch body (3), a pull cap (8), and a nozzle (6). The pull cap (8) is threaded to the end of the welding torch body (3) away from the robotic arm body (1). The nozzle (6) is threaded to the end of the pull cap (8) away from the welding torch body (3). The end of the pull cap (8) inserted into the nozzle (6) is provided with a mounting base (5). The end of the mounting base (5) away from the welding torch body (3) is coaxially provided with a conductive nozzle (4). The side wall of the mounting base (5) is provided with multiple exhaust holes (501) penetrating both the inner and outer sides of the mounting base (5). The multiple exhaust holes (501) are arranged in a ring array. The cloth is arranged such that an air guide sleeve (7) is coaxially arranged inside the pull cap (8), and the outer side wall of the air guide sleeve (7) and the inner side wall of the pull cap (8) form an airflow channel (801). The airflow channel (801) is connected to the exhaust hole (501). One end of the mounting base (5) connected to the conductive nozzle (4) is coaxially fixedly connected to a first fan blade (9). The first fan blade (9) is coaxially connected to the mounting base (5). All the blades in the first fan blade (9) are inclined, and the projected area of ​​the blades in the first fan blade (9) in the axial direction of the first fan blade (9) is equal to the through area inside the nozzle (6). The multiple exhaust holes (501) are tangent to the inner sidewall of the mounting base (5), and the axis of the multiple exhaust holes (501) is set at an angle to the axis of the mounting base (5), with an angle range of 25° to 35°. The axis of the exhaust holes (501) is inclined downward. The cross-section of the air guide sleeve (7) is "L" shaped. A guide surface (701) is provided on the corner of the outer sidewall of the air guide sleeve (7). The lower end of the guide surface (701) is flush with the lower end face of the exhaust hole (501). The blade of the first fan blade (9) includes a guide section (901), a compression section (902) and a transition section (903). The guide section (901) and the compression section (902) are located on the upper side of the first fan blade (9). The guide section (901) and the compression section (902) are connected by the transition section (903). The guide section (901) and the compression section (902) are both inclined, and the inclination direction is the same as the inclination direction of the exhaust hole (501). The transition section (903) is arc-shaped. The wall thickness of the compression section (902) gradually increases from top to bottom. The cross-sectional areas of the upper and lower sides of the first fan blade (9) are S1 and S2, respectively, where 0.6S1≤S2≤0.75S1. The conductive nozzle (4) is rotatably connected to a second fan blade (10). The second fan blade (10) includes an inner ring, an outer ring, and multiple guide blades (1001). The multiple guide blades (1001) are evenly distributed circumferentially between the inner ring and the outer ring. The multiple guide blades (1001) are all inclined, and the inclination angle of the guide blades (1001) is smaller than the inclination angle of the blades in the first fan blade (9). The lower end face of the first fan blade (9) is a barrier surface (905), and an anti-sticking layer is provided on the barrier surface (905). The anti-sticking layer is made by a coating process including water-based anti-splash coating, PEA anti-weld slag coating or cold galvanized paint layer. The upper side of the guide vane (1001) is provided with a scraping blade (1002), the scraping blade (1002) and the guide vane (1001) have the same tilt angle, and the scraping blade (1002) is surface hardened to 58-62 HRC.

2. The multi-degree-of-freedom flexible robotic arm for welding ultra-high voltage towers according to claim 1, characterized in that, The upper surface of the first fan blade (9) is provided with a guide platform (904). The inner wall of the guide platform (904) is conical, and the small end of the conical surface is located on the lower side. The diameter of the small end of the inner wall of the guide platform (904) is equal to the outer diameter of the blade in the first fan blade (9).

3. The multi-degree-of-freedom flexible robotic arm for welding ultra-high voltage towers according to claim 1, characterized in that, Multiple inner ring protrusions (1003) are coaxially arranged on the inner sidewall of the second fan blade (10). The multiple inner ring protrusions (1003) are slidably connected to the outer sidewall of the conductive nozzle (4). Multiple outer ring protrusions (1004) are coaxially arranged on the outer sidewall of the second fan blade (10). The multiple outer ring protrusions (1004) are slidably connected to the inner sidewall of the nozzle (6). An annular limiting protrusion (1005) is provided at the lower end of the outer sidewall of the second fan blade (10). The limiting protrusion (1005) is slidably connected to the inner sidewall of the nozzle (6).

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