A multi-degree-of-freedom welding robot capable of quickly switching working positions

Abstract

The application discloses a kind of multi-degree-of-freedom welding robots of fast switching work site, including machine bottom plate, welding module and work station frame, the top of machine bottom plate is equipped with welding module and work station frame, the top of work station frame is slidably connected with work station plate, the top of work station plate is slidably provided with first adjusting assembly, the top of first adjusting assembly is equipped with workpiece frame, the top of workpiece frame is slidably connected with adaptive clamping assembly, adaptive clamping assembly includes plane clamping frame, inclined plane fixed frame and elastic clamping plate.The adaptive clamping assembly is provided, according to the shape of workpiece towards adaptive clamping assembly side, the clamping surface of adaptive clamping assembly is adjusted, so that adaptive clamping assembly can clamp and fix plane, inclined plane or curved surface of the workpiece to be welded, which is beneficial to improve the stability of workpiece in welding process, and then improve the welding effect, while it is beneficial to improve the application range of multi-degree-of-freedom welding robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a multi-degree-of-freedom welding robot capable of quickly switching work positions. BACKGROUND

[0002] A welding robot is an industrial robot engaged in welding work. The welding robot is widely used in modern mechanical manufacturing industry. The welding head is used to weld two groups of butt-jointed workpieces clamped and fixed, so as to realize the fixed connection of the two groups of workpieces. However, the welding robot currently in use generally uses a fixed-shape opposite plane clamping block to clamp and fix the workpieces to be welded, which is difficult to stably clamp and fix workpieces of different shapes, thereby reducing the fixing effect of the workpieces to be welded and the welding effect.

[0003] The defects of the existing welding robot are:

[0004] Patent document CN119057342A discloses a welding robot, which comprises a robot body, a welding gun and a protective cover. The protective cover is sleeved on the welding gun to block the spatter of welding slag. A plurality of protruding slag collecting rings are arranged on the inner side of the protective cover from top to bottom to allow the welding slag to adhere thereto.

[0005] The above patent mainly considers preventing the spatter of welding slag during welding by setting a protective cover, thereby solving the problem of avoiding the falling of welding slag onto the surface of the workpiece. However, the above patent does not consider how to stably clamp workpieces of different shapes, and does not consider how to improve the stability of the workpiece during work position switching and welding. SUMMARY

[0006] The present application aims to provide a multi-degree-of-freedom welding robot capable of quickly switching work positions to solve the problems raised in the background.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a multi-degree-of-freedom welding robot capable of quickly switching work positions, comprising a machine bottom plate, a welding module and a work position frame, wherein the top of the machine bottom plate is provided with the welding module and the work position frame, and the welding module is located behind the work position frame.

[0008] The top of the work position frame is slidably connected with a work position plate. The top of the work position plate is slidably provided with a first adjusting assembly. The top of the first adjusting assembly is provided with a workpiece frame. The top of the workpiece frame is slidably connected with a self-adaptive clamping assembly. The self-adaptive clamping assembly comprises a plane clamping frame, an inclined surface fixing frame and an elastic clamping plate.

[0009] The top of the work station plate is slidably connected with two groups of plane clamping frames, the side away from each other of the plane clamping frame is provided with a protective top cover, the inside of the protective top cover is provided with a telescopic rod one, the output end of the telescopic rod one is connected with a mounting frame, the inside of the mounting frame is provided with a servo motor one, the output end of the servo motor one is connected with a worm, the inside of the plane clamping frame is provided with a bevel fixed frame, the inner wall of the bevel fixed frame is connected with a mounting rod, the outer wall of the mounting rod is sleeved with a worm wheel and a supporting plate, and the worm wheel is engaged with the worm, one end of the supporting plate is connected with the outer wall of the mounting frame, the side away from the mounting frame of the bevel fixed frame is embedded with an elastic clamping plate, the outer wall of the elastic clamping plate is embedded with a sensing detection unit, the inside of the elastic clamping plate is provided with a moving rod, both ends of the moving rod are connected with a moving block, the top wall of the bevel fixed frame is provided with a micro servo motor two, the output end of the micro servo motor two is connected with a linear lead screw one, and the moving block is sleeved on the outer wall of the linear lead screw one, the inner wall of the bevel fixed frame is provided with a micro push rod, the output end of the micro push rod is connected with a ball frame, and the inside of the ball frame is embedded with a rolling ball.

[0010] Preferably, the sensing detection unit is provided with a distance measuring sensor array or a pressure sensor array arranged longitudinally, the supporting plate is located on both sides of the worm, the moving block is located on one side of the supporting plate, a protrusion is arranged on the outer wall of the side away from the moving rod of the moving block, and the protrusion is embedded in the inner wall of the bevel fixed frame.

[0011] Preferably, the top of the mounting frame is provided with a multi-stage telescopic plate, and one end of the multi-stage telescopic plate is attached to the outer wall of the bevel fixed frame.

[0012] Preferably, the inside of the workpiece frame is provided with a second adjusting assembly, and the second adjusting assembly comprises a servo motor three, a bidirectional lead screw one and a moving plate.

[0013] The inside of the workpiece frame is provided with a hollow frame, the inside of the hollow frame is provided with a servo motor three, the output end of the servo motor three is connected with a bidirectional lead screw one, the outer wall of the bidirectional lead screw one is sleeved with a moving plate, and the moving plate penetrates through the top of the workpiece frame, and the top of the moving plate is fixedly connected with the bottom of the plane clamping frame.

[0014] Preferably, the first adjusting assembly comprises a moving frame, an electromagnetic plate and an adjusting seat one.

[0015] The outer wall of the work station plate is sleeved with a moving frame, the bottom wall of the moving frame is embedded with an iron block, the bottom of the work station plate is provided with an electromagnetic plate, the inside of the work station plate is provided with a storage battery, the storage battery is electrically connected with the electromagnetic plate, the top of the moving frame is provided with an adjusting seat one, and the top of the adjusting seat one is fixedly connected with the bottom of the work station frame.

[0016] Preferably, the inner side of the work station frame is slidably connected with a U-shaped sliding sleeve, the top end of the sliding sleeve is fixedly connected with the bottom of the work station plate, a servo motor four is installed on the left inner wall of the work station frame, and the output end of the servo motor four is connected with a linear guide rail two, and the linear guide rail two penetrates through the outer wall of the sliding sleeve.

[0017] Preferably, the top of the machine base plate is slidably provided with two groups of side plates, and the two groups of side plates are respectively located on the left and right sides of the welding module, a U-shaped groove is formed in the outer wall of the side plate, the inner wall of the U-shaped groove is slidably connected with the surface of the work station frame, and the left and right outer walls of the side plate are both installed with an ear plate.

[0018] Preferably, the top of the base machine base plate is installed with a telescopic rod three, the output end of the telescopic rod three is connected with a U-shaped lifting blocking frame, and the left and right outer walls of the lifting blocking frame are respectively matched with the outer walls of the side plate and the sliding sleeve.

[0019] Preferably, the outer wall of the side plate on the side close to each other is installed with an inclined plate, the bottom of the inclined plate is slidably connected with the top of the work station frame, and the back of the lifting blocking frame is installed with a collecting frame.

[0020] Preferably, the welding module comprises a machine base and a multi-axis mechanical arm, the top of the machine base plate is installed with the machine base, and the top of the machine base is installed with the multi-axis mechanical arm.

[0021] Compared with the prior art, the present application has the following advantages:

[0022] 1、The self-adapting clamping assembly is installed, including a plane clamping frame, an inclined surface fixing frame and an elastic clamping plate, the clamping surface of the self-adapting clamping assembly is adjusted according to the shape of the workpiece on one side of the self-adapting clamping assembly, so that the self-adapting clamping assembly can clamp and fix the workpiece to be welded in a plane shape, an inclined surface shape or a curved surface shape, which is beneficial to improve the stability of the workpiece during welding, thereby improving the welding effect, and is also beneficial to improve the application range of the multi-degree-of-freedom welding robot.

[0023] 2、The first adjusting assembly is installed to adjust the position of the work station frame, so that the work station frame supports the workpiece at the position of the center of gravity of the workpiece, which is beneficial to improve the stability of the workpiece to be welded, avoids the phenomenon that the workpiece shakes during work station switching and welding, thereby is beneficial to improve the welding accuracy, and the second adjusting assembly is installed to adjust the position of the self-adapting clamping assembly, so that the workpiece of different sizes can be clamped and fixed, thereby improving the application range of the welding robot.

[0024] 3、The present application is provided with side baffle and lifting baffle frame, the side baffle separates two groups of welding station plates, so that workpiece welding and workpiece dismounting and mounting can be carried out simultaneously, improve the welding efficiency, and the workers can be protected, the lifting baffle frame shields the front and back openings of the workpiece frame, avoids welding spatter from entering the workpiece frame and affecting the left and right sliding of the sliding sleeve, so as to ensure the smoothness of station switching.

[0025] 4、The present application is provided with inclined plate and collecting frame, when the workpieces on the workpiece frame between two groups of side baffle are welded, the side baffle moves back to reset, the inclined plate is driven to slide back along the top of the workpiece frame during the movement of the side baffle, so as to clean the top of the workpiece frame, avoid the phenomenon that the welding is stuck between the bottom of the workpiece plate and the top of the workpiece frame, improve the station switching effect and switching speed. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is the overall structure schematic diagram of the present application;

[0027] Figure 2 It is the adaptive clamping assembly structure schematic diagram of the present application;

[0028] Figure 3 It is the inclined surface fixing frame structure schematic diagram of the present application;

[0029] Figure 4 It is the top structure schematic diagram of the plane clamping frame of the present application;

[0030] Figure 5 It is the mounting rod structure schematic diagram of the present application;

[0031] Figure 6 It is the welding module structure schematic diagram of the present application;

[0032] Figure 7 It is the front structure schematic diagram of the workpiece frame of the present application;

[0033] Figure 8 It is the lifting baffle frame structure schematic diagram of the present application.

[0034] In the figure: 1, machine base plate; 2, work station frame; 3, sliding sleeve; 4, work station plate; 5, adjusting seat one; 6, workpiece frame; 7, planar clamping frame; 8, protective top cover; 9, telescopic rod one; 10, mounting frame; 11, servo motor one; 12, worm; 13, support plate; 14, mounting rod; 15, worm gear; 16, inclined surface fixing frame; 17, elastic clamping plate; 18, moving block; 19, moving rod; 20, micro servo motor two; 21, linear screw one; 22, micro push rod; 23, rolling ball; 24, multi-stage telescopic plate; 25, servo motor three; 26, bidirectional screw one; 27, moving plate; 28, servo motor four; 29, linear screw two; 30, side baffle; 31, ear plate; 32, telescopic rod two; 33, telescopic rod three; 34, lifting baffle; 35, inclined plate; 36, collecting frame; 37, machine base; 38, multi-axis mechanical arm; 40, moving frame; 41, electromagnetic plate. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0036] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting the devices or elements indicated or implied to have a specific orientation, to be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected" and the like should be broadly understood, for example, "connected" can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5The embodiment provided by the application provides a multi-degree-of-freedom welding robot capable of quickly switching work positions, which comprises a machine bottom plate 1, a welding module and a work station frame 2. The welding module and the work station frame 2 are installed on the top of the machine bottom plate 1. The machine bottom plate 1 provides an installation place for the welding module and the work station frame 2. The welding module is located at the rear of the work station frame 2. The work station frame 2 is used for providing support for a welding work station and a work station switching space. The welding module is used for welding a workpiece fixedly placed on the work station frame 2.

[0039] The top of the work station frame 2 is slidably connected with a work station plate 4. The top of the work station plate 4 is slidably provided with a first adjusting assembly. The first adjusting assembly has two groups of installation components. The top of the first adjusting assembly is installed with a workpiece frame 6. The workpiece frame 6 is used for placing a workpiece to be welded. The top of the workpiece frame 6 is slidably connected with an adaptive clamping assembly. The top of each workpiece frame 6 is provided with two groups of adaptive clamping assemblies. The two groups of adaptive clamping assemblies are used for clamping and fixing the workpiece to be welded from the front and rear sides, respectively. An anti-skid pad layer is installed on the side outer wall of the adaptive clamping assembly close to each other. The anti-skid pad layer is used for improving the clamping stability of the adaptive clamping assembly and the surface of the workpiece. The adaptive clamping assembly comprises a plane clamping frame 7, an inclined surface fixing frame 16 and an elastic clamping plate 17.

[0040] The top of the work station plate 4 is slidingly connected with two groups of plane clamping frames 7, the outer wall of the side away from each other of the plane clamping frame 7 is provided with a protective top cover 8, the outer wall of the side away from each other of the plane clamping frame 7 is provided with a through slot, and the through slot is located below the protective top cover 8, the inside of the protective top cover 8 is provided with a telescopic rod one 9, the protective top cover 8 is an arc-shaped frame body with an opening downward, so as to provide protection for the telescopic rod one 9 from the top, the output end of the telescopic rod one 9 is connected with a mounting frame 10, and the mounting frame 10 penetrates through the inside of the through slot, the inside of the mounting frame 10 is provided with a servo motor one 11, the output end of the servo motor one 11 is connected with a worm 12, the worm 12 penetrates through the outer wall of the mounting frame 10 and extends into the inside of the plane clamping frame 7, the top of the mounting frame 10 is provided with a multi-stage telescopic plate 24, and the multi-stage telescopic plate 24 is located above the worm 12, one end of the multi-stage telescopic plate 24 is attached to the inclined surface fixing frame 16, and the multi-stage telescopic plate 24 is used to provide protection for the worm 12, the inside of the plane clamping frame 7 is provided with an inclined surface fixing frame 16, and the inclined surface fixing frame 16 penetrates through the outer wall of the side close to each other of the two groups of plane clamping frames 7, respectively, the inner wall of the inclined surface fixing frame 16 is connected with a mounting rod 14, the mounting rod 14 is horizontally arranged, the outer wall of the mounting rod 14 is sleeved with a worm gear 15 and a supporting plate 13, the mounting groups of the supporting plate 13 are two groups, and are located on both sides of the worm gear 15, the worm gear 15 is engaged with the worm 12, the supporting plate 13 penetrates through the inner wall of the inclined surface fixing frame 16 and extends to the outside of the inclined surface fixing frame 16, and one end of the supporting plate 13 located outside the inclined surface is connected with the outer wall of the mounting frame 10, the side away from the mounting frame 10 of the inclined surface fixing frame 16 is embedded with an elastic clamping plate 17, a sensing detection unit is embedded on the outer wall of the elastic clamping plate 17, the sensing detection unit is longitudinally provided with a distance sensor array or a pressure sensor array, a moving rod 19 is installed through the inside of the elastic clamping plate 17, the moving rod 19 is horizontally arranged, both ends of the moving rod 19 are connected with a moving block 18, the connecting block is located on both sides of the elastic clamping plate 17, a protruding block is arranged on the outer wall of the side away from the moving rod 19 of the moving block 18, and the protruding block is embedded and connected to the inner wall of the inclined surface fixing frame 16, a micro servo motor two 20 is installed on the top wall of the inclined surface fixing frame 16, the output end of the micro servo motor two 20 is connected with a linear lead screw one 21, and the moving block 18 is sleeved on the outer wall of the linear lead screw one 21, a micro push rod 22 is installed on the inner wall of the inclined surface fixing frame 16, the mounting groups of the micro push rod 22 are several groups, and are distributed at equal intervals in the inside of the inclined surface fixing frame 16, the output end of the micro push rod 22 is connected with a ball frame, and a rolling ball 23 is embedded in the inside of the ball frame.

[0041] Further, the workpieces to be welded are respectively placed on the top of the two groups of workpiece racks 2, and the workpieces are clamped and fixed by using the adaptive clamping assemblies, for example, when the front and rear sides of the workpieces to be welded are planar sides, the elastic clamping plates 17 are located in the inclined fixed frames 16, the inclined fixed frames 16 are located in the planar clamping frames 7, the side outer walls of the two groups of adaptive clamping assemblies close to each other are the planar clamping sides composed of the planar clamping frames 7, the inclined fixed frames 16 and the elastic clamping plates 17, and then the two groups of adaptive clamping assemblies are moved towards each other to be attached to the planar outer walls of the front and rear sides of the workpieces, so that the planar workpieces are clamped and fixed; when the front side or the rear side of the workpiece to be welded is an inclined plane, the adaptive adjustment assembly opposite to the inclined plane is switched to adapt to the clamping surface, specifically, the telescopic rod one 9 is started to drive the mounting frame 10 to move, the inclined fixed frame 16 is moved to the outside of the planar clamping frame 7, the inclination angle of the inclined fixed frame 16 is adjusted according to the inclination angle of the inclined plane, specifically, the servo motor one 11 is started to drive the worm 12 to rotate, the worm 12 drives the worm gear 15 to rotate, the worm gear 15 drives the mounting rod 14 to rotate, the mounting rod 14 drives the inclined fixed frame 16 to rotate, so that the inclination angle of the inclined fixed frame 16 is the same as the inclination angle of the inclined plane of the workpiece, the gyroscope or the acceleration sensor is embedded in the outer wall of the inclined fixed frame 16 for real-time detection of the inclination angle of the inclined fixed frame 16, and then the position of the adaptive adjustment assembly is adjusted, so that the outer wall of the side of the inclined fixed frame 16 away from the protective top cover 8 is attached to the inclined plane side of the workpiece, and the inclined workpiece is clamped and fixed; when the front side or the rear side of the workpiece to be welded is a curved surface, the adaptive adjustment assembly opposite to the curved workpiece is switched to adapt to the clamping surface, specifically, the position of the planar clamping frame 7 is adjusted, so that the outer wall of the elastic clamping plate 17 is in contact with the curved workpiece, the attachment position of the workpiece and the elastic clamping plate 17 is detected by the sensing detection unit, specifically, when the distance measuring sensor in the distance measuring sensor array detects that the distance from itself to the workpiece is 0, or the pressure data of the pressure sensor in the pressure sensor array is not 0, it indicates that the elastic clamping plate 17 at this position is in contact with the curved workpiece, the miniature servo motor two 20 is started to drive the linear lead screw one 21 to rotate, so that the moving block 18 drives the moving rod 19 to slide along the inside of the elastic clamping plate 17, the moving rod 19 moves to the corresponding position where the elastic clamping plate 17 is in contact with the curved workpiece, and then the miniature push rod 22 is started to drive the ball frame to move towards the elastic clamping plate 17, the rolling ball 23 drives the elastic clamping plate 17 to deform, so that the elastic clamping plate 17 is attached to the curved surface of the workpiece, and the curved workpiece is stably clamped and fixed, by installing the adaptive clamping assembly, the clamping and fixing surface of the adaptive clamping assembly can be adaptively switched according to the front and rear surface shapes of the workpieces to be welded, so that the workpieces to be welded with different shapes are stably clamped and fixed, which is beneficial to improve the stability of the workpieces in the welding process, and further improve the welding effect, and is also beneficial to improve the application range of the multi-degree-of-freedom welding robot.

[0042] Referring to Figure 2 and Figure 6 , the present application provides an embodiment: a multi-freedom degree welding robot capable of quickly switching work positions, comprising a first adjusting assembly arranged on the top of a work position plate 4, the first adjusting assembly comprising a moving frame 40, an electromagnetic plate 41 and an adjusting seat one 5, the moving frame 40 is sleeved on the outer wall of the work position plate 4, the bottom wall of the moving frame 40 is embeddedly installed with an iron block, the electromagnetic plate 41 is installed on the bottom of the work position plate 4 and located on the front and back of the sliding sleeve 3, the inside of the work position plate 4 is provided with a storage battery, or the front or back of the sliding sleeve 3 is provided with a battery frame for storing the storage battery, and the storage battery is electrically connected with the electromagnetic plate 41, the top of the moving frame 40 is installed with the adjusting seat one 5, the top of the adjusting seat one 5 is fixedly connected with the bottom of the work position frame 2, the adjusting seat one 5 provides mounting space for a workpiece frame 6, and the adjusting seat one 5 provides a welding workpiece between the work position plate 4 and the workpiece frame 6, so that the multi-freedom degree welding robot can directly weld the workpiece below from the welding space.

[0043] The inside of the workpiece frame 6 is provided with a second adjusting assembly, the second adjusting assembly comprising a servo motor three 25, a bidirectional screw rod one 26 and a moving plate 27, the inside of the workpiece frame 6 is provided with a hollow frame, the inside of the hollow frame is installed with the servo motor three 25, the output end of the servo motor three 25 is connected with the bidirectional screw rod one 26, the outer wall of the bidirectional screw rod one 26 is sleeved with the moving plate 27, and the moving plate 27 penetrates through the top of the workpiece frame 6, and the top of the moving plate 27 is fixedly connected with the bottom of the plane clamping frame 7; the penetrating connection between the moving plate 27 and the workpiece frame 6 is located below the workpiece, the self-adapting adjusting assembly and the protective top cover 8, so as to shield the penetrating connection.

[0044] Further, by installing the second adjusting assembly, the bidirectional screw rod one 26 is driven to rotate by the servo motor three 25, so that the moving plate 27 drives the self-adapting adjusting assembly to move, so that the self-adapting adjusting assembly can clamp and fix different sizes of the workpiece to be welded placed on the workpiece frame 6, thereby improving the clamping effect and the use range, by setting the first adjusting assembly, the moving frame 40 is moved along the top of the work position frame 2, the moving frame 40 drives the adjusting seat one 5 to move, so that the position of the moving frame 40 and the first adjusting seat can be adjusted according to the gravity center position of the workpiece to be welded, so that the work position frame 2 can provide support and clamping and fixing for the workpiece to be welded from the gravity center of the workpiece, after the position adjustment of the moving seat is completed, the electromagnetic plate 41 is powered by the storage battery, so that the electromagnetic plate 41 and the iron block on the bottom wall of the moving frame 40 are adsorbed and fixed, thereby fixing the position of the work position frame 2, which is conducive to improving the stability of the placement of the workpiece to be welded, avoiding the phenomenon that the workpiece shakes during the work position switching and the welding process, thereby being conducive to improving the welding accuracy.

[0045] Referring to Figure 1 , Figure 6 andFigure 7 The application provides a multi-degree-of-freedom welding robot capable of quickly switching work positions, which comprises a work position frame 2, the inside of the work position frame 2 is slidably connected with a U-shaped sliding sleeve 3, the top end of the sliding sleeve 3 is fixedly connected with the bottom of a work position plate 4, the number of groups of the sliding sleeve 3 is two, the two groups of sliding sleeves 3 are connected through a connecting rod, the bottom of the sliding sleeve 3 is slidably connected with the inside of the work position frame 2, the front and rear inner walls of the sliding sleeve 3 are slidably connected with the front face and the back face of the work position frame 2, respectively, a servo motor four 28 is installed on the left inner wall of the work position frame 2, a linear lead screw two 29 is connected with the output end of the servo motor four 28 and penetrates through the outer wall of the sliding sleeve 3, L-shaped supports are installed on the front face and the back face of the work position frame 2 and close to the left and right ends of the work position frame 2, telescopic rods four are installed through the outer walls of the L-shaped supports, plug blocks are connected with the output ends of the telescopic rods four and penetrate through the front face and the back face of the sliding sleeve 3, the sliding sleeve 3 is fixed through the plug blocks, and the position stability of the sliding sleeve 3 and the work position plate 4 during workpiece installation and workpiece welding is improved.

[0046] Two groups of side baffles 30 are slidably arranged on the top of the machine base plate 1 and are located on the left and right sides of the welding module, respectively, a U-shaped groove is formed in the outer wall of the side baffle 30, the inner wall of the U-shaped groove is slidably connected with the surface of the work position frame 2, ear plates 31 are installed on the left and right outer walls of the side baffle 30, the ear plates 31 are located below the workpiece frame 6, and rollers are installed on the left and right sides of the side baffle 30, so that the stability and smoothness during movement of the side baffle 30 are improved, a telescopic rod two 32 is installed on the top of the machine base, the output end of the telescopic rod two 32 is fixedly connected with the back face of the ear plate 31, a telescopic rod three 33 is installed on the top of the base machine base plate 1 and is located between the two groups of side baffles 30, a U-shaped lifting baffle 34 is connected with the output end of the telescopic rod three 33, the left and right outer walls of the U-shaped lifting baffle 34 are attached to the outer walls of the side baffles 30 and the outer wall of the sliding sleeve 3, respectively, and the front and rear inner walls of the U-shaped frame are attached to the front face and the back face of the work position frame 2, respectively.

[0047] Further, when there is a need to perform welding operation by moving a work station plate 4 to the front of the welding module, the second telescopic rod 32 is extended to push the ear plate 31 and drive the side baffle 30 to move forward, so that the work station frame 2 is embedded into the U-shaped groove of the side baffle 30, thereby shielding the work station plate 4 at the work station to be welded on both sides of the welding module, avoiding the welding spatter from spattering on the work station plate 4 of another work station during welding, ensuring the smooth performance of the workpiece installation or removal operation at the work station plate 4 of another work station, improving the safety of personnel during welding, and at the same time, the third telescopic rod 33 pushes the lifting baffle 34 to move upward, so that the lifting baffle 34 shields the front and back of the work station frame 2 located between the two groups of side baffles 30, thereby protecting the second linear guide rod 29 from the welding spatter spattering into the work station frame 2, which is beneficial to improve the smoothness of the movement of the sliding sleeve 3 during work station switching, and further improve the smoothness and efficiency of work station switching.

[0048] Referring to Figure 1 and Figure 8 An embodiment provided by the present application: a multi-degree-of-freedom welding robot capable of quickly switching work stations, comprising a side baffle 30, a slanted plate 35 is installed on one side outer wall of the side baffle 30, the bottom of the slanted plate 35 is in sliding connection with the top of the work station frame 2, a lifting baffle 34, a collecting frame 36 is installed on the back of the lifting baffle 34, and the collecting frame 36 is located between the work station frame 2 and the welding module.

[0049] Further, after welding is completed, the second telescopic rod 32 is shortened to pull the ear plate 31 and drive the side baffle 30 to move backward, the side baffle 30 drives the slanted plate 35 to move backward, so that the slanted surface moves backward along the top of the work station frame 2, and then the slanted surface scrapes off the welding spatter and slag on the top of the work station frame 2 and falls into the collecting frame 36, and then the third telescopic rod 33 is shortened to pull the lifting baffle 34 and drive the collecting frame 36 to move downward, thereby cleaning the top of the work station frame 2 during the resetting of the side baffle 30, so that the work station frame 2 can move smoothly when the sliding sleeve 3 drives the work station plate 4 to move along the top of the work station frame 2 for work station switching, avoiding the welding from being stuck between the bottom of the work station plate 4 and the top of the work station frame 2, and improving the work station switching effect and switching speed.

[0050] Referring to Figure 1 and Figure 8 An embodiment provided by the present application: a multi-degree-of-freedom welding robot capable of quickly switching work stations, comprising a welding module, a machine base plate 1, a machine base 37, and a multi-axis mechanical arm 38, the top of the machine base plate 1 is provided with the machine base 37, the top of the machine base 37 is provided with the multi-axis mechanical arm 38, the multi-axis mechanical arm 38 is composed of a welding head and a multi-joint mechanical arm, and the multi-joint mechanical arm is angle-adjusted by a driving motor, so that the welding head has a multi-degree-of-freedom welding direction, which is beneficial to improve the welding effect.

[0051] The servo motor four 28 drives the linear lead screw two 29 to rotate, and then the sliding sleeve 3 drives the work station plate 4 to move, so that the first group of work station plates 4 move to between the two groups of side plates 30, and the multi-axis welding mechanical arm is used for welding operation on the workpieces on the work station plate 4, the second group of work station plates 4 are located on the left side of the left group of side plates 30 or on the right side of the right group of side plates 30, and the work station plate 4 is subjected to welding after workpiece dismounting operation and welding workpiece installation, when the welding of the workpieces on the first group of work station plates 4 is completed, the side plates 30 and the lifting blocking frame 34 are reset, the servo motor four 28 drives the linear lead screw two 29 to continue forward rotation or reverse rotation, the second group of work station plates 4 are switched to between the two groups of side plates 30, and welding operation is performed again.

[0052] Working principle: a multi-degree-of-freedom welding robot capable of quickly switching work stations, through the double work station plates 4 arranged on the work station frame 2 and capable of adjusting positions, welding operation and workpiece dismounting and installation work can be performed simultaneously, and through the installation of the side plates 30, the welding area work station and the workpiece dismounting area work station are separated, so that welding spatter generated during welding is prevented from splashing to both sides, thereby preventing the workpieces in the workpiece dismounting area from being smoothly dismounted, which is conducive to improving the protection of personnel during welding, through the self-adaptive adjusting assembly, the clamping surface can be self-adaptively adjusted according to the shape of the workpiece placed on the work station frame 2, so that the workpiece with a planar, inclined or curved surface can be stably clamped, through the installation of the first adjusting assembly, the positions of the work station plate 4 and the workpiece frame 6 are adjusted, so that the work station frame 2 can stably support the workpiece from the center of gravity of the workpiece, so that the phenomenon of workpiece shaking during position switching and welding is avoided, and through the second adjusting assembly, the position of the self-adaptive clamping assembly is adjusted, so that workpieces of different sizes can be clamped and fixed.

[0053] It will be obvious to a person skilled in the art that the application is not limited to the details of the above-described exemplary embodiments, but that the application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the application. The embodiments should, therefore, be considered in all respects as illustrative and not restrictive, the scope of the application being defined by the appended claims rather than by the above description, and all changes coming within the meaning and equivalency range of the claims are intended to be embraced therein. Any reference signs in the claims should not be construed as limiting the claims concerned.

Claims

1. A multi-degree-of-freedom welding robot capable of quickly switching working positions, characterized in that: Including machine bottom board (1), welding module and workstation frame (2), the top of machine bottom board (1) is equipped with welding module and workstation frame (2), and welding module is located at the rear of workstation frame (2); The top of the workstation frame (2) is slidably connected to the workstation board (4), the top of the workstation board (4) is slidably provided with a first adjusting assembly, the top of the first adjusting assembly is provided with a workpiece frame (6), the top of the workpiece frame (6) is slidably connected to an adaptive clamping assembly, and the adaptive clamping assembly comprises a plane clamping frame (7), an inclined surface fixing frame (16) and an elastic clamping plate (17); The top of the workpiece frame (6) is slidably connected to two groups of plane clamping frames (7), the side away from each other of the plane clamping frame (7) is provided with a protective top cover (8), the inside of the protective top cover (8) is provided with a telescopic rod (9), the output end of the telescopic rod (9) is connected to a mounting frame (10), the inside of the mounting frame (10) is provided with a servo motor (11), the output end of the servo motor (11) is connected to a worm (12), the inside of the plane clamping frame (7) is provided with an inclined surface fixing frame (16), the inner wall of the inclined surface fixing frame (16) is connected to a mounting rod (14), the outer wall of the mounting rod (14) is provided with a worm gear (15) and a support plate (13), and the worm gear (15) is engaged with the worm (12), one end of the support plate (13) is connected to the outer wall of the mounting frame (10), the side away from the mounting frame (10) of the inclined surface fixing frame (16) is embedded with an elastic clamping plate (17), the outer wall of the elastic clamping plate (17) is embedded with a sensing detection unit, a moving rod (19) is penetratingly installed in the inside of the elastic clamping plate (17), both ends of the moving rod (19) are connected to a moving block (18), the top wall of the inclined surface fixing frame (16) is provided with a micro servo motor (20), the output end of the micro servo motor (20) is connected to a linear lead screw (21), and the moving block (18) is sleeved on the outer wall of the linear lead screw (21), the inner wall of the inclined surface fixing frame (16) is provided with a micro push rod (22), the output end of the micro push rod (22) is connected to a ball frame, and the inside of the ball frame is embedded with a rolling ball (23); The sensing detection unit is a longitudinally arranged distance measuring sensor array or a pressure sensor array, the support plate (13) is located on both sides of the worm (12), the moving block (18) is located on one side of the support plate (13), a protruding block is arranged on the outer wall of the side away from the moving rod (19) of the moving block (18), and the protruding block is embeddedly connected to the inner wall of the inclined surface fixing frame (16); The inside of the workpiece frame (6) is provided with a second adjusting assembly, and the second adjusting assembly comprises a servo motor (25), a bidirectional screw rod (26) and a moving plate (27); The inside of the workpiece frame (6) is provided with a hollow frame, the inside of the hollow frame is provided with a servo motor (25), the output end of the servo motor (25) is connected to a bidirectional screw rod (26), the outer wall of the bidirectional screw rod (26) is sleeved with a moving plate (27), and the moving plate (27) penetrates through the top of the workpiece frame (6), and the top of the moving plate (27) is fixedly connected with the bottom of the plane clamping frame (7).

2. The multi-degree-of-freedom welding robot capable of quickly switching working positions according to claim 1, characterized in that: The top of the mounting frame (10) is provided with a multi-stage telescopic plate (24), and one end of the multi-stage telescopic plate (24) is attached to the outer wall of the inclined surface fixing frame (16).

3. The multi-DOF welding robot capable of fast switching working positions according to claim 1, characterized in that: The first adjusting assembly comprises a moving frame (40), an electromagnetic plate (41) and an adjusting seat one (5). The outer wall of the work station plate (4) is sleeved with the moving frame (40), the bottom wall of the moving frame (40) is embedded with an iron block, the bottom of the work station plate (4) is provided with the electromagnetic plate (41), the inside of the work station plate (4) is provided with a storage battery, the storage battery is electrically connected with the electromagnetic plate (41), the top of the moving frame (40) is provided with the adjusting seat one (5), and the top of the adjusting seat one (5) is fixedly connected with the bottom of the workpiece frame (6).

4. The multi-DOF welding robot capable of fast switching working positions according to claim 3, characterized in that: The inside of the work station frame (2) is slidably connected with a U-shaped sliding sleeve (3), the top end of the sliding sleeve (3) is fixedly connected with the bottom of the work station plate (4), the right side inner wall of the work station frame (2) is provided with a servo motor four (28), the output end of the servo motor four (28) is connected with a linear lead screw two (29), and the linear lead screw two (29) penetrates through the outer wall of the sliding sleeve (3).

5. The multi-DOF welding robot capable of fast switching working positions according to claim 4, characterized in that: The top of the machine base plate (1) is slidably provided with two groups of side baffles (30), and the two groups of side baffles (30) are respectively located on the left and right sides of the welding module, the outer wall of the side baffle (30) is provided with a U-shaped groove, the inner wall of the U-shaped groove is slidably connected with the surface of the work station frame (2), the left and right outer walls of the side baffle (30) are both provided with an ear plate (31), the top of the machine base is provided with a telescopic rod two (32), the output end of the telescopic rod two (32) is fixedly connected with the back surface of the ear plate (31).

6. The multi-DOF welding robot capable of fast switching working positions according to claim 5, characterized in that: The top of the machine base plate (1) is provided with a telescopic rod three (33), the output end of the telescopic rod three (33) is connected with a U-shaped lifting baffle (34), and the left and right outer walls of the lifting baffle (34) are respectively attached to the outer walls of the side baffles (30) and the sliding sleeve (3).

7. The multi-DOF welding robot capable of fast switching working positions according to claim 6, characterized in that: The side wall of the side baffle (30) close to each other is provided with an inclined plate (35), the bottom of the inclined plate (35) is slidably connected with the top of the work station frame (2), and the back surface of the lifting baffle (34) is provided with a collecting frame (36).

8. The multi-DOF welding robot capable of fast switching working positions according to claim 5, characterized in that: The welding module comprises a machine base (37) and a multi-axis mechanical arm (38), the top of the machine base plate (1) is provided with the machine base (37), and the top of the machine base (37) is provided with the multi-axis mechanical arm (38).

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