Industrial robot based on automatic welding

Abstract

The industrial robot based on automatic welding comprises a working table, a workpiece fixing mechanism is arranged on the top face of the working table, and a lifting mechanism is arranged at the position, close to the workpiece fixing mechanism, of the top face of the working table; a workpiece is arranged on the tool clamp and can rotate around the rotary column to adjust the position, the workpiece can also rotate around the middle of the machine shell to adjust the position, the carrying table can carry the tool clamp to change the angle, in this way, the workpiece can be subjected to various position and angle adjustment, welding operation can be conveniently conducted on all positions, and the welding efficiency is improved. The welding operation of all positions can be completed after the workpiece is fixed once, so that the operation is more convenient; the telescopic arm structure is arranged in the welding mechanical arm mechanism, the length of the telescopic arm structure can be changed, then the arm extension of the welding mechanical arm mechanism is changed, the sliding table can carry the welding mechanical arm mechanism to change the horizontal position and the height position, and the operation range during welding is enlarged.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to an industrial robot based on automated welding. Background Technology

[0002] Welding robots are crucial equipment in industrial automation, widely used in industries such as automotive manufacturing, aerospace, shipbuilding, and steel structure construction. They achieve high-precision, high-efficiency welding operations through programming or teach-in methods, significantly improving production quality and consistency. Welding robots primarily consist of a robotic arm structure and a welding mechanism, often employing a six-axis robotic arm carrying a welding torch. For example, Chinese invention patent CN119057342A discloses a welding robot comprising a robot body, a welding torch, and a protective cover. The protective cover is fitted over the welding torch to prevent weld slag from splashing out. The inner side of the protective cover has multiple protruding slag-collecting rings spaced from top to bottom for slag to adhere to. By placing a protective cover at the welding torch, most of the weld slag splashed during welding adheres to the inner side of the protective cover (the surface of the slag-collecting rings is part of the inner side of the protective cover). However, current welding robots have the following drawbacks: When welding robots are working, they need to fix the workpiece, but some workpieces are difficult to access for welding. This requires constantly changing the way the workpiece is fixed and performing multiple welding operations, which is quite troublesome. Welding robots use multi-joint robotic arms, which can perform flexible movements, but the arm span is limited, resulting in a small welding operation range.

[0003] Therefore, we propose an industrial robot based on automated welding to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide an industrial robot based on automated welding to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an industrial robot based on automated welding, including a workbench, a workpiece fixing mechanism provided on the top surface of the workbench, a lifting mechanism provided on the top surface of the workbench near the workpiece fixing mechanism, and a welding robotic arm mechanism provided on the lifting mechanism; The workpiece fixing mechanism includes a base plate fixed to the top surface of the workbench, two side frames vertically fixed to the top surfaces of both sides of the base plate, two rotating columns rotatably connected to the top of the two side frames near each other, two side plates fixed to the ends of the two rotating columns near each other, a machine housing fixed between the two side plates, a turntable rotatably mounted on the top surface of the machine housing, a mounting platform mounted on the top surface of the turntable, and a tooling fixture mounted on the top surface of the mounting platform. The welding robotic arm mechanism includes a base, a wire feeder, a welding torch, and a telescopic arm structure. The telescopic arm structure includes an outer arm body, a horizontally formed sliding cavity inside the outer arm body, an inner arm body horizontally slidingly sleeved within the sliding cavity, a first end seat fixed to the end of the outer arm body, a column block fixed to the end of the inner arm body away from the first end seat, and a second end seat fixed to the end of the column block.

[0006] Preferably, the lifting mechanism includes an arc-shaped platform fixed to the top surface of the workbench, an arc-shaped seat above the arc-shaped platform, a slide table slidably disposed on the top surface of the arc-shaped seat, a welding robotic arm mechanism disposed on the slide table, a base fixed to the top surface of the slide table, multiple sliding holes vertically formed on the top surface of the arc-shaped platform, multiple sliding columns vertically slidably connected to the multiple sliding holes, an arc-shaped seat fixed to the top of the multiple sliding columns, a second hydraulic push rod fixed to the side wall of the arc-shaped platform, a first force-bearing plate fixed to the side wall of the arc-shaped seat, and the output end of the second hydraulic push rod fixed to the bottom surface of the first force-bearing plate.

[0007] Preferably, a base platform is rotatably provided on the top surface of the base, a vertical block is fixedly connected to the top surface of the base platform, one side wall of the main arm is rotatably connected to the side wall of the main arm, a rotating block is rotatably connected to the side wall of the main arm, an end block is fixedly connected to the end of the rotating block, one end of the telescopic arm structure is provided on the side wall of the end block, a short arm is rotatably provided on the other end of the telescopic arm structure, the other end of the short arm is rotatably connected to the rotating frame, an adjustment component is provided on the rotating frame, and the welding torch is provided on the adjustment component.

[0008] Preferably, the bottom surface of the outer arm body is fixedly connected to a fourth hydraulic push rod, the bottom surface of the column block is fixedly connected to a second force plate, the output end of the fourth hydraulic push rod is fixedly connected to the side wall of the second force plate, the side wall of the sliding cavity is evenly provided with multiple limiting side grooves, the periphery of the inner arm body is evenly fixed with multiple limiting side strips, the limiting side strips are slidably connected to the limiting side grooves, the first end seat is rotatably connected to the side wall of the end block, the end of the short arm is rotatably mounted on the second end seat, and the wire feeder is fixedly connected to the top surface of the end block.

[0009] Preferably, a second integrated encoder servo motor is fixedly connected to one side of the top surface of the base, a column is fixedly connected to the top surface of the base, the column is rotatably connected to the inside of the bottom surface of the base, a driven large gear is fixedly connected to the top surface of the column, the shaft end of the second integrated encoder servo motor is located inside the base and fixedly connected to a driving small gear, and the driving small gear meshes with the driven large gear.

[0010] Preferably, a third integrated encoder servo motor is fixedly connected to the side wall of the upright block; the shaft end of the third integrated encoder servo motor is fixedly connected to the end side wall of the main boom body; a top frame is fixedly connected to the top surface of the base platform; the top frame is rotatably connected to the side wall of the third hydraulic push rod; a hinge block is fixedly connected to the bottom side wall of the main boom body; the output end of the third hydraulic push rod is rotatably connected to the hinge block; a fourth integrated encoder servo motor is fixedly connected to the side wall of the rotating block; the shaft end of the fourth integrated encoder servo motor is fixedly connected to the end side wall of the main boom body; a fifth integrated encoder servo motor is fixedly connected to the side wall of the end block; the shaft end of the fifth integrated encoder servo motor is fixedly connected to the center of the end of the first end seat; a sixth integrated encoder servo motor is fixedly connected to the end of the second end seat; the shaft end of the sixth integrated encoder servo motor is fixedly connected to the end of the short boom; a seventh integrated encoder servo motor is fixedly connected to the side wall of the rotating frame; the shaft end of the seventh integrated encoder servo motor is fixedly connected to the end side wall of the short boom; and an eighth integrated encoder servo motor is fixedly connected to the top surface of the rotating frame.

[0011] Preferably, the adjustment assembly includes a plate body, the bottom surface of which is fixedly connected to the shaft end of the eighth integrated encoder servo motor. Two linear rails are fixedly connected to both sides of the plate body surface. Two slide blocks are slidably connected to the two linear rails. A top platform body is fixedly connected to the two slide blocks. The welding torch is fixedly connected to the top platform body. Two fixing plates are fixedly connected to both sides of the top platform body. Threaded through holes are opened on the fixing plates near the plate body. Multiple second threaded holes are evenly opened on both side walls of the plate body. A second bolt is threadedly connected to one of the second threaded holes through the threaded through holes.

[0012] Preferably, a first reducer and a first drive motor are fixedly connected inside the housing. The shaft end of the first drive motor is fixedly connected to the input end of the first reducer, and the output end of the first reducer is fixedly connected to the center of the bottom surface of the turntable. An annular track is fixedly connected to the top surface of the housing. Multiple arc-shaped sliders are slidably connected on the annular track. The multiple arc-shaped sliders are fixedly connected to the bottom surface of the turntable. A horizontal column is horizontally fixed between the bottoms of the two side frames. A horizontal shaft is horizontally rotatably sleeved inside the horizontal column. A transmission cavity is opened inside the side frame. The end of the horizontal shaft passes through the side wall of the side frame and is located in the transmission cavity. Two first active synchronous pulleys are fixedly sleeved at both ends of the horizontal shaft inside the transmission cavity. The center of the end of the column is located in the transmission cavity and is fixedly connected to a short shaft. A first driven synchronous pulley is fixedly sleeved on the short shaft. A first synchronous belt is sleeved on the first active synchronous pulley and the first driven synchronous pulley. A second drive motor and a second reducer are fixedly connected to the top surface of the base plate near one of the side frames. The shaft end of the second drive motor is fixedly connected to the input end of the second reducer, and the output end of the second reducer is fixedly connected to the end of the horizontal shaft. Multiple heat dissipation vents are opened on the side wall of the housing.

[0013] Preferably, one end of the top surface of the turntable is fixedly connected to a base, the base is rotatably connected to a rotating plate, the rotating plate is fixedly connected to the bottom surface of the mounting platform, a plurality of lower hinge seats are evenly fixedly connected to the top surface of the turntable, and a plurality of upper hinge seats are evenly fixedly connected to the bottom surface of the mounting platform away from the rotating plate. The lower hinge seats are rotatably connected to the end of a first hydraulic push rod, and the output end of the first hydraulic push rod is rotatably connected to the upper hinge seats. The top surface of the mounting platform has two top grooves, one end of which is an open structure. A side opening is opened on the side of the mounting platform near the opening of the two top grooves, and the side opening is connected to... The fixture has two top slots. Two strip-shaped inserts are fixed to the bottom surface of the fixture. The strip-shaped inserts are inserted into the top slots. A sealing plate is inserted into the side opening. Two plugs are fixed to the side wall of the sealing plate. The plugs are inserted into the end of the top slot. Multiple crossbars are fixed to the end of the top slot. Multiple elongated holes are horizontally opened on the strip-shaped inserts. Crossbars are inserted into the elongated holes. Two insert posts are fixed to both ends of the side opening. A first threaded hole is opened at the end of the insert post. Two insertion holes are opened at both ends of the sealing plate. Insert posts are inserted into the insertion holes. A first bolt is threaded into the first threaded hole.

[0014] Preferably, two arc-shaped tracks are fixedly connected to the top surface of the arc-shaped seat, the arc-shaped tracks are slidably connected to the arc-shaped slide block, the arc-shaped slide block is fixedly connected to the bottom surface of the slide table, two limiting plates are fixedly connected to both ends of the arc-shaped seat, and arc-shaped toothed plates are fixedly connected to the side walls of the arc-shaped seat. Three vertical shafts are vertically rotatably connected to the end of the slide table, and a drive gear is fixedly sleeved on each of the vertical shafts. The drive gear meshes with the arc-shaped toothed plates. Two second active synchronous pulleys are fixedly sleeved on the vertical shaft located in the middle, and a second driven synchronous pulley is fixedly sleeved on the vertical shafts located on both sides. Second synchronous belts are sleeved on the second active synchronous pulleys and the second driven synchronous pulleys. A first integrated encoder servo motor is fixedly connected to the center of the end of the top surface of the slide table, and the shaft end of the first integrated encoder servo motor is fixedly connected to the top of the vertical shaft located in the middle.

[0015] Compared with the prior art, the beneficial effects of the present invention are: In this invention, the workpiece is mounted on a tooling fixture and can be rotated and adjusted around the rotating column and also around the middle of the machine housing. The mounting table can carry the tooling fixture and change its angle, allowing for multiple position and angle adjustments of the workpiece. This facilitates welding operations at various positions, and welding operations at all positions can be completed after a single workpiece fixation, making it more convenient. The welding robotic arm mechanism of this invention is equipped with a telescopic arm structure, the length of which can be changed, thereby altering the arm span of the welding robotic arm mechanism. Furthermore, the sliding table can carry the welding robotic arm mechanism and change its horizontal and vertical positions, increasing the working range during welding. Attached Figure Description

[0016] Figure 1 These are schematic diagrams of the main body structure in the first and second embodiments of the present invention; Figure 2 These are schematic diagrams of the workpiece fixing mechanism in the first and second embodiments of the present invention; Figure 3 These are schematic diagrams of the lifting mechanism in the first and second embodiments of the present invention; Figure 4 These are schematic diagrams of the welding robotic arm mechanism in the first and second embodiments of the present invention; Figure 5 These are schematic diagrams of the cross-sectional structure of the telescopic arm in the first and second embodiments of the present invention. Figure 6 For the present invention Figure 3 Enlarged structural diagram of point A in the middle; Figure 7 These are schematic diagrams of the cross-sectional structure at the workpiece fixing mechanism in the first and second embodiments of the present invention; Figure 8 This is a schematic diagram of the other side of the welding robotic arm mechanism in the first and second embodiments of the present invention; Figure 9 These are schematic diagrams of the base structure in the first and second embodiments of the present invention; Figure 10 These are schematic diagrams of the adjustment component in the first and second embodiments of the present invention; Figure 11 This is an exploded structural diagram of the mounting platform and tooling fixture in the first and second embodiments of the present invention.

[0017] In the diagram: 1. Workbench; 2. Workpiece fixing mechanism; 3. Lifting mechanism; 4. Welding robotic arm mechanism; 21. Base plate; 22. Side frame; 23. Rotating column; 24. Side plate; 25. Housing; 26. Turntable; 27. Mounting platform; 28. Tooling fixture; 29. ​​Base; 210. Rotating plate; 211. Lower hinge seat; 212. Upper hinge seat; 213. First hydraulic push rod; 214. Horizontal column; 215. Horizontal shaft; 216. Transmission cavity; 217. First driving synchronous pulley; 218. Short shaft; 219. First driven synchronous pulley; 220. First drive motor; 221. First reducer; 222. Circular track; 223. Arc-shaped slider; 224. Second... 225. Drive motor; 226. Second reducer; 227. Heat dissipation vent; 228. Top groove; 229. Strip plate; 230. Side opening; 231. Sealing plate; 232. Plug; 233. Crossbar; 234. Elongated hole; 235. Insert post; 236. First threaded hole; 237. Insertion hole; 238. First bolt; 239. First synchronous belt; 31. Arc-shaped platform; 32. Arc-shaped seat; 33. Slide table; 34. Sliding hole; 35. Sliding column; 36. Second hydraulic push rod; 37. First force-bearing plate; 38. Arc-shaped track; 39. Arc-shaped slide seat; 310. Vertical shaft; 311. Drive gear; 312. Arc-shaped toothed plate; 313. Second drive synchronous belt pulley; 314. 315. Second driven synchronous pulley; 316. Second synchronous belt; 317. First integrated encoder servo motor; 318. Limit plate; 41. Base; 42. Base platform; 43. Stand block; 44. Main arm body; 45. Rotating block; 46. End block; 47. Telescopic arm structure; 48. Short arm; 49. Adjustment assembly; 410. Rotating frame; 411. Wire feeder; 412. Welding torch; 413. Second integrated encoder servo motor; 414. Column; 415. Driven large gear; 416. Driven small gear; 417. Third integrated encoder servo motor; 418. Top frame; 419. Third hydraulic push rod; 420. Hinge block; 421. Fourth integrated encoder servo motor Motor; 422, Fifth integrated encoder servo motor; 423, Sixth integrated encoder servo motor; 424, Seventh integrated encoder servo motor; 425, Eighth integrated encoder servo motor; 471, First end seat; 472, Outer arm body; 473, Slide cavity; 474, Inner arm body; 475, Column block; 476, Second end seat; 477, Fourth hydraulic push rod; 478, Second force plate; 479, Limiting side groove; 4710, Limiting side strip; 491, Plate body; 492, Linear rail; 493, Slide seat; 494, Top platform body; 495, Fixing plate; 496, Second threaded hole; 497, Threaded through hole; 498, Second bolt. Detailed Implementation

[0018] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1: Please see Figure 1-5 The present invention provides a technical solution: an industrial robot based on automated welding, including a workbench 1, a workpiece fixing mechanism 2 is provided on the top surface of the workbench 1, a lifting mechanism 3 is provided on the top surface of the workbench 1 near the workpiece fixing mechanism 2, and a welding robotic arm mechanism 4 is provided on the lifting mechanism 3. The workpiece fixing mechanism 2 includes a base plate 21 fixed to the top surface of the workbench 1. Two side frames 22 are vertically fixed to the top surfaces of both sides of the base plate 21. Two rotating columns 23 are rotatably connected to the top of the two side frames 22, which are close to each other. Two side plates 24 are fixed to the top of the two rotating columns 23, which are close to each other. A machine housing 25 is fixed between the two side plates 24. A turntable 26 is rotatably mounted on the top surface of the machine housing 25. A mounting platform 27 is mounted on the top surface of the turntable 26. A tooling fixture 28 is mounted on the top surface of the mounting platform 27. The workpiece is mounted on the tooling fixture 28 and can be rotated and adjusted around the rotating columns 23 and around the middle of the machine housing 25. The mounting platform 27 can carry the tooling fixture 28 and change its angle. This allows for multiple position and angle adjustments of the workpiece, facilitating welding operations at various positions. Welding operations at all positions can be completed after a single workpiece fixing, making it more convenient. The welding robotic arm mechanism 4 includes a base 41, a wire feeder 411, a welding torch 412, and a telescopic arm structure 47. The telescopic arm structure 47 includes an outer arm body 472, a horizontally opening sliding cavity 473 inside the outer arm body 472, an inner arm body 474 horizontally slidingly sleeved inside the sliding cavity 473, a first end seat 471 fixedly connected to the end of the outer arm body 472, a column block 475 fixedly connected to the end of the inner arm body 474 away from the first end seat 471, and a second end seat 476 fixedly connected to the end of the column block 475. The welding robotic arm mechanism 4 is provided with a telescopic arm structure 47, the length of which can be changed, thereby changing the arm span of the welding robotic arm mechanism 4 and increasing the working range of the welding operation.

[0020] Example 2: Please see Figure 1-11This is the second embodiment of the present invention, which is based on the previous embodiment. The lifting mechanism 3 includes an arc-shaped platform 31 fixed to the top surface of the worktable 1. An arc-shaped seat 32 is provided above the arc-shaped platform 31. A slide table 33 is slidably provided on the top surface of the arc-shaped seat 32. The welding robotic arm mechanism 4 is provided on the slide table 33. The base 41 is fixed to the top surface of the slide table 33. Multiple sliding holes 34 are vertically opened on the top surface of the arc-shaped platform 31. Multiple sliding columns 35 are vertically slidably sleeved in the multiple sliding holes 34. The top of the multiple sliding columns 35 is fixed to the arc-shaped seat 32. A second hydraulic push rod 36 is fixed to the side wall of the arc-shaped platform 31. A first force plate 37 is fixed to the side wall of the arc-shaped seat 32. The output end of the second hydraulic push rod 36 is fixed to the bottom surface of the first force plate 37. The slide table 33 can carry the welding robotic arm mechanism 4 to change its horizontal and vertical positions, further increasing the working range of the welding operation.

[0021] A base platform 42 is rotatably mounted on the top surface of the base 41. A vertical block 43 is fixedly connected to the top surface of the base platform 42. The side wall of the vertical block 43 is rotatably connected to one end of the side wall of the main arm body 44. A rotating block 45 is rotatably connected to one end of the side wall of the main arm body 44. An end block 46 is fixedly connected to the end of the rotating block 45. A telescopic arm structure 47 is mounted on one end of the side wall of the end block 46. A short arm 48 is rotatably mounted on the other end of the telescopic arm structure 47. The other end of the short arm 48 is rotatably connected to the rotating frame 410. An adjustment component 49 is mounted on the rotating frame 410. A welding torch 412 is mounted on the adjustment component 49.

[0022] The bottom surface of the outer arm body 472 is fixed to the fourth hydraulic push rod 477, the bottom surface of the column block 475 is fixed to the second force plate 478, the output end of the fourth hydraulic push rod 477 is fixed to the side wall of the second force plate 478, the side wall of the sliding cavity 473 is evenly opened with multiple limiting side grooves 479, the inner arm body 474 is evenly fixed to multiple limiting side strips 4710, the limiting side strips 4710 are slidably connected to the limiting side grooves 479, the first end seat 471 is rotatably connected to the side wall of the end block 46, the end of the short arm 48 is rotatably set on the second end seat 476, the wire feeder 411 is fixed to the top surface of the end block 46, and the overall length of the telescopic arm structure 47 can be changed by using the fourth hydraulic push rod 477.

[0023] A second integrated encoder servo motor 413 is fixedly connected to one side of the top surface of the base 42. A column 414 is fixedly connected to the top surface of the base 41. The column 414 is rotatably connected to the inside of the bottom surface of the base 42. A driven large gear 415 is fixedly connected to the top surface of the column 414. The shaft end of the second integrated encoder servo motor 413 is located inside the base 42 and is fixedly connected to a driving small gear 416. The driving small gear 416 meshes with the driven large gear 415.

[0024] A third integrated encoder servo motor 417 is fixedly connected to the side wall of the upright block 43. The shaft end of the third integrated encoder servo motor 417 is fixedly connected to the end side wall of the main boom body 44. A top frame 418 is fixedly connected to the top surface of the base platform 42. The top frame 418 is rotatably connected to the side wall of the third hydraulic push rod 419. A hinge block 420 is fixedly connected to the bottom side wall of the main boom body 44. The output end of the third hydraulic push rod 419 is rotatably connected to the hinge block 420. The main boom body 44 is driven by the third integrated encoder servo motor 417 and the third hydraulic push rod 419 simultaneously, making its swing more stable. A fourth integrated encoder servo motor 421 is fixedly connected to the side wall of the rotating block 45. The shaft end of machine 421 is fixed to the end side wall of the main arm body 44. The side wall of end block 46 is fixed to the fifth integrated encoder servo motor 422. The shaft end of the fifth integrated encoder servo motor 422 is fixed to the end center of the first end seat 471. The end of the second end seat 476 is fixed to the sixth integrated encoder servo motor 423. The shaft end of the sixth integrated encoder servo motor 423 is fixed to the end of the short arm 48. The side wall of the rotating frame 410 is fixed to the seventh integrated encoder servo motor 424. The shaft end of the seventh integrated encoder servo motor 424 is fixed to the end side wall of the short arm 48. The top surface of the rotating frame 410 is fixed to the eighth integrated encoder servo motor 425.

[0025] The adjustment assembly 49 includes a plate 491. The bottom surface of the plate 491 is fixed to the shaft end of the eighth integrated encoder servo motor 425. Two linear rails 492 are fixed to both sides of the surface of the plate 491. Two slide blocks 493 are slidably connected to the two linear rails 492. A top platform 494 is fixed to the two slide blocks 493. The welding torch 412 is fixed to the top platform 494. Two fixing plates 495 are fixed to both sides of the top platform 494. Threaded through holes 497 are opened on the fixing plates 495 near the plate 491. Multiple second threaded holes 496 are evenly opened on both sides of the plate 491. A second bolt 498 is threadedly connected to one of the second threaded holes 496 through the threaded through holes 497. The position of the welding torch 412 can be adjusted by sliding the top platform 494. After adjustment, it is fixed by the second bolt 498.

[0026] Inside the housing 25, a first reducer 221 and a first drive motor 220 are fixedly connected. The shaft end of the first drive motor 220 is fixedly connected to the input end of the first reducer 221, and the output end of the first reducer 221 is fixedly connected to the center of the bottom surface of the turntable 26. A ring track 222 is fixedly connected to the top surface of the housing 25. Multiple arc-shaped sliders 223 are slidably connected on the ring track 222. The multiple arc-shaped sliders 223 are fixedly connected to the bottom surface of the turntable 26. A horizontal column 214 is horizontally fixed between the bottoms of the two side frames 22. A horizontal shaft 215 is horizontally rotatably sleeved inside the horizontal column 214. A transmission cavity 216 is opened inside the side frame 22. The end of the horizontal shaft 215 passes through the side wall of the side frame 22 and is located inside the transmission cavity 216. The two ends of the horizontal shaft 215 are fixedly sleeved inside the transmission cavity 216. The center of the end of the synchronous pulley 217 and the rotating column 23 is located in the transmission cavity 216 and fixed to the short shaft 218. The first driven synchronous pulley 219 is fixedly sleeved on the short shaft 218. The first driving synchronous pulley 217 and the first driven synchronous pulley 219 are sleeved with the first synchronous belt 238. The second drive motor 224 and the second reducer 225 are fixedly connected to the top surface of the base plate 21 near one of the side frames 22. The shaft end of the second drive motor 224 is fixedly connected to the input end of the second reducer 225, and the output end of the second reducer 225 is fixedly connected to the end of the horizontal shaft 215. Multiple heat dissipation vents 226 are opened on the side wall of the housing 25. The housing 25 can be rotated by the second drive motor 224, and the turntable 26 can be rotated by the first drive motor 220.

[0027] One end of the top surface of the turntable 26 is fixedly connected to the base 29, and the base 29 is rotatably connected to the rotating plate 210. The rotating plate 210 is fixedly connected to the bottom surface of the end of the mounting platform 27. Multiple lower hinge seats 211 are evenly fixedly connected to the top surface of the turntable 26. Multiple upper hinge seats 212 are evenly fixedly connected to the bottom surface of the mounting platform 27 away from the rotating plate 210. The lower hinge seats 211 are rotatably connected to the end of the first hydraulic push rod 213, and the output end of the first hydraulic push rod 213 is rotatably connected to the upper hinge seats 212. The angle of the mounting platform 27 can be changed by using the first hydraulic push rod 213. Two top grooves 227 are opened on the top surface of the mounting platform 27. One end of the top groove 227 is an open structure. A side opening 229 is opened on the side of the mounting platform 27 near the opening of the two top grooves 227. The side opening 229 connects the two top grooves 227. Two strip-shaped inserts 228 are fixedly connected to the bottom surface of the tooling fixture 28. The strip-shaped inserts 228 are inserted into the top grooves. 227, a sealing plate 230 is inserted into the side opening 229, and two plugs 231 are fixed to the side wall of the sealing plate 230. The plugs 231 are inserted into the end of the top groove 227. Multiple crossbars 232 are fixed to the end of the top groove 227. Multiple elongated holes 233 are horizontally opened on the strip plate 228. The elongated holes 233 are inserted into the crossbars 232. Two inserts 234 are fixed to both ends of the side opening 229. The first threaded hole 235 is opened at the end of the insert. Two insertion holes 236 are opened at both ends of the sealing plate 230. The insertion holes 236 are inserted into the inserts 234. The first threaded hole 235 is threaded to connect the first bolt 237. The tooling fixture 28 is installed in a detachable manner, which is convenient for replacing different types of tooling fixtures 28. It is fixed by inserting the strip plate 228. After removing the first bolt 237, the sealing plate 230 can be removed, and the tooling fixture 28 can be removed.

[0028] Two arc-shaped tracks 38 are fixedly connected to the top surface of the arc-shaped seat 32. The arc-shaped tracks 38 are slidably connected to the arc-shaped slide 39. The arc-shaped slide 39 is fixedly connected to the bottom surface of the slide table 33. Two limiting plates 317 are fixedly connected to both ends of the arc-shaped seat 32. Arc-shaped toothed plates 312 are fixedly connected to the side walls of the arc-shaped seat 32. Three vertical shafts 310 are vertically rotatably connected to the end of the slide table 33. A drive gear 311 is fixedly sleeved on each vertical shaft 310. The drive gear 311 meshes with the arc-shaped toothed plate 312. Two second driving synchronous pulleys 313 are fixedly sleeved on the vertical shaft 310 located in the middle. The vertical shafts on both sides... A second driven synchronous pulley 314 is fixedly sleeved on the slide 310. A second synchronous belt 315 is sleeved on the second driven synchronous pulley 313 and the second driven synchronous pulley 314. A first integrated encoder servo motor 316 is fixedly connected to the center of the top end of the slide 33. The shaft end of the first integrated encoder servo motor 316 is fixedly connected to the top of the vertical shaft 310 located in the middle. The first integrated encoder servo motor 316 drives the three vertical shafts 310 to rotate synchronously. The slide 33 can be moved by the meshing relationship between the drive gear 311 and the arc-shaped toothed plate 312.

[0029] In use, the workpiece is fixed on the tooling fixture 28, and then welding is performed using the welding torch 412 on the welding robotic arm mechanism 4. The wire feeder 411 feeds wire to the welding torch 412. During operation, the workpiece fixing mechanism 2 can change the position and angle of the tooling fixture 28, thereby changing the position and angle of the workpiece so that the welding torch 412 can easily enter the welding position. The workpiece is set on the tooling fixture 28 and can be rotated around the rotating column 23 to adjust its position, and can also be rotated around the middle of the housing 25 to adjust its position. The mounting table 27 can carry the tooling fixture 28 and change its angle, so that the workpiece can be adjusted in multiple positions and angles, which is convenient for welding operations at various positions. Welding operations at all positions can be completed after a single workpiece fixation, which is more convenient. The welding robotic arm mechanism 4 of this invention is provided with a telescopic arm structure 47. The length of the telescopic arm structure 47 can be changed, thereby changing the arm span of the welding robotic arm mechanism 4. The slide table 33 can carry the welding robotic arm mechanism 4 and change its horizontal and vertical positions, increasing the working range during welding.

[0030] 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. An industrial robot based on automated welding, comprising a workbench (1), characterized in that: The workbench (1) is provided with a workpiece fixing mechanism (2) on its top surface. A lifting mechanism (3) is provided on the top surface of the workbench (1) near the workpiece fixing mechanism (2). A welding robotic arm mechanism (4) is provided on the lifting mechanism (3). The workpiece fixing mechanism (2) includes a base plate (21) fixed to the top surface of the workbench (1), two side frames (22) are vertically fixed to the top surfaces of both sides of the base plate (21), two rotating columns (23) are rotatably connected to the top of the two side frames (22) on one side close to each other, two side plates (24) are fixed to the two rotating columns (23) on one end close to each other, and a machine housing (25) is fixed between the two side plates (24). A turntable (26) is rotatably provided on the top surface of the machine housing (25), a mounting platform (27) is provided on the top surface of the turntable (26), and a tooling fixture (28) is provided on the top surface of the mounting platform (27). The welding robotic arm mechanism (4) includes a base (41), a wire feeder (411), a welding torch (412), and a telescopic arm structure (47). The telescopic arm structure (47) includes an outer arm body (472), a horizontally opened sliding cavity (473) in the outer arm body (472), an inner arm body (474) horizontally slidingly sleeved in the sliding cavity (473), a first end seat (471) fixedly connected to the end of the outer arm body (472), a column block (475) fixedly connected to the end of the inner arm body (474) away from the first end seat (471), and a second end seat (476) fixedly connected to the end of the column block (475).

2. The industrial robot based on automated welding according to claim 1, characterized in that: The lifting mechanism (3) includes an arc-shaped platform (31) fixed to the top surface of the worktable (1), an arc-shaped seat (32) is provided above the arc-shaped platform (31), a slide table (33) is slidably provided on the top surface of the arc-shaped seat (32), the welding robotic arm mechanism (4) is provided on the slide table (33), the base (41) is fixed to the top surface of the slide table (33), a plurality of sliding holes (34) are vertically opened on the top surface of the arc-shaped platform (31), a plurality of sliding columns (35) are vertically slidably sleeved on the plurality of sliding holes (34), the top of the plurality of sliding columns (35) is fixed to the arc-shaped seat (32), a second hydraulic push rod (36) is fixed to the side wall of the arc-shaped platform (31), a first force plate (37) is fixed to the side wall of the arc-shaped seat (32), and the output end of the second hydraulic push rod (36) is fixed to the bottom surface of the first force plate (37).

3. An industrial robot based on automated welding according to claim 1, characterized in that: The base (41) has a rotatable platform (42) on its top surface. The platform (42) is vertically fixed to a vertical block (43). The side wall of the vertical block (43) is rotatably connected to one end of the main arm body (44). The side wall of the main arm body (44) is rotatably connected to a rotating block (45). The end of the rotating block (45) is fixed to an end block (46). The side wall of the end block (46) is provided with one end of a telescopic arm structure (47). The other end of the telescopic arm structure (47) is rotatably provided with one end of a short arm (48). The other end of the short arm (48) is rotatably connected to a rotating frame (410). The rotating frame (410) is provided with an adjustment component (49). The welding torch (412) is provided on the adjustment component (49).

4. An industrial robot based on automated welding according to claim 3, characterized in that: The bottom surface of the outer arm body (472) is fixed to the fourth hydraulic push rod (477), the bottom surface of the column block (475) is fixed to the second force plate (478), the output end of the fourth hydraulic push rod (477) is fixed to the side wall of the second force plate (478), the side wall of the sliding cavity (473) is evenly opened with multiple limiting side grooves (479), the inner arm body (474) is evenly fixed to multiple limiting side strips (4710), the limiting side strips (4710) are slidably connected to the limiting side grooves (479), the first end seat (471) is rotatably connected to the side wall of the end block (46), the end of the short arm (48) is rotatably set on the second end seat (476), and the wire feeder (411) is fixed to the top surface of the end block (46).

5. An industrial robot based on automated welding according to claim 4, characterized in that: The second integrated encoder servo motor (413) is fixedly connected to one side of the top surface of the base (42). The column (414) is fixedly connected to the top surface of the base (41). The column (414) is rotatably connected to the inside of the bottom surface of the base (42). The driven large gear (415) is fixedly connected to the top surface of the column (414). The shaft end of the second integrated encoder servo motor (413) is located inside the base (42) and is fixedly connected to the driving small gear (416). The driving small gear (416) meshes with the driven large gear (415).

6. An industrial robot based on automated welding according to claim 4, characterized in that: The side wall of the upright block (43) is fixedly connected to the third integrated encoder servo motor (417), the shaft end of the third integrated encoder servo motor (417) is fixedly connected to the end side wall of the main arm body (44), the top surface of the base (42) is fixedly connected to the top frame (418), the top frame (418) is rotatably connected to the side wall of the third hydraulic push rod (419), the bottom side wall of the main arm body (44) is fixedly connected to the hinge block (420), the output end of the third hydraulic push rod (419) is rotatably connected to the hinge block (420), the side wall of the rotating block (45) is fixedly connected to the fourth integrated encoder servo motor (421), the shaft end of the fourth integrated encoder servo motor (421) is fixedly connected to the end side wall of the main arm body (44). The fifth integrated encoder servo motor (422) is fixed to the side wall of the end block (46). The shaft end of the fifth integrated encoder servo motor (422) is fixed to the center of the end of the first end seat (471). The end of the second end seat (476) is fixed to the sixth integrated encoder servo motor (423). The shaft end of the sixth integrated encoder servo motor (423) is fixed to the end of the short arm (48). The side wall of the rotating frame (410) is fixed to the seventh integrated encoder servo motor (424). The shaft end of the seventh integrated encoder servo motor (424) is fixed to the side wall of the end of the short arm (48). The top surface of the rotating frame (410) is fixed to the eighth integrated encoder servo motor (425).

7. An industrial robot based on automated welding according to claim 6, characterized in that: The adjustment assembly (49) includes a plate (491), the bottom surface of which is fixed to the shaft end of the eighth integrated encoder servo motor (425). Two linear rails (492) are fixed to both sides of the surface of the plate (491). Two slide blocks (493) are slidably connected to the two linear rails (492). A top platform (494) is fixed to the two slide blocks (493). The welding torch (412) is fixed to the top platform (494). Two fixing plates (495) are fixed to both sides of the top platform (494). Threaded through holes (497) are opened on the fixing plates (495) near the plate (491). Multiple second threaded holes (496) are evenly opened on both sides of the plate (491). A second bolt (498) is threadedly connected to one of the second threaded holes (496) through holes (497).

8. An industrial robot based on automated welding according to claim 1, characterized in that: The first reducer (221) and the first drive motor (220) are fixedly connected inside the housing (25). The shaft end of the first drive motor (220) is fixedly connected to the input end of the first reducer (221). The output end of the first reducer (221) is fixedly connected to the center of the bottom surface of the turntable (26). The top surface of the housing (25) is fixedly connected to the annular track (222). Multiple arc-shaped sliders (223) are slidably connected on the annular track (222). The multiple arc-shaped sliders (223) are fixedly connected to the bottom surface of the turntable (26). A horizontal column (214) is horizontally fixed between the bottom of the two side frames (22). A horizontal shaft (215) is horizontally rotated and sleeved inside the horizontal column (214). A transmission cavity (216) is opened inside the side frame (22). The end of the horizontal shaft (215) passes through the side wall of the side frame (22) and is located in the transmission cavity (216). (215) Two first active synchronous pulleys (217) are fixedly sleeved at both ends inside the transmission cavity (216). The center of the end of the rotating column (23) is located inside the transmission cavity (216) and fixedly connected to a short shaft (218). A first driven synchronous pulley (219) is fixedly sleeved on the short shaft (218). A first synchronous belt (238) is sleeved on the first active synchronous pulley (217) and the first driven synchronous pulley (219). A second drive motor (224) and a second reducer (225) are fixedly connected to the top surface of the base plate (21) near one of the side frames (22). The shaft end of the second drive motor (224) is fixedly connected to the input end of the second reducer (225). The output end of the second reducer (225) is fixedly connected to the end of the horizontal shaft (215). Multiple heat dissipation vents (226) are opened on the side wall of the housing (25).

9. An industrial robot based on automated welding according to claim 1, characterized in that: One end of the top surface of the turntable (26) is fixed to the base (29), the base (29) is rotatably connected to the rotating plate (210), the rotating plate (210) is fixed to the bottom surface of the end of the mounting platform (27), a plurality of lower hinge seats (211) are uniformly fixed to the top surface of the turntable (26), a plurality of upper hinge seats (212) are uniformly fixed to the bottom surface of the mounting platform (27) away from the rotating plate (210), the lower hinge seats (211) are rotatably connected to the end of the first hydraulic push rod (213), the output end of the first hydraulic push rod (213) is rotatably connected to the upper hinge seat (212), two top grooves (227) are opened on the top surface of the mounting platform (27), one end of the top groove (227) is an open structure, a side opening (229) is opened on the side of the mounting platform (27) near the opening of the two top grooves (227), the side opening (229) connects the two top grooves (227), the tooling fixture ( 28) Two strip-shaped inserts (228) are fixed to the bottom surface. The strip-shaped inserts (228) are inserted into the top groove (227). The side opening (229) is inserted into the sealing plate (230). Two plugs (231) are fixed to the side wall of the sealing plate (230). The plugs (231) are inserted into the end of the top groove (227). Multiple crossbars (232) are fixed to the end of the top groove (227). Multiple elongated holes (233) are opened horizontally on the strip-shaped inserts (228). The crossbars (232) are inserted into the elongated holes (233). Two insert posts (234) are fixed to both ends of the side opening (229). A first threaded hole (235) is opened at the end of the insert post (234). Two insertion holes (236) are opened at both ends of the sealing plate (230). Insert posts (234) are inserted into the insertion holes (236). A first bolt (237) is threaded into the first threaded hole (235).

10. An industrial robot based on automated welding according to claim 2, characterized in that: Two arc-shaped tracks (38) are fixedly connected to the top surface of the arc-shaped seat (32). The arc-shaped tracks (38) are slidably connected to the arc-shaped slide (39). The arc-shaped slide (39) is fixedly connected to the bottom surface of the slide table (33). Two limiting plates (317) are fixedly connected to both ends of the arc-shaped seat (32). An arc-shaped toothed plate (312) is fixedly connected to the side wall of the arc-shaped seat (32). Three vertical shafts (310) are vertically rotatably connected to the end of the slide table (33). A drive gear (311) is fixedly sleeved on each of the vertical shafts (310). The drive gear (311) meshes with the arc-shaped toothed plate (312). Two second active synchronous pulleys (313) are fixedly sleeved on the vertical shaft (310) located in the middle, and a second driven synchronous pulley (314) is fixedly sleeved on the vertical shaft (310) located on both sides. A second synchronous belt (315) is sleeved on the second active synchronous pulley (313) and the second driven synchronous pulley (314). A first integrated encoder servo motor (316) is fixedly connected to the center of the top end of the slide table (33). The shaft end of the first integrated encoder servo motor (316) is fixedly connected to the top of the vertical shaft (310) located in the middle.

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