Warehousing shelf welding robot

Abstract

The invention relates to the technical field of industrial robots, in particular to a storage rack welding robot which comprises a fourth mechanical arm and a wire feeding box, and the wire feeding box is assembled on the fourth mechanical arm; the width of the groove bottom of the annular trapezoidal groove is L, the width of the rolling rubber ring is L, and the rolling rubber ring can stably penetrate into the bottom of the annular trapezoidal groove, so that the rolling rubber ring on the second wire feeding roller and the annular trapezoidal groove can form a stable butt clamping state for the welding wire, and in the rotating process of the first wire feeding roller and the second wire feeding roller, the welding wire can be stably clamped by the rolling rubber ring on the second wire feeding roller. A stable clamping force can be provided for a welding wire, it is guaranteed that in the conveying process, a first wire feeding roller and a second wire feeding roller have stable friction force on the welding wire, and wire feeding slipping is avoided. A first mounting base is connected with a vertically-arranged pressure stabilizing rod, and the top end of the pressure stabilizing rod is fixed to a second piston in a pressure stabilizing cylinder; gaps generated by abrasion are automatically compensated, constant clamping force is kept, and the stable wire feeding effect is achieved.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and more specifically, to a warehouse rack welding robot. Background Technology

[0002] In the manufacturing of steel structures such as warehouse racks, automated warehouses, and high-bay racks, columns, beams, and diagonal braces are mostly formed by welding rolled steel or sheet metal bending parts. Industrial robots are used to weld the splicing points of the warehouse racks. During the welding process, it is necessary to accurately feed the welding wire. When feeding the welding wire, the wire feeding rollers with fixed diameters are changed to feed the wire in conjunction with the laser head to achieve welding. A search revealed that CN117718563B discloses an automatic wire-feeding welding robot, including a fixed base and a multi-axis robotic arm. The multi-axis robotic arm is connected to the fixed base. Using this invention, a mounting cover drives a fixed ring to rotate within a ring frame via a fixed plate. The fixed ring drives a fixed ring to rotate within a limiting ring via an arc-shaped elastic telescopic rod and a mounting frame, thereby enabling the welding torch, wire feeding assembly, guiding assembly, and winding assembly to move synchronously to deliver the welding wire.

[0003] In practical use, the existing wire feeding rollers are mostly made of steel or aluminum alloy. When feeding wire, the bottom of the V-groove is ground into a deep groove, which causes the upper wheel spring to decrease in stroke. This results in poor contact between the wire feeding roller and the welding wire, which easily leads to slippage between the wire feeding roller and the welding wire. The welding wire cannot be accurately delivered, affecting the welding effect. Based on this, the present invention discloses a warehouse rack welding robot. Summary of the Invention

[0004] To address the problem mentioned in the background art that existing wire feeding rollers are mostly made of steel or aluminum alloy, during wire feeding, the bottom of the V-groove is ground into a deep groove, which causes the upper wheel spring stroke to decrease accordingly. This results in poor contact between the wire feeding roller and the welding wire, which easily leads to slippage between the wire feeding roller and the welding wire, making it impossible to accurately deliver the welding wire and affecting the welding effect.

[0005] The present invention provides a warehouse rack welding robot, including a fourth robotic arm and a wire feeding box. The wire feeding box is mounted on the fourth robotic arm. A limit cylinder is fixed on the top inner wall of the wire feeding box. A limit rod is slidably mounted inside the limit cylinder. A first mounting base is fixed at the bottom of the limit rod. A second mounting base is fixed on the bottom inner wall of the wire feeding box. A first wire feeding roller is rotatably mounted in the second mounting base via a second drive shaft. An annular trapezoidal groove is provided in the first wire feeding roller. A second wire feeding roller is rotatably mounted in the first mounting base via a first drive shaft, and a roller pressing rubber ring is fitted on the second wire feeding roller; The bottom width of the annular trapezoidal groove is L, the width of the roller-pressed rubber ring is L, a triangular annular groove is formed on the circumferential surface of the roller-pressed rubber ring, and the second wire feeding roller is located directly above the first wire feeding roller.

[0006] As a further improvement to this technical solution, a wire feeding motor is installed on the outer side of the second mounting base, and the output shaft of the wire feeding motor is connected to the second drive shaft through a coupling.

[0007] As a further improvement to this technical solution, it also includes a base, on which a first robotic arm is rotatably mounted on the top side, a second robotic arm is rotatably mounted on the top of the first robotic arm, a third robotic arm is mounted on the top of the second robotic arm, and a fourth robotic arm is mounted on the third robotic arm.

[0008] As a further improvement to this technical solution, a pressure regulating structure is installed on the top of the wire feeding box. The pressure regulating structure includes a pressure stabilizing cylinder, which is vertically installed on the top of the wire feeding box. A second piston is slidably arranged inside the pressure stabilizing cylinder. A pressure stabilizing rod is connected to the bottom side of the second piston. A second spring is fitted on the outside of the pressure stabilizing rod. The top end of the second spring is fixed to the bottom side of the second piston, and the bottom end of the second spring is fixed to the bottom inner wall of the pressure stabilizing cylinder. The bottom end of the pressure stabilizing rod is fixed to the top side of the first mounting base.

[0009] As a further improvement to this technical solution, a pressure gauge is installed on the top of the pressure stabilizing cylinder, and an air inlet pipe is connected to the top of the pressure stabilizing cylinder; a pressure regulating cylinder is connected and installed on the air inlet pipe.

[0010] As a further improvement to this technical solution, the top of the pressure regulating cylinder is provided with a screw hole, an adjusting screw is rotatably installed in the screw hole, a movable plate is rotatably installed at the bottom end of the adjusting screw, a first piston is provided inside the pressure regulating cylinder, and a first spring is connected between the first piston and the movable plate.

[0011] As a further improvement to this technical solution, a pressure relief hole is provided in the middle of the pressure regulating cylinder, and the pressure relief hole is located between the movable plate and the first piston.

[0012] As a further improvement to this technical solution, a wire feeding hole is provided in the middle of one side of the wire feeding box, and a cleaning air pipe is fixed in the middle of the wire feeding box. A cleaning air hole is provided on the cleaning air pipe at an inclined angle. The cleaning air pipe is connected to the pressure regulating structure through an air guide pipe.

[0013] As a further improvement to this technical solution, a damping shaft is rotatably mounted on one side of the wire feeding box. A keyway is provided on the damping shaft, and a welding wire roll is assembled on the damping shaft by a fixed key. A limit hole is opened at the other end of the damping shaft. The limit hole is opened perpendicular to the radial direction of the damping shaft, and a limit bolt is installed in the limit hole.

[0014] As a further improvement to this technical solution, a laser welding stand is installed on the fourth robotic arm, a laser head is mounted at the end of the laser welding stand, a vision device is mounted on the laser head, and a wire feed head is mounted on the side of the laser head via a bracket. A wire feed tube is connected between the wire feed head and the wire feed hole on the side of the wire feed box. The wire feed tube and the wire feed head are used for the output of welding wire.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: In this warehouse rack welding robot, during the wire feeding process, a second wire feeding roller applies stable pressure to the welding wire located inside an annular trapezoidal groove. The bottom width of the annular trapezoidal groove is L, and the width of the roller-pressing rubber ring is L. The roller-pressing rubber ring can stably penetrate to the bottom of the annular trapezoidal groove, so that the roller-pressing rubber ring on the second wire feeding roller can form a stable clamping state for the welding wire with the annular trapezoidal groove. During the rotation of the first and second wire feeding rollers, a stable clamping force can be provided for the welding wire, ensuring that the first and second wire feeding rollers have a stable frictional force on the welding wire during the conveying process, avoiding wire slippage and ensuring welding effect. To ensure that the second wire feeding roller exerts a stable extrusion pressure on the welding wire, a stable gas pressure is introduced into the pressure stabilizing cylinder. This generates a stable downward pressure on the second piston inside the pressure stabilizing cylinder. With the cooperation of the pressure stabilizing rod, a relatively stable downward pressure effect is achieved on the first mounting seat. This results in a relatively stable extrusion effect of the roller pressing rubber ring on the second wire feeding roller on the welding wire. It ensures that the downward pressure force of the roller pressing rubber ring tends to be stable, and it also ensures a stable contact effect between the welding wire and the roller pressing rubber ring and the groove wall of the annular trapezoidal groove, avoiding wear and slippage, and ensuring a stable wire feeding speed. The first mounting base is connected to a vertically arranged pressure stabilizing rod. The top of the pressure stabilizing rod is fixed to a second piston inside the pressure stabilizing cylinder. After a constant air pressure is introduced into the cylinder, the combination of the piston and spring transmits the stable downward pressure to the second wire feeding roller, automatically compensating for the gap caused by wear and maintaining a constant clamping force. The top of the pressure stabilizing cylinder is connected to an air inlet pipe and a pressure regulating cylinder. The pressure regulating cylinder is equipped with a first piston, a first spring, and a movable plate with adjustable height. By rotating the adjusting screw, the spring preload is changed. During the air inlet pressurization process, while ensuring a stable air pressure, excess gas is discharged from the pressure relief hole, ensuring a relatively stable rolling pressure on the wire feeding roller, so as to achieve a stable wire feeding effect. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall isometric structure of the present invention; Figure 2 This is a schematic diagram of the overall rear-view three-dimensional structure of the present invention; Figure 3 This is a first-view structural diagram of the internal structure of the wire feeding box of the present invention; Figure 4 This is a schematic diagram of the internal structure of the wire feeding box of the present invention from a second perspective. Figure 5 This is a schematic diagram of the side-cut structure of the wire feeding box of the present invention; Figure 6 This is a schematic diagram of the cross-sectional structure of the wire feeding box of the present invention; Figure 7 This is a schematic diagram of the voltage regulating structure of the present invention; Figure 8 This is a structural diagram of the combination of the second wire feeding roller and the first wire feeding roller of the present invention; Figure 9 This is a cross-sectional view of the second wire feeding roller and the first wire feeding roller of the present invention; Figure 10 This is a diagram of the wire feeding structure of the present invention; Figure 11 This is a structural diagram of the airway clearing method of the present invention.

[0017] The meanings of the labels in the diagram are as follows: 1. Base; 2. First robotic arm; 3. Second robotic arm; 4. Third robotic arm; 5. Wire feed box; 6. Laser welding stand; 7. Fourth robotic arm; 8. Vision device; 9. Laser head; 10. Wire feed head; 11. Wire feed tube; 12. Pressure regulating structure; 13. Limiting cylinder; 14. Limiting rod; 15. First mounting base; 16. Second wire feed roller; 17. First wire feed roller; 18. Wire feed motor; 19. Second mounting base; 21. Welding wire coil; 22. Fixing key; 23. Damping shaft; 24. Limiting bolt; 5. Cleaning air pipe; 26. Wire feeding hole; 27. Limiting hole; 28. Cleaning air hole; 121. Air inlet pipe; 122. Pressure regulating cylinder; 123. First piston; 124. First spring; 125. Adjusting screw; 126. Movable plate; 127. Pressure relief hole; 128. Pressure gauge; 129. Pressure stabilizing cylinder; 1210. Second piston; 1211. Second spring; 1212. Pressure stabilizing rod; 161. First drive shaft; 16a. Roller-pressed rubber ring; 171. Second drive shaft; 17a. Annular trapezoidal groove. 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] Therefore, such as Figure 1 , Figure 2 , Figure 3 , Figure 8 , Figure 9 As shown, the present invention provides a warehouse rack welding robot, including a fourth robotic arm 7 and a wire feeding box 5. The wire feeding box 5 is mounted on the fourth robotic arm 7. A limiting cylinder 13 is fixed on the top inner wall of the wire feeding box 5. A limiting rod 14 is slidably mounted inside the limiting cylinder 13. A first mounting base 15 is fixed at the bottom of the limiting rod 14. A second mounting base 19 is fixed on the bottom inner wall of the wire feeding box 5. A first wire feeding roller 17 is rotatably mounted in the second mounting base 19 via a second drive shaft 171. An annular trapezoidal groove 17a is provided in the first wire feeding roller 17. A second wire feeding roller 16 is rotatably mounted in the first mounting base 15 via a first drive shaft 161, and a roller pressing rubber ring 16a is mounted on the second wire feeding roller 16. The bottom width of the annular trapezoidal groove 17a is L, the width of the roller-pressed rubber ring 16a is L, a triangular annular groove is formed on the circumferential surface of the roller-pressed rubber ring 16a, and the second wire feeding roller 16 is located directly above the first wire feeding roller 17.

[0020] When welding warehouse racks, welding robots are used to weld the joints of the racks. During the welding process, the welding wire needs to be fed accurately. However, since the diameter of the wire feeding rollers is fixed and the installation positions of the upper and lower wire feeding rollers are also fixed, after a long period of wire feeding, wear can cause poor contact between the wire feeding rollers and the welding wire. This can easily lead to slippage between the wire feeding rollers and the welding wire, making it impossible to feed the welding wire accurately and affecting the welding effect. By setting a second wire feeding roller 16 and a first wire feeding roller 17, wherein the second wire feeding roller 16 serves as a downward wire feeding roller and the first wire feeding roller 17 serves as a supporting wire feeding roller, and the second wire feeding roller 16 is positioned above the first wire feeding roller 17, during the wire feeding process, since the first wire feeding roller 17 has an annular trapezoidal groove 17a inside, the annular trapezoidal groove 17a is annular and trapezoidal, which ensures accurate contact between the welding wire and the inner wall of the annular trapezoidal groove 17a when supporting and conveying the welding wire, and can provide a stable pushing friction force for the welding wire; During the wire feeding process, the second wire feeding roller 16 applies stable pressure to the welding wire located inside the annular trapezoidal groove 17a. The bottom width of the annular trapezoidal groove 17a is L, and the width of the roller-pressed rubber ring 16a is L. The roller-pressed rubber ring 16a can stably penetrate to the bottom of the annular trapezoidal groove 17a, so that the roller-pressed rubber ring 16a on the second wire feeding roller 16 can form a stable clamping state for the welding wire with the annular trapezoidal groove 17a. During the rotation of the first wire feeding roller 17 and the second wire feeding roller 16, a stable clamping force can be provided for the welding wire, ensuring that the first wire feeding roller and the second wire feeding roller have a stable friction force on the welding wire during the conveying process, avoiding wire slippage and ensuring welding effect.

[0021] like Figure 3 , Figure 4 As shown, a wire feeding motor 18 is mounted on the outer side of the second mounting base 19, and the output shaft of the wire feeding motor 18 is connected to the second drive shaft 171 through a coupling. During operation, in order to ensure stable feeding of the welding wire, two wire feeding motors 18 are driven synchronously. The two wire feeding motors 18 drive the two second drive shafts 171 to rotate, which enables the synchronous rotation of the two first wire feeding rollers 17, thereby conveying the welding wire and providing stable conveying power for the welding wire during the conveying process.

[0022] like Figure 1 , Figure 2 As shown, a first robotic arm 2 is rotatably mounted on the top side of the base 1, a second robotic arm 3 is rotatably mounted on the top of the first robotic arm 2, a third robotic arm 4 is mounted on the top of the second robotic arm 3, and a fourth robotic arm 7 is mounted on the third robotic arm 4. During operation, the base 1 is equipped with a rotary drive unit, servo motor, and harmonic reducer, which can rotate continuously 360° around the vertical axis to form the first-stage waist joint, which determines the robot's working range in the horizontal plane. The root of the first robotic arm 2 is fixed to the base turntable, and the top of the second robotic arm 3 is driven by a horizontally arranged elbow joint drive unit to perform pitching motion, achieving a large vertical lifting and lowering. The end of the second robotic arm 3 is equipped with a third robotic arm 4, which is also a horizontal axis rotary joint, used to compensate for the pitch angle and expand the reach of the end. Its rotation center line is parallel to the elbow joint to ensure kinematic decoupling. The end flange of the third robotic arm 4 is equipped with a fourth robotic arm 7, which is an end wrist joint used to precisely adjust the posture of the laser welding head and the wire feed head 10, so that the welding wire and the laser beam are always kept in the weld seam plane.

[0023] like Figure 5 , Figure 6 , Figure 7 As shown, a pressure regulating structure 12 is installed on the top of the wire feeding box 5. The pressure regulating structure 12 includes a pressure stabilizing cylinder 129, which is vertically installed on the top of the wire feeding box 5. A second piston 1210 is slidably arranged inside the pressure stabilizing cylinder 129. A pressure stabilizing rod 1212 is connected to the bottom side of the second piston 1210. A second spring 1211 is fitted on the outside of the pressure stabilizing rod 1212. The top end of the second spring 1211 is fixed to the bottom side of the second piston 1210, and the bottom end of the second spring 1211 is fixed to the bottom inner wall of the pressure stabilizing cylinder 129. The bottom end of the pressure stabilizing rod 1212 is fixed to the top side of the first mounting base 15. During operation, in order to ensure that the second wire feeding roller 16 has a stable squeezing pressure on the welding wire, a stable pressure gas is introduced into the pressure stabilizing cylinder 129. This enables the second piston 1210 inside the pressure stabilizing cylinder 129 to generate a stable downward pressure. With the cooperation of the pressure stabilizing rod 1212, the first mounting seat 15 can have a relatively stable downward pressure effect, so that the roller pressing rubber ring 16a on the second wire feeding roller 16 has a relatively stable squeezing effect on the welding wire. This ensures that the downward pressure force of the roller pressing rubber ring 16a tends to be stable, and also ensures that the welding wire has a stable contact effect with the roller pressing rubber ring 16a and the groove wall of the annular trapezoidal groove 17a, avoiding wear and slippage, and ensuring a stable wire feeding speed.

[0024] like Figure 7 As shown, a pressure gauge 128 is installed on the top of the pressure stabilizing cylinder 129, and an air inlet pipe 121 is connected to the top of the pressure stabilizing cylinder 129; a pressure regulating cylinder 122 is connected and installed on the air inlet pipe 121. During operation, the pressure gauge 128 can monitor the downward pressure, providing data reference for operators. According to the feeding requirements of the welding wire, the downward pressure in the pressure stabilizing cylinder 129 can be adjusted to better ensure the feeding pressure. To ensure the stability of the air pressure at the top of the pressure stabilizing cylinder 129, air needs to be steadily introduced through the air inlet pipe 121 to achieve a relatively stable air pressure at the top of the pressure stabilizing cylinder 129.

[0025] like Figure 7 As shown, the top of the pressure regulating cylinder 122 is provided with a screw hole, and an adjusting screw 125 is rotatably installed in the screw hole. A movable plate 126 is rotatably installed at the bottom end of the adjusting screw 125. A first piston 123 is provided inside the pressure regulating cylinder 122, and a first spring 124 is connected between the first piston 123 and the movable plate 126. like Figure 7 As shown, a pressure relief hole 127 is provided in the middle of the pressure regulating cylinder 122, and the pressure relief hole 127 is located between the movable plate 126 and the first piston 123; In order to maintain a stable intake air pressure in the pressure stabilizing cylinder 129, excess gas is diverted through the pressure regulating cylinder 122. During the diversion and exhaust process, the gas enters the bottom of the pressure regulating cylinder 122, thereby squeezing the first piston 123 upward. During the pressure regulation operation, the height of the movable plate 126 can be changed by rotating the adjusting screw 125. The pressure relief hole 127 has a fixed height. When constant air pressure is required, the first piston 123 needs to move to the area above the pressure relief hole 127, and excess gas can be discharged through the pressure relief hole 127 to stabilize the air pressure at the bottom of the pressure regulating cylinder 122. During the pressure adjustment process, the change in the compression of the first spring 124 is a physical conversion of the air pressure at the bottom of the pressure regulating cylinder 122. When it is necessary to increase the internal pressure of the pressure regulating cylinder 129, the adjusting screw 125 is rotated to push the movable plate 126 down. When the first piston 123 moves to the position of the pressure relief hole 127, the distance between the movable plate 126 and the pressure relief hole 127 becomes smaller. The first piston 123 needs to overcome the compression force of the first spring 124 to rise. The compression of the first spring 124 increases, and the required air pressure increases. When it is necessary to reduce the internal pressure of the pressure stabilizing cylinder 129, rotate the adjusting screw 125 to drive the movable plate 126 to rise. When the first piston 123 moves to the position of the pressure relief hole 127, the distance between the movable plate 126 and the pressure relief hole 127 becomes larger. The first piston 123 needs to overcome the compression force of the first spring 124 to rise. The compression of the first spring 124 becomes smaller, and the required air pressure becomes smaller. Through the above-mentioned adjustment method, a relatively stable air pressure is applied to the second piston 1210 inside the pressure stabilizing cylinder 129, and the pressure stabilizing rod 1212 is applied to the second wire feeding roller 16 inside the first mounting base 15, so as to ensure that the rolling pressure of the wire feeding is relatively stable and achieve a stable wire feeding effect.

[0026] like Figure 4 , Figure 11 As shown, a wire feeding hole 26 is provided in the middle of one side of the wire feeding box 5, and a cleaning air pipe 25 is fixed in the middle of the wire feeding box 5. A cleaning air hole 28 is provided on the cleaning air pipe 25 at an inclined angle. The cleaning air pipe 25 is connected to the pressure regulating structure 12 through an air guide pipe. During operation, the wire feeding process requires the pressure regulating structure 12 to achieve the effect of wire feeding pressure stabilization. Since the welding wire itself may have impurities such as lubricant on its surface during the production process, the diversion solenoid valve introduces protective gas into the cleaning gas pipe 25 according to the set ratio during the wire feeding process. The gas forms a swirling flow through the cleaning gas hole 28 with an annular inclined angle, which wraps around the surface of the welding wire 360°, effectively removing residual lubricant and particles, and avoiding welding porosity and inclusion defects.

[0027] like Figure 3 , Figure 5 , Figure 10 As shown, a damping shaft 23 is rotatably mounted on one side of the wire feeding box 5. A keyway is provided on the damping shaft 23. A welding wire roll 21 is assembled on the damping shaft 23 by means of a fixing key 22. A limit hole 27 is opened at the other end of the damping shaft 23. The limit hole 27 is opened perpendicular to the radial direction of the damping shaft 23. A limit bolt 24 is installed in the limit hole 27. During operation, when welding, the wire coil 21 with welding wire is mounted on the damping shaft 23 with the cooperation of the fixing key 22. The damping shaft 23 has a built-in rotary damper, which can provide constant torque resistance to the wire coil 21 and prevent the welding wire from loosening due to inertial overshoot. The limit bolt 24 axially locks the wire coil 21 to eliminate the risk of axial movement and falling off.

[0028] like Figure 1 , Figure 2 As shown, a laser welding stand 6 is mounted on the fourth robotic arm 7. A laser head 9 is mounted on the end of the laser welding stand 6. A vision device 8 is mounted on the laser head 9. A wire feed head 10 is mounted on the side of the laser head 9 via a bracket. A wire feed tube 11 is connected between the wire feed head 10 and the wire feed hole 26 on the side of the wire feed box 5. The wire feed tube 11 and the wire feed head 10 are used for the output of welding wire. During operation, the laser welding stand 6 is connected to an external laser source, and the laser is introduced into the laser head 9 through the QBH interface. The laser head 9 is composed of a collimating lens, a focusing lens and a protective lens, which focuses the laser beam into a high-energy spot of a certain diameter, instantly melting the base material to form a deep-melting microhole. The vision device 8 collects weld images coaxially or off-axis to achieve weld tracking and real-time deviation correction. The active wire feeding mechanism in the wire feeding box 5 accurately guides the welding wire through the wire feeding tube 11 and the wire feeding head 10 to the leading edge of the molten pool to complete stable filling.

[0029] Working principle: When welding the storage rack, the base 1 is equipped with a rotary drive unit, servo motor and harmonic reducer, which can rotate continuously 360° around the vertical axis to form the first-stage waist joint, which determines the robot's working range in the horizontal plane. The root of the first robotic arm 2 is fixed to the base turntable, and the top drives the second robotic arm 3 to make pitching motion through the horizontally arranged elbow joint drive unit to achieve a large vertical lifting. The end of the second robotic arm 3 is equipped with the third robotic arm 4. This joint is also a horizontal axis rotary joint, which is used to compensate for the pitch angle and expand the reach of the end. Its rotation center line is parallel to the elbow joint to ensure kinematic decoupling. The end flange of the third robotic arm 4 is equipped with the fourth robotic arm 7. This arm is the end wrist joint, which is used to precisely adjust the posture of the laser welding head and the wire feed head 10 so that the welding wire and the laser beam are always kept in the weld seam plane. During welding, the wire coil 21 with welding wire wound on it is mounted on the damping shaft 23 with the cooperation of the fixing key 22. The damping shaft 23 has a built-in rotary damper, which can provide constant torque resistance to the wire coil 21 and realize stable wire feeding. To ensure stable feeding of the welding wire, two wire feeding motors 18 are driven synchronously. The two wire feeding motors 18 drive the two second drive shafts 171 to rotate, thereby achieving synchronous rotation of the two first wire feeding rollers 17 and conveying the welding wire. During the conveying process, stable conveying power can be provided for the welding wire. During the wire feeding process, the second wire feeding roller 16 applies stable pressure to the welding wire located inside the annular trapezoidal groove 17a. The bottom width of the annular trapezoidal groove 17a is L, and the width of the roller-pressed rubber ring 16a is L. The roller-pressed rubber ring 16a can stably penetrate to the bottom of the annular trapezoidal groove 17a, so that the roller-pressed rubber ring 16a on the second wire feeding roller 16 can form a stable clamping state for the welding wire with the annular trapezoidal groove 17a. During the rotation of the first wire feeding roller 17 and the second wire feeding roller 16, a stable clamping force can be provided for the welding wire, ensuring that the first wire feeding roller and the second wire feeding roller have a stable friction force on the welding wire during the conveying process, avoiding wire slippage and ensuring welding effect. To ensure that the second wire feeding roller 16 exerts a stable extrusion pressure on the welding wire, a stable gas pressure is introduced into the pressure stabilizing cylinder 129. This allows the second piston 1210 inside the pressure stabilizing cylinder 129 to generate a stable downward pressure. With the cooperation of the pressure stabilizing rod 1212, the first mounting seat 15 can exert a relatively stable downward pressure effect, so that the roller pressing rubber ring 16a on the second wire feeding roller 16 exerts a relatively stable extrusion effect on the welding wire. This ensures that the downward pressure force of the roller pressing rubber ring 16a tends to be stable, and that the welding wire has a stable contact effect with the roller pressing rubber ring 16a and the groove wall of the annular trapezoidal groove 17a, avoiding wear and slippage, and ensuring a stable wire feeding speed. During the wire feeding process, the pressure gauge 128 monitors the downward pressure, providing data reference for the operator. According to the wire feeding requirements, the downward pressure in the pressure stabilizing cylinder 129 is adjusted to better ensure the pressure state of the feeding. To ensure the stability of the air pressure at the top of the pressure stabilizing cylinder 129, air needs to be steadily introduced through the air inlet pipe 121 to achieve a relatively stable air pressure at the top of the pressure stabilizing cylinder 129. In order to maintain a stable intake air pressure in the pressure stabilizing cylinder 129, excess gas is diverted through the pressure regulating cylinder 122. During the diversion and exhaust process, the gas enters the bottom of the pressure regulating cylinder 122, thereby squeezing the first piston 123 upward. During the pressure regulation operation, the height of the movable plate 126 can be changed by rotating the adjusting screw 125. The pressure relief hole 127 has a fixed height. When constant air pressure is required, the first piston 123 needs to move to the area above the pressure relief hole 127, and excess gas can be discharged through the pressure relief hole 127 to stabilize the air pressure at the bottom of the pressure regulating cylinder 122. During the pressure adjustment process, the change in the compression of the first spring 124 is a physical conversion of the air pressure at the bottom of the pressure regulating cylinder 122. When it is necessary to increase the internal pressure of the pressure regulating cylinder 129, the adjusting screw 125 is rotated to push the movable plate 126 down. When the first piston 123 moves to the position of the pressure relief hole 127, the distance between the movable plate 126 and the pressure relief hole 127 becomes smaller. The first piston 123 needs to overcome the compression force of the first spring 124 to rise. The compression of the first spring 124 increases, and the required air pressure increases. When it is necessary to reduce the internal pressure of the pressure stabilizing cylinder 129, rotate the adjusting screw 125 to drive the movable plate 126 to rise. When the first piston 123 moves to the position of the pressure relief hole 127, the distance between the movable plate 126 and the pressure relief hole 127 becomes larger. The first piston 123 needs to overcome the compression force of the first spring 124 to rise. The compression of the first spring 124 becomes smaller, and the required air pressure becomes smaller. Through the above-mentioned adjustment method, a relatively stable air pressure is applied to the second piston 1210 inside the pressure stabilizing cylinder 129, and the pressure stabilizing rod 1212 is applied to the second wire feeding roller 16 inside the first mounting base 15, so as to ensure that the rolling pressure of the wire feeding is relatively stable and achieve a stable wire feeding effect.

[0030] During the wire feeding process, the pressure regulating structure 12 is needed to achieve the effect of wire feeding pressure stabilization. Since the welding wire itself may have impurities such as lubricant on its surface during the production process, during the wire feeding process, the diversion solenoid valve introduces protective gas into the cleaning gas pipe 25 according to the set ratio. The gas forms a swirling flow through the cleaning gas hole 28 with an annular inclined angle, which wraps around the surface of the welding wire 360°, effectively removing residual lubricant and particles, and avoiding welding porosity and inclusion defects.

[0031] The laser welding stand 6 connects to an external laser source and guides the laser into the laser head 9 via a QBH interface. The laser head 9 consists of a collimating lens, a focusing lens, and a protective lens, which focuses the laser beam into a high-energy spot of a certain diameter, instantly melting the base material to form a deep-penetrating microhole. The vision device 8 collects weld images coaxially or off-axis to achieve weld tracking and real-time deviation correction. The active wire feeding mechanism in the wire feeding box 5 accurately guides the welding wire through the wire feeding tube 11 and the wire feeding head 10 to the leading edge of the molten pool, completing stable filling.

[0032] 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 variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A warehouse rack welding robot, characterized in that: It includes a fourth robotic arm (7) and a wire feeding box (5); the fourth robotic arm (7) is equipped with a wire feeding box (5); a limit cylinder (13) is fixed on the top inner wall of the wire feeding box (5), a limit rod (14) is slidably assembled inside the limit cylinder (13), and a first mounting seat (15) is fixed at the bottom of the limit rod (14). A second mounting base (19) is fixed on the bottom inner wall of the wire feeding box (5). A first wire feeding roller (17) is rotatably mounted in the second mounting base (19) via a second drive shaft (171). An annular trapezoidal groove (17a) is provided in the first wire feeding roller (17). A second wire feeding roller (16) is rotatably mounted inside the first mounting base (15) via a first drive shaft (161), and a roller pressing rubber ring (16a) is mounted on the second wire feeding roller (16). The bottom width of the annular trapezoidal groove (17a) is L, the width of the roller-pressed rubber ring (16a) is L, a triangular annular groove is provided on the circumferential surface of the roller-pressed rubber ring (16a), and the second wire feeding roller (16) is located directly above the first wire feeding roller (17).

2. The warehouse rack welding robot according to claim 1, characterized in that: A wire feeding motor (18) is mounted on the outside of the second mounting base (19), and the output shaft of the wire feeding motor (18) is connected to the second drive shaft (171) through a coupling.

3. The warehouse rack welding robot according to claim 1, characterized in that: It also includes a base (1), on which a first mechanical arm (2) is rotatably mounted, on which a second mechanical arm (3) is rotatably mounted, on which a third mechanical arm (4) is mounted, and on which a fourth mechanical arm (7) is mounted.

4. The warehouse rack welding robot according to claim 1, characterized in that: A pressure regulating structure (12) is installed on the top of the wire feeding box (5). The pressure regulating structure (12) includes a pressure stabilizing cylinder (129). The pressure stabilizing cylinder (129) is vertically installed on the top of the wire feeding box (5). A second piston (1210) is slidably arranged inside the pressure stabilizing cylinder (129). A pressure stabilizing rod (1212) is connected to the bottom side of the second piston (1210). A second spring (1211) is fitted on the outside of the pressure stabilizing rod (1212). The top end of the second spring (1211) is fixed to the bottom side of the second piston (1210). The bottom end of the second spring (1211) is fixed to the bottom inner wall of the pressure stabilizing cylinder (129). The bottom end of the pressure stabilizing rod (1212) is fixed to the top side of the first mounting base (15).

5. A warehouse rack welding robot according to claim 4, characterized in that: A pressure gauge (128) is installed on the top of the pressure stabilizing cylinder (129), and an air inlet pipe (121) is connected to the top of the pressure stabilizing cylinder (129); a pressure regulating cylinder (122) is connected and installed on the air inlet pipe (121).

6. A warehouse rack welding robot according to claim 5, characterized in that: The pressure regulating cylinder (122) has a screw hole at the top, and an adjusting screw (125) is rotatably installed in the screw hole. A movable plate (126) is rotatably installed at the bottom end of the adjusting screw (125). A first piston (123) is provided inside the pressure regulating cylinder (122), and a first spring (124) is connected between the first piston (123) and the movable plate (126).

7. A warehouse rack welding robot according to claim 6, characterized in that: The pressure regulating cylinder (122) has a pressure relief hole (127) in the middle, which is located between the movable plate (126) and the first piston (123).

8. A warehouse rack welding robot according to claim 1, characterized in that: The wire feeding box (5) has a wire feeding hole (26) in the middle of one side, and a cleaning air pipe (25) is fixed in the middle of the wire feeding box (5). The cleaning air pipe (25) has a cleaning air hole (28) at an inclined angle. The cleaning air pipe (25) is connected to the pressure regulating structure (12) through an air guide pipe.

9. A warehouse rack welding robot according to claim 1, characterized in that: A damping shaft (23) is rotatably mounted on one side of the wire feeding box (5). A keyway is provided on the damping shaft (23). A welding wire roll (21) is fitted on the damping shaft (23) by a fixing key (22). A limiting hole (27) is opened at the other end of the damping shaft (23). The limiting hole (27) is opened perpendicular to the radial direction of the damping shaft (23). A limiting bolt (24) is installed in the limiting hole (27).

10. A warehouse rack welding robot according to claim 1, characterized in that: The fourth robotic arm (7) is equipped with a laser welding stand (6), and a laser head (9) is mounted on the end of the laser welding stand (6). A vision device (8) is mounted on the laser head (9). A wire feed head (10) is mounted on the side of the laser head (9) via a bracket. A wire feed tube (11) is connected between the wire feed head (10) and the wire feed hole (26) on the side of the wire feed box (5). The wire feed tube (11) and the wire feed head (10) are used for the output of welding wire.

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