A long-short leg iron tower rapid turnover welding robot

Abstract

The present application relates to the technical field of industrial robots, and discloses a long-short-leg iron tower rapid overturning welding robot; the present application is provided with auxiliary clamping jaws, when the long-short-leg iron tower is overturned, the auxiliary clamping jaws clamp both sides of the weld, fix the position of the weld, ensure the accuracy of welding, and under the action of the driving mechanism, when the auxiliary clamping jaws are elongated, the welding head protective cover starts to shrink, exposes the welding head mechanism, when the welding head protective cover shrinks, the piston baffle extrudes the air inside the piston sliding groove, and the gas is sprayed out from the position of the airflow pipeline, so that the weld can be cleaned before welding, and when the welding is finished, the auxiliary clamping jaws start to shrink, the welding head protective cover starts to elongate, covers the welding head mechanism, at this time, the piston sliding groove starts to intake air, the airflow pipeline sucks the hot air around the welding head mechanism into the piston sliding groove, and cooperates with the wrapping of the welding head protective cover, so that the welding head mechanism can be kept warm.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a welding robot for rapidly rotating iron towers with varying lengths of legs. Background Technology

[0002] Industrial robots are programmable multi-axis automated machines used in the industrial field to automatically perform manufacturing tasks such as welding, assembly, handling, and processing. Welding robots are a type of industrial robot that can achieve precise multi-axis movement through programmable control and automatically complete welding operations such as arc welding and laser welding, adapting to the welding needs of different workpieces.

[0003] In Chinese Patent Publication No. CN118180740B, an invention discloses a flipping welding robot and its usage method, belonging to the field of welding robot technology. The flipping welding robot includes a welding robot body, a rotating table rotatably connected to the top surface of the welding robot body, an auxiliary device fixedly installed on the surface of the rotating table, and a base fixedly installed on the bottom surface of the auxiliary device. Rotary grooves are opened on the corresponding two sides of the base. The flipping welding robot, through the squeezing of the inner or outer surface of the box by the rolling device, causes the rolling device to move in opposite directions or in the opposite direction. The movement of the sliding rod causes the rotating block to rotate in the rotating groove, realizing the automatic alignment and centering of the welding head and the welding gap. Through the shape change of the folding plate, the surface of the folding plate is made to fit with the inner or outer surface of the box, further enabling the rapid alignment of the welding head and the weld and improving the alignment accuracy of the welding head and the weld.

[0004] Regarding the above and existing related technologies, the inventors believe that the following defects often exist: When using existing long and short leg iron tower rapid flipping welding robots, due to the asymmetry of the iron tower's own structure, the center of gravity shifts after rotation, which may cause weld position deviation, thereby affecting the welding accuracy of the welding robot. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the weld position deviates after the long and short leg iron towers are flipped in the prior art. To address this, we propose a rapid flipping welding robot for long and short leg iron towers.

[0006] To achieve the above objectives, this application adopts the following technical solution: a welding robot for rapid flipping of long and short legs iron towers, comprising: a robot base, a rapid flipping mechanism for long and short legs iron towers fixedly connected to the side of the robot base, a robot slide rail fixedly connected to the top of the rapid flipping mechanism for long and short legs iron towers, a welding robot body slidably connected to the top of the robot slide rail, a welding head mechanism fixedly connected to one end of the welding robot body, a fixed plate fixedly connected to the side of the welding robot body, a connecting rod fixedly connected to the outer wall of the fixed plate, a piston baffle fixedly connected to one end of the connecting rod, a piston groove slidably connected to the outer wall of the piston baffle, the piston groove being opened inside the welding head protective cover, an airflow pipe fixedly connected to the side of the welding head protective cover, a welding hole being opened at the center of the welding head protective cover, a drive mechanism fixedly connected to the outer wall of the welding robot body, a gripper rack fixedly connected to the output end of the drive mechanism, an auxiliary gripper fixedly connected to the side of the gripper rack, a fixed frame slidably connected to the outer wall of the auxiliary gripper, a transmission gear meshing with the outer wall of the gripper rack, and a protective cover rack meshing with the side of the transmission gear.

[0007] Preferably, the piston baffle is the same size as the piston groove, and the welding head protective cover is slidably connected to the welding robot body.

[0008] Preferably, a pair of airflow ducts are symmetrically arranged about the vertical center axis of the welding hole, and the horizontal center axis of the welding hole coincides with the horizontal center axis of the welding head mechanism.

[0009] Preferably, the auxiliary gripper extends through the interior of the fixing frame, and the fixing frame and the fixing plate are fixedly connected.

[0010] Preferably, the transmission gear is rotatably connected to the fixed frame, and the transmission gear is located between the gripper rack and the protective cover rack.

[0011] Preferably, the protective cover rack and the welding head protective cover are fixedly connected, while the protective cover rack and the fixed frame are slidably connected.

[0012] Preferably, a rotating rod is fixedly connected to the top of the transmission gear, a first inclined gear is fixedly connected to the top of the rotating rod, a second inclined gear meshes with the side of the first inclined gear, a winding roller is fixedly connected to the outer wall of the second inclined gear, a connecting cable is fixedly connected to the side of the winding roller, a cable limiting ring surrounds the outer wall of the connecting cable, a closing baffle is fixedly connected to one end of the connecting cable, and a torque shaft is rotatably connected to the top of the closing baffle.

[0013] Preferably, the rotating rod passes through the interior of the fixed frame, and the rotating rod and the fixed frame are rotatably connected.

[0014] Preferably, the moving speed of the connecting cable is faster than the moving speed of the welding head protective cover, and the cable limiting ring and the welding head protective cover are fixedly connected.

[0015] Preferably, the closed baffle and the welding hole are fitted together tightly, and the torque shaft and the welding head protective cover are fixedly connected.

[0016] The technical effects and advantages of this invention are as follows:

[0017] In this invention, an auxiliary gripper is provided. When the long and short leg iron towers are flipped, the auxiliary gripper clamps both sides of the weld, fixing the position of the weld and ensuring welding accuracy. At the same time, under the action of the drive mechanism, when the auxiliary gripper extends, the welding head protective cover begins to retract, exposing the welding head mechanism. When the welding head protective cover retracts, the piston baffle squeezes the air inside the piston groove, spraying the gas out from the airflow pipe, which can clean the weld before welding. After welding, the auxiliary gripper retracts, and the welding head protective cover extends to cover the welding head mechanism. At this time, air begins to enter the piston groove, and the airflow pipe draws in the hot air around the welding head mechanism and stores it in the piston groove. Together with the covering of the welding head protective cover, it can keep the welding head mechanism warm. Attached Figure Description

[0018] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0019] Figure 1 This is a front view structural schematic diagram of the long and short leg iron tower rapid flipping welding robot of the present invention;

[0020] Figure 2 This is an enlarged structural schematic diagram of the welding robot part of the present invention;

[0021] Figure 3 This is an enlarged structural schematic diagram of the drive mechanism portion of the present invention;

[0022] Figure 4 This is an enlarged structural schematic diagram of the welding head protective cover portion of the present invention;

[0023] Figure 5 This is an enlarged structural schematic diagram of the piston baffle portion of the present invention;

[0024] Figure 6 This is a cross-sectional structural diagram of the welding head protective cover portion of the present invention;

[0025] Figure 7 This is an enlarged structural schematic diagram of the auxiliary gripper portion of the present invention;

[0026] Figure 8 This is an exploded view of the auxiliary gripper portion of the present invention.

[0027] Figure 9 This is an enlarged structural schematic diagram of the winding roller portion of the present invention;

[0028] Figure 10 This is an enlarged structural schematic diagram of the closed baffle portion of the present invention.

[0029] Legend: 1. Robot base; 2. Rapid tilting mechanism for long and short leg iron towers; 3. Robot slide rail; 4. Welding robot body; 5. Fixing plate; 6. Connecting rod; 7. Piston baffle; 8. Piston groove; 9. Welding head protective cover; 10. Airflow duct; 11. Welding hole; 12. Drive mechanism; 13. Gripper rack; 14. Auxiliary gripper; 15. Fixing frame; 16. Transmission gear; 17. Protective cover rack; 18. Rotating rod; 19. First inclined gear; 20. Second inclined gear; 21. Winding roller; 22. Connecting cable; 23. Cable limiting ring; 24. Closing baffle; 25. Torque shaft; 26. Welding head mechanism. Detailed Implementation

[0030] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0031] According to one embodiment of the present invention, Figures 1 to 10 As shown.

[0032] Existing rapid-rotation welding robots for towers with varying leg lengths suffer from several drawbacks. Due to the asymmetry of the tower's structure, the legs exhibit significant length differences, leading to uneven steel usage and weight distribution. This can cause a shift in the center of gravity during the rotation process, resulting in a significant deviation between the actual weld position and the robot's preset welding trajectory. This weld position deviation directly interferes with the robot's precise operation, preventing the welding torch from accurately aligning with the bevel center. This results in uneven molten pool formation, leading to welding defects such as incomplete fusion, undercut, and weld beads. Furthermore, it causes weld dimensional deviations, affecting not only the appearance quality of the tower weld but also weakening the overall structural strength of the tower, ultimately reducing the safety and lifespan of the tower in engineering applications. To address this issue, this invention incorporates the following design features in the rapid-rotation welding robot for towers with varying leg lengths:

[0033] A rapid-rotation welding robot for iron towers with varying leg lengths includes: a robot base 1, with a rapid-rotation mechanism 2 for the iron towers with varying leg lengths fixedly connected to the side of the robot base 1. The rapid-rotation mechanism 2 is an industrial automation auxiliary device specifically designed for iron towers with varying leg lengths. Its core function is to achieve rapid posture switching of the iron tower workpiece through mechanical transmission and an adaptive clamping structure, providing a stable workpiece posture foundation for subsequent precise welding robot operations. A robot slide rail 3 is fixedly connected to the top of the rapid-rotation mechanism 2, and a welding robot body 4 is slidably connected to the top of the robot slide rail 3. The welding robot body 4 is an automated welding device based on an industrial robot, integrating a professional welding system and a precision control system. Its core function is to drive a multi-axis robotic arm through a programmable program to stably execute various welding processes such as arc welding, laser welding, and argon arc welding according to a preset trajectory. A welding head mechanism 26 is fixedly connected to one end of the welding robot body 4. The welding head mechanism 26 is the core functional component in the welding robot that directly performs welding operations. It is the actuator connecting the welding energy, filler material, and workpiece weld seam. Its core function is to precisely control arc generation, welding wire delivery, and welding head maintenance. The welding robot body 4 is equipped with a fixed plate 5, and a connecting rod 6 is fixedly connected to the outer wall of the fixed plate 5. A piston baffle 7 is fixedly connected to one end of the connecting rod 6. A piston groove 8 is slidably connected to the outer wall of the piston baffle 7. The piston groove 8 is located inside the welding head protective cover 9. An airflow pipe 10 is fixedly connected to the side of the welding head protective cover 9. A welding hole 11 is opened at the center of the welding head protective cover 9. A drive mechanism 12 is fixedly connected to the outer wall of the welding robot body 4. The drive mechanism 12 is a mechanical system or The core functional unit in automated equipment provides power and realizes motion transmission and control. Its core function is to convert the energy of the power source into a specific form of motion and drive the actuator to complete the preset action through the transmission component. At the same time, it controls the speed, force, direction and accuracy of the motion. The output end of the drive mechanism 12 is fixedly connected to the gripper rack 13. The side of the gripper rack 13 is fixedly connected to the auxiliary gripper 14. The outer wall of the auxiliary gripper 14 is slidably connected to the fixed frame 15. The outer wall of the gripper rack 13 is meshed with the transmission gear 16. The side of the transmission gear 16 is meshed with the protective cover rack 17.

[0034] The piston baffle 7 has the same size as the piston slide 8. The welding head protective cover 9 is slidably connected to the welding robot body 4. A pair of airflow pipes 10 are symmetrically arranged about the vertical central axis of the welding hole 11. The horizontal central axis of the welding hole 11 coincides with the horizontal central axis of the welding head mechanism 26. The auxiliary gripper 14 passes through the interior of the fixed frame 15. The fixed frame 15 is fixedly connected to the fixed plate 5. The transmission gear 16 is rotatably connected to the fixed frame 15. The transmission gear 16 is located between the gripper rack 13 and the protective cover rack 17. The protective cover rack 17 is fixedly connected to the welding head protective cover 9. The protective cover rack 17 is slidably connected to the fixed frame 15.

[0035] During use, the long and short leg iron tower is fixed by the rapid tilting mechanism 2. After fixing, the rapid tilting mechanism 2 is activated to quickly tilt the long and short leg iron tower. Once the position of the long and short leg iron tower is fixed, the welding robot body 4 is activated. The welding robot body 4 moves its position so that the welding hole 11 is located on the side of the weld. Then, the drive mechanism 12 is activated, which pushes the gripper rack 13 and the auxiliary gripper 14 forward. When the auxiliary gripper 14 is located on the side of the weld, it adjusts itself to clamp the long and short leg iron tower and fix it. At the same time, the gripper rack 13 drives the transmission gear 16 to rotate during the movement. The transmission gear 16 drives the protective cover rack 17 to move horizontally. The protective cover rack 17 pulls the welding head protective cover 9 back. At this time, the piston baffle 7 inside the welding head protective cover 9 will squeeze the piston groove 8, and the gas inside the piston groove 8 will pass through the airflow pipe. The airflow generated by the airflow pipe 10 is discharged from the outlet 10 and blown towards the weld to clean it. When the welding head protective cover 9 is fully retracted, the welding head mechanism 26 is exposed. The welding head mechanism 26 adjusts itself to weld the weld. After welding, the drive mechanism 12 controls the gripper rack 13 and auxiliary gripper 14 to retract. At this time, under the action of the transmission gear 16, the protective cover rack 17 pulls the welding head protective cover 9 to move horizontally. The welding head protective cover 9 covers the welding head mechanism 26. During the horizontal movement of the welding head protective cover 9, air begins to enter the piston slide 8. At this time, the airflow pipe 10 absorbs the heat around the welding head mechanism 26 and stores the heat in the piston slide 8. When the welding head mechanism 26 is completely inside the welding head protective cover 9, the welding head protective cover 9 keeps the welding head mechanism 26 warm. At the same time, the heat in the piston slide 8 is transferred to the welding head protective cover 9 to keep the welding head mechanism 26 warm, which facilitates the secondary use of the welding head mechanism 26 and reduces the heating time.

[0036] An auxiliary gripper 14 is provided. When the long and short leg iron tower is flipped, the auxiliary gripper 14 clamps both sides of the weld, fixing the position of the weld and ensuring welding accuracy. Simultaneously, under the action of the drive mechanism 12, when the auxiliary gripper 14 extends, the welding head protective cover 9 begins to retract, exposing the welding head mechanism 26. When the welding head protective cover 9 retracts, the piston baffle 7 compresses the air inside the piston groove 8, ejecting the gas from the airflow pipe 10. This allows for cleaning of the weld before welding. After welding, the auxiliary gripper 14 retracts, and the welding head protective cover 9 extends, covering the welding head mechanism 26. At this time, air begins to enter the piston groove 8, and the airflow pipe 10 draws in the hot air around the welding head mechanism 26 and stores it within the piston groove 8. Combined with the covering of the welding head protective cover 9, this provides insulation for the welding head mechanism 26. Rigid clamping corrects weld offset caused by asymmetrical center of gravity due to leg length discrepancy, fixing the weld position on the preset welding trajectory. This prevents welding torch misalignment due to weld offset from the source, ensuring precise filling of the bevel by the molten pool, reducing defects such as incomplete fusion and undercut, and meeting the stringent structural strength requirements of tower welds. Directional blowing removes residual welding slag, dust, or oil from the weld surface after turning and transporting, eliminating the need for manual cleaning and preventing impurities from entering the molten pool and causing porosity and slag inclusions. Simultaneously, the airflow cleaning is purely mechanically triggered, synchronized with the clamping action, ensuring stable and controllable cleaning force, preventing uneven cleaning results due to differences in manual operation. This ensures a consistent welding foundation for each weld, improving the quality stability of batch welding. Post-weld heat preservation protects the weld head, eliminating the need for prolonged heating before the next welding session; direct start-up reaches the working temperature, saving preparation time and improving overall operational efficiency.

[0037] A rotating rod 18 is fixedly connected to the top of the transmission gear 16. A first inclined gear 19 is fixedly connected to the top of the rotating rod 18. A second inclined gear 20 meshes with the side of the first inclined gear 19. A winding roller 21 is fixedly connected to the outer wall of the second inclined gear 20. A connecting cable 22 is fixedly connected to the side of the winding roller 21. A cable limiting ring 23 surrounds the outer wall of the connecting cable 22. A closing baffle 24 is fixedly connected to one end of the connecting cable 22. A torque shaft 25 is rotatably connected to the top of the closing baffle 24. The torque shaft 25 is a rotating shaft structure that integrates a torsion spring. Its core feature is that when the shaft is driven to rotate around the axis by an external force, the torsion spring will undergo elastic deformation to store torque. When the external force disappears, the spring releases the torque and drives the shaft to automatically return to the initial position. The rotating rod 18 passes through the interior of the fixed frame 15. The rotating rod 18 and the fixed frame 15 are rotatably connected. The moving speed of the connecting cable 22 is faster than the moving speed of the welding head protective cover 9. The cable limiting ring 23 and the welding head protective cover 9 are fixedly connected. The closing baffle 24 and the welding hole 11 are tightly fitted together. The torque rotating shaft 25 and the welding head protective cover 9 are fixedly connected.

[0038] When the device is in use, the rotation of the transmission gear 16 drives the rotation rod 18 and the first inclined gear 19 to rotate. The first inclined gear 19 drives the second inclined gear 20 and the winding roller 21 to rotate. When the welding head protective cover 9 retracts, the rotation rod 18 and the first inclined gear 19 rotate counterclockwise, and the first inclined gear 19 drives the second inclined gear 20 and the winding roller 21 to rotate clockwise. The winding roller 21 performs a winding operation on the connecting cable 22. At this time, under the traction force of the connecting cable 22, the closing baffle 24 rotates around the torque shaft 25, opening... Welding hole 11 facilitates the extension of welding head mechanism 26. When welding head protective cover 9 extends, the second inclined gear 20 and winding roller 21 rotate counterclockwise, and winding roller 21 performs wire feeding operation. Under the action of torque shaft 25, closing baffle 24 covers welding hole 11, which plays a sealing role. When welding hole 11 is sealed, welding head protective cover 9 is in a sealed state, which helps to isolate welding slag and dust, extend the service life of welding head mechanism 26, isolate cold air and moisture, and enhance the heat preservation effect of device on welding head mechanism 26.

[0039] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A welding robot for rapidly rotating iron towers with varying leg lengths, characterized in that, include: A robot base is provided, with a long-short-legged iron tower rapid-turning mechanism fixedly connected to its side. A robot slide rail is fixedly connected to the top of the long-short-legged iron tower rapid-turning mechanism. A welding robot body is slidably connected to the top of the robot slide rail. A welding head mechanism is fixedly connected to one end of the welding robot body. A fixing plate is fixedly connected to the side of the welding robot body. A connecting rod is fixedly connected to the outer wall of the fixing plate. A piston baffle is fixedly connected to one end of the connecting rod. A piston groove is slidably connected to the outer wall of the piston baffle. The piston groove is located inside the welding head protective cover. An airflow duct is fixedly connected to the side of the welding head protective cover. A welding hole is located at the center of the welding head protective cover. A drive mechanism is fixedly connected to the outer wall of the welding robot body. A gripper tooth is fixedly connected to the output end of the drive mechanism. The welding robot comprises a welding head mechanism, a welding head protective cover, and a welding head protective cover. The welding head protective cover is slidably connected to the welding robot body. A pair of airflow pipes are symmetrically arranged about the vertical central axis of the welding hole. The horizontal central axis of the welding hole coincides with the horizontal central axis of the welding head mechanism. The auxiliary gripper passes through the interior of the fixed frame. The fixed frame is fixedly connected to the fixed plate. The transmission gear is rotatably connected to the fixed frame. The transmission gear is located between the gripper rack and the protective cover rack. The protective cover rack is fixedly connected to the welding head protective cover, and slidably connected to the fixed frame.

2. The long-short-legged tower rapid-turning welding robot according to claim 1, characterized in that: A rotating rod is fixedly connected to the top of the transmission gear, and a first inclined gear is fixedly connected to the top of the rotating rod. A second inclined gear meshes with the side of the first inclined gear. A winding roller is fixedly connected to the outer wall of the second inclined gear, and a connecting cable is fixedly connected to the side of the winding roller. A cable limiting ring surrounds the outer wall of the connecting cable, and a closing baffle is fixedly connected to one end of the connecting cable. A torque shaft is rotatably connected to the top of the closing baffle.

3. The long-short-legged tower rapid-turning welding robot according to claim 2, characterized in that: The rotating rod passes through the interior of the fixed frame, and the rotating rod and the fixed frame are rotatably connected.

4. The long-short-legged tower rapid-turning welding robot according to claim 2, characterized in that: The moving speed of the connecting cable is faster than the moving speed of the welding head protective cover, and the cable limiting ring is fixedly connected to the welding head protective cover.

5. The long-short-legged tower rapid-turning welding robot according to claim 2, characterized in that: The closed baffle is fitted tightly to the welding hole, and the torque shaft is fixedly connected to the welding head protective cover.

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