A robotic flexible welding apparatus

Abstract

The application provides a kind of robot flexible welding equipment, it is related to welding equipment technical field, including: base, the top four corners of base are fixed with air cylinder, and the elongation end of air cylinder is fixed with welding table;Slide, the side of base is fixed with slide, and slide surface is slidably installed with slide base, the top of slide base is slidably installed with mechanical arm, the most front end of mechanical arm is fixed with L-shaped welding head;Through clamping assembly, the object is clamped and fixed, according to the position required to be welded on the surface of object, the corresponding number of positioning assembly is moved out from the storage track, each positioning assembly moves to the upper end of welding point of object, the hollow tube is vertically arranged on the welding point, the mechanical arm on slide is moved and cooperated with positioning assembly, the horizontal and vertical positions of welding head are automatically adjusted, keep with hollow tube in a vertical line, welding head is inserted into the inside of hollow tube to weld the point position on the surface of object, improve the accurate adjustment between welding point and mechanical arm.

Description

Technical Field

[0001] This disclosure relates to the field of welding equipment technology, and in particular to a robotic flexible welding device. Background Technology

[0002] Flexible robotic welding technology is an important development direction in the current field of industrial automation. By combining advanced technologies such as intelligent robots, visual recognition, and force control sensing, it achieves a high degree of flexibility and intelligence in the welding process. Flexible welding robots typically have a repeatability accuracy of ±0.03mm and support multi-axis linkage and complex trajectory welding. For example, the Fao collaborative robot achieves "seeing is knowing how to weld" through a 3D vision system. The proportion of collaborative robot welding is increasing. Portable equipment launched by companies such as Jicui Intelligent Manufacturing allows ordinary workers to quickly get started and achieve "one person operating multiple robots". Flexible robotic welding is a key technology in the intelligent manufacturing equipment industry. It involves the manufacture of metal cutting and welding equipment such as automatic and semi-automatic electric arc and plasma arc welding machines; the use of intelligent welding systems and intelligent heat treatment production lines; and the use of automatic and semi-automatic electric arc and plasma arc welding machines for metal cutting.

[0003] In existing technologies, before welding, the robotic arm needs to rotate through its multiple connecting arms to adjust the position of the welding head. However, for spot welding of some objects, the position of the welding head needs to be adjusted continuously, which takes a lot of time and results in low overall processing efficiency. Summary of the Invention

[0004] This disclosure aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, the purpose of this disclosure is to provide a robotic flexible welding device.

[0006] To achieve the above objectives, this disclosure provides a robotic flexible welding device, comprising: a base, wherein cylinders are fixed at the four corners of the top of the base, and welding tables are fixed at the extended ends of the cylinders; a slide, wherein a slide is fixed to one side of the base, and a slide block is slidably mounted on the surface of the slide, a robotic arm is slidably mounted on the top of the slide block, and an L-shaped welding head is fixed at the foremost end of the robotic arm; and a clamping assembly, wherein the clamping assembly includes movable notches, two movable notches are symmetrically formed on the surface of the welding table, vertical plates are slidably inserted into both ends of the movable notches, a movable frame is provided at the bottom of the welding table, and the bottom of the vertical plates... The welding platform slides along both sides of the mobile frame; storage rails are fixed on both sides of the welding platform away from the robotic arm, and multiple positioning components are stored inside the storage rails; positioning components include a horizontal frame, a moving block is slidably connected inside the horizontal frame, and a hollow cylinder is slidably inserted inside the moving block; vertical frames are slidably connected to both ends of the horizontal frame, and screw blocks are slidably connected inside the vertical frames and fixedly connected to the horizontal frame; a slider is fixed to the bottom of the vertical frame; and grooves are opened on the top surface of the welding platform and the storage rails corresponding to the positions of the sliders at both ends of the horizontal frame, and the sliders slide along the inside of the grooves.

[0007] Optionally, the clamping assembly further includes: a bidirectional screw, a first transmission belt, a second electric push rod, and a side plate. The bidirectional screw is rotatably mounted on both sides of the movable frame. The bottom of the two vertical plates inside the movable notch is threaded onto the surface of the bidirectional screw. The first transmission belt is installed on the outer end of the two bidirectional screws of the movable frame, and the two pulleys of the first transmission belt are fixedly connected to the bidirectional screw. The top of the vertical plate extending out of the movable notch is fixed with the second electric push rod, and the extended end of the second electric push rod is fixed with a side plate. The side plate is perpendicular to the vertical plate.

[0008] Optionally, the bottom of the movable frame is provided with a fixed frame, and both ends of the fixed frame are fixedly connected to the bottom of the welding table; wherein, two first electric push rods are fixed in the middle of the fixed frame, and the extended ends of the first electric push rods are fixedly connected to the movable frame.

[0009] Optionally, the positioning assembly further includes: a first screw, a second screw, a rubber ring, and a slot. The first screw is rotatably mounted inside the horizontal frame via a bearing, and a moving block is threaded onto the surface of the first screw. The second screw is rotatably mounted inside the vertical frame via a bearing, and a screw block is threaded onto the surface of the second screw. A vertical groove is formed on the outer surface of the vertical frame at one end of the horizontal frame, and a slot is formed at one end of the first screw extending through the vertical groove. A rubber ring is fixed to the bottom of the hollow cylinder, and an extension plate is fixed to the outer surface of the top of the vertical frame.

[0010] Optionally, connecting plates are fixed on both sides of the slide, and the two sides of the base are fixedly connected to the other end of the connecting plates. Connecting brackets are slidably installed on the surfaces of the connecting plates on both sides of the slide. A first spring telescopic plate is provided on the outer side of one end of the second screw in the slot, and a second spring telescopic plate is fixed to the bottom of the first spring telescopic plate. The extended end of the second spring telescopic plate is fixedly connected to the connecting bracket. A second transmission belt is installed on the surface of the connecting bracket, and a pulley at one end of the second transmission belt is rotatably installed on the top of the first spring telescopic plate.

[0011] Optionally, a connecting shaft is rotatably mounted on the top of the first spring telescopic plate facing the side of the first screw, and the connecting shaft is fixedly connected to the pulley of the second transmission belt; wherein, an insert plate is fixed to the end of the connecting shaft facing the slot, and the insert plate is slidably inserted into the slot.

[0012] Optionally, a movable groove is formed on the top surface of the slide block, and a third screw is rotatably installed inside the movable groove via a bearing. The mounting seat at the bottom of the robotic arm is threaded onto the surface of the third screw. A fourth screw is rotatably installed between the two connecting frames, and one end of the fourth screw is fixedly connected to the second transmission belt pulley.

[0013] Optionally, a screw plate is threaded onto the surface of the fourth screw, and a transverse notch is provided on the slide block at the position corresponding to the screw plate. The screw plate slides along the inside of the transverse notch. The two ends of the screw plate are slidably engaged with the inner walls of the two sides of the transverse notch.

[0014] Optionally, the top of the robotic arm is provided with a limit frame, and a slide plate is slidably connected inside the limit frame, with the top of the robotic arm fixedly passing through the slide plate; wherein, telescopic frames are fixed at the bottom of both ends of the limit frame, and the bottom of the telescopic frames slides along the outside of the connecting plate.

[0015] Optionally, a third electric push rod is fixed to the outer side of the storage end of the telescopic frame, and the extended end of the third electric push rod is fixedly connected to the top of the telescopic frame; wherein, a pressing plate is fixed to the position of the extension plate of the vertical frame corresponding to the telescopic frame.

[0016] The technical solution provided in this disclosure may include the following beneficial effects:

[0017] 1. This invention uses a motor to drive the pulley on one side of the first transmission belt to rotate, and two bidirectional screws to rotate synchronously. The two vertical plates on the bidirectional screws move along the moving notch to clamp and fix the object on the welding table. At the same time, the second electric push rod on the vertical plate drives the side plate to move, clamping and fixing the object from the side, maintaining the stability of the object during the welding process. The horizontal frame of the positioning component can limit the top of the object after it descends. The first electric push rod pushes the moving frame to move up and down, controlling the length of the vertical plate that can pass through the moving notch, which can be used to clamp and limit objects of different thicknesses.

[0018] 2. In this invention, the vertical frame is moved from the storage track to the welding table and then to the position where the object needs to be welded. The first screw is rotated, and the moving block engages with the first screw thread to move the hollow cylinder to the position where the object needs to be welded. Then, the second screw is rotated, and the screw block moves along the inside of the vertical frame. The horizontal frame moves downwards simultaneously, pressing the bottom of the hollow cylinder into contact with the surface of the object. The rubber ring can protect the object and can also handle the uneven surfaces of some objects.

[0019] 3. In this invention, the first and second spring telescopic plates are connected to the connecting frame to install the second transmission belt, allowing the insert plate of the connecting shaft to be inserted into the slot of the first screw. When the first screw is manually rotated to adjust the position of the hollow cylinder, the fourth screw will also synchronously adjust the position of the robotic arm, keeping the welding head and the hollow cylinder on the same straight line. Through the telescopic property of the first spring telescopic plate, it can cooperate with the rotation of the second screw, and the horizontal frame can slide up and down along the inside of the vertical frame. Thus, the connecting shaft can move up and down together with the first screw. Because the telescopic property of the first and second spring telescopic plates can cooperate with the position of the horizontal frame to change the connection position between the connecting shaft and the first screw when moving up and down, the telescopic property of the first and second spring telescopic plates is used to keep the second transmission belt taut.

[0020] 4. The present invention allows the screw plate and the fourth screw to move inside the slide by setting a transverse notch, thereby cooperating with the connecting frame to move along the outer surface of the connecting plate, and cooperating with the first spring telescopic plate and the second spring telescopic plate to move the connecting shaft and connect with the vertical groove of the positioning component at different positions on the welding table.

[0021] 5. In this invention, the fourth screw and the first screw are connected by a second transmission belt. When the first screw is rotated to adjust the position of the hollow cylinder, the screw plate inside the slide block is threaded with the fourth screw, which drives the slide block to move along the slide frame. This makes the welding head of the robotic arm and the hollow cylinder in the same straight line. The top of the robotic arm slides along the inside of the limiting frame through the slide plate. The motor inside the slide block drives the third screw to rotate, which makes the robotic arm move towards the welding table along the moving groove. The telescopic frames on both sides of the limiting frame slide synchronously along the connecting plates on both sides of the slide frame and the base. After moving, the extrusion plate on the surface of the telescopic frame will contact the extension plate. At this time, the robotic arm stops moving. At this time, the vertical end of the welding head is exactly perpendicular to the axis of the hollow cylinder. The rotation of the robotic arm itself and the third electric push rod drive the telescopic frame and the limiting frame to descend, keeping the welding head descending vertically. The vertical end of the welding head enters the hollow cylinder to spot weld the surface of the object at the bottom of the hollow cylinder.

[0022] 6. This invention uses a clamping assembly to clamp and fix the object. According to the position on the object surface that needs to be welded, a corresponding number of positioning assemblies are moved out from the storage track. Each positioning assembly moves to the upper end of the welding point of the object and is vertically set on the welding point by a hollow cylinder. The mechanical arm on the slide moves in coordination with the positioning assembly to automatically adjust the lateral and longitudinal position of the welding head to keep it in a vertical line with the hollow cylinder. The welding head is inserted into the hollow cylinder to weld the point on the surface of the object, improving the precision adjustment between the welding point and the mechanical arm.

[0023] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0024] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0025] Figure 1 This is a schematic diagram of the overall structure of a robotic flexible welding device according to an embodiment of this disclosure;

[0026] Figure 2 This is a schematic diagram of the bottom structure of the welding table in a robotic flexible welding device according to an embodiment of the present disclosure;

[0027] Figure 3 This is a schematic diagram of the top structure of the welding table in a robotic flexible welding device according to an embodiment of the present disclosure;

[0028] Figure 4 This is a schematic diagram of the positioning component structure in a robotic flexible welding device according to an embodiment of the present disclosure;

[0029] Figure 5This is a schematic diagram of the internal structure of the vertical and horizontal frames in a robotic flexible welding device according to an embodiment of this disclosure;

[0030] Figure 6 This is a schematic diagram of the side structure of the welding table in a robotic flexible welding device according to an embodiment of the present disclosure;

[0031] Figure 7 This is a schematic diagram of the connection between the connecting shaft and the second screw in a robotic flexible welding device according to an embodiment of this disclosure;

[0032] Figure 8 This is a schematic diagram of the top structure of the carriage in a robotic flexible welding device according to an embodiment of the present disclosure;

[0033] As shown in the figure: 1. Base; 11. Welding table; 12. Cylinder; 13. Storage track; 14. Fixing frame; 15. First electric push rod; 16. Bidirectional screw; 17. First transmission belt; 18. Vertical plate; 19. Moving notch; 110. Second electric push rod; 111. Side plate; 112. Slide groove; 113. Connecting plate; 114. Connecting frame; 115. Second transmission belt; 116. Connecting shaft; 117. Insert plate; 118. First spring telescopic plate; 119. Second spring telescopic plate;

[0034] 2. Positioning component; 21. Slider; 22. Vertical frame; 23. Vertical groove; 24. Screw block; 25. Horizontal frame; 26. First screw; 27. Moving block; 28. Hollow cylinder; 29. ​​Slot; 210. Extension plate; 211. Second screw; 212. Rubber ring;

[0035] 3. Clamping assembly; 31. Movable frame;

[0036] 4. Carriage; 41. Slide seat; 42. Robotic arm; 43. Welding head; 44. Moving slot; 45. Third screw; 46. Lateral notch; 47. Fourth screw; 48. Limiting frame; 49. Slide plate; 410. Telescopic frame; 411. Extrusion plate; 412. Third electric push rod; 413. Screw plate. Detailed Implementation

[0037] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0038] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown in the present disclosure, an embodiment of a robotic flexible welding device is proposed, comprising: a base 1, wherein cylinders 12 are fixed at the four corners of the top of the base 1, and welding tables 11 are fixed at the extended ends of the cylinders 12; a slide 4, wherein a slide 4 is fixed to one side of the base 1, and a slide seat 41 is slidably mounted on the surface of the slide 4, a robotic arm 42 is slidably mounted on the top of the slide seat 41, and an L-shaped welding head 43 is fixed at the foremost end of the robotic arm 42; and a clamping assembly 3, wherein the clamping assembly 3 includes a movable notch 19, and the surface of the welding table 11 is aligned with... The welding table 11 has two movable notches 19, with vertical plates 18 slidably inserted at both ends of the notches 19. A movable frame 31 is provided at the bottom of the welding table 11, and the bottom of the vertical plates 18 slides along both sides of the movable frame 31. A storage track 13 is fixed to both sides of the welding table 11 at the end away from the robotic arm 42. Multiple sets of positioning components 2 are stored inside the storage track 13. The positioning component 2 includes a horizontal frame 25, with a movable block 27 slidably connected inside the horizontal frame 25. A hollow cylinder 28 is slidably inserted into the horizontal frame 25. Vertical frames 22 are slidably connected to both ends of the horizontal frame 25. Screw blocks 24 are slidably connected inside the vertical frames 22 and are fixedly connected to the horizontal frame 25. A slider 21 is fixed to the bottom of the vertical frame 22. Slide grooves 112 are formed on the top surfaces of the welding table 11 and the storage track 13 corresponding to the positions of the sliders 21 at both ends of the horizontal frame 25. The sliders 21 slide along the inside of the slide grooves 112. When using the device, the object to be welded is placed on the welding table 11, and the object is clamped and fixed by the clamping assembly 3. According to the required welding position on the surface of the object, a corresponding number of positioning components 2 are moved out from the storage track 13. Each positioning component 2 moves to the upper end of the welding point of the object and is vertically set on the welding point by the hollow cylinder 28. The mechanical arm 42 on the slide 4 moves and cooperates with the positioning component 2 to automatically adjust the horizontal and vertical position of the welding head 43 to keep it in a vertical line with the hollow cylinder 28. The welding head 43 is inserted into the hollow cylinder 28 to weld the point on the surface of the object, improving the precision adjustment between the welding point and the mechanical arm 42.

[0039] like Figure 2 and Figure 3As shown, in some embodiments, the clamping assembly 3 further includes: a bidirectional screw 16, a first transmission belt 17, a second electric push rod 110, and a side plate 111. The bidirectional screw 16 is rotatably mounted on both sides of the movable frame 31. The bottom of the two vertical plates 18 in the movable notch 19 are threaded onto the surface of the bidirectional screw 16. The first transmission belt 17 is installed at the outer end of the two bidirectional screws 16 on the movable frame 31, and the two pulleys of the first transmission belt 17 are fixedly connected to the bidirectional screw 16. The second electric push rod 110 is fixedly fixed to the top of the vertical plate 18 through the movable notch 19, and the side plate 111 is fixed to the extended end of the second electric push rod 110. The side plate 111 is perpendicular to the vertical plate 18. A fixed frame 14 is provided at the bottom of the movable frame 31, and the two ends of the fixed frame 14 are fixedly connected to the bottom of the welding table 11. Two first electric push rods 15 are fixed in the middle of the fixed frame 14, and the extended ends of the first electric push rods 15 are fixedly connected to the movable frame 31.

[0040] Understandably, the motor drives the pulley on one side of the first transmission belt 17 to rotate, and the two bidirectional screws 16 rotate synchronously. The two vertical plates 18 on the bidirectional screws 16 move along the moving notch 19 to clamp and fix the object on the welding table 11. At the same time, the second electric push rod 110 on the vertical plate 18 drives the side plate 111 to move, clamping and fixing the object from the side, maintaining the stability of the object during the welding process. After the horizontal frame 25 of the positioning component 2 descends, it can play a certain limiting role on the top of the object. The first electric push rod 15 pushes the moving frame 31 to move up and down, controlling the length of the vertical plate 18 that can pass through the moving notch 19, which can be used to clamp and limit objects of different thicknesses.

[0041] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the positioning component 2 further includes: a first screw 26, a second screw 211, a rubber ring 212, and a slot 29. The first screw 26 is rotatably mounted inside the horizontal frame 25 via a bearing, and a moving block 27 is threaded onto the surface of the first screw 26. The second screw 211 is rotatably mounted inside the vertical frame 22 via a bearing, and a screw block 24 is threaded onto the surface of the second screw 211. A vertical groove 23 is formed on the outer surface of the vertical frame 22 at one end of the horizontal frame 25. One end of the first screw 26 passes through the vertical groove 23 and forms a slot 29. A rubber ring 212 is fixed to the bottom of the hollow cylinder 28, and an extension plate 210 is fixed to the outer surface of the top of the vertical frame 22.

[0042] Understandably, the vertical frame 22 can be moved from the storage track 13 to the welding table 11 by sliding the bottom slider 21 along the slide groove 112, and moved to the position where the object needs to be welded. The first screw 26 is rotated, and the moving block 27 is threadedly engaged with the first screw 26, moving the hollow cylinder 28 to the position where the object needs to be welded. Then the second screw 211 is rotated, and the screw block 24 moves along the inside of the vertical frame 22. The horizontal frame 25 moves downwards simultaneously, pressing the bottom of the hollow cylinder 28 into contact with the surface of the object. The rubber ring 212 can protect the object and also cope with the uneven surfaces of some objects.

[0043] like Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, in some embodiments, connecting plates 113 are fixed on both sides of the slide 4, and the two sides of the base 1 are fixedly connected to the other end of the connecting plates 113. Connecting brackets 114 are slidably mounted on the surfaces of the connecting plates 113 on both sides of the slide 41. A first spring telescopic plate 118 is provided on the outer side of one end of the second screw 211 at the slot 29, and a second spring telescopic plate 119 is fixed to the bottom of the first spring telescopic plate 118. The extended end of the second spring telescopic plate 119 is fixedly connected to the connecting bracket 114. A second transmission belt 115 is mounted on the surface of the connecting bracket 114. A pulley at one end of the second transmission belt 115 is rotatably mounted on the top of the first spring telescopic plate 118. A connecting shaft 116 is rotatably mounted on the side of the first spring telescopic plate 118 facing the first screw 26. The connecting shaft 116 is fixedly connected to the pulley of the second transmission belt 115. An insert plate 117 is fixed to the end of the connecting shaft 116 facing the slot 29, and the insert plate 117 is slidably inserted into the slot 29.

[0044] It should be noted that by connecting the first spring telescopic plate 118 and the second spring telescopic plate 119 to the connecting frame 114, the second transmission belt 115 is installed, allowing the insert plate 117 of the connecting shaft 116 to be inserted into the slot 29 of the first screw 26. When the first screw 26 is manually rotated to adjust the position of the hollow cylinder 28, the fourth screw 47 will also adjust the position of the robotic arm 42 simultaneously, keeping the welding head 43 and the hollow cylinder 28 on the same straight line. Through the telescopic property of the first spring telescopic plate 118, it can cooperate with the rotation of the second screw 211, and the horizontal frame 25 can slide up and down along the inside of the vertical frame 22. Thus, the connecting shaft 116 can move up and down together with the first screw 26. Because the telescopic property of the first spring telescopic plate 118 and the second spring telescopic plate 119 can cooperate with the position of the horizontal frame 25 to change the connection position between the connecting shaft 116 and the first screw 26 when the horizontal frame 25 moves up and down, the telescopic property of the first spring telescopic plate 118 and the second spring telescopic plate 119 is used to keep the belt of the second transmission belt 115 taut.

[0045] like Figure 6 , Figure 7 and Figure 8 As shown, in some embodiments, a movable groove 44 is provided on the top surface of the slide block 41, and a third screw 45 is rotatably installed inside the movable groove 44 via a bearing. The mounting seat at the bottom of the robotic arm 42 is threaded onto the surface of the third screw 45. A fourth screw 47 is rotatably installed between the two connecting frames 114. One end of the fourth screw 47 is fixedly connected to the pulley of the second transmission belt 115. A screw plate 413 is threaded onto the surface of the fourth screw 47. A transverse notch 46 is provided on the slide block 41 corresponding to the position of the screw plate 413. The screw plate 413 slides along the inside of the transverse notch 46. The two ends of the screw plate 413 are slidably engaged with the inner walls of the two sides of the transverse notch 46.

[0046] It should be noted that the setting of the transverse notch 46 allows the screw plate 413 and the fourth screw 47 to move inside the slide block 41, thereby cooperating with the connecting frame 114 to move along the outer surface of the connecting plate 113, and cooperating with the first spring telescopic plate 118 and the second spring telescopic plate 119 to move the connecting shaft 116 to connect with the vertical groove 23 of the positioning component 2 at different positions on the welding table 11.

[0047] like Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, in some embodiments, a limiting frame 48 is provided at the top of the robotic arm 42, and a sliding plate 49 is slidably connected inside the limiting frame 48, with the top of the robotic arm 42 fixedly passing through the sliding plate 49; wherein, telescopic frames 410 are fixed at the bottom of both ends of the limiting frame 48, the bottom of the telescopic frame 410 slides along the outside of the connecting plate 113, a third electric push rod 412 is fixed to the outside of the storage end of the telescopic frame 410, and the extended end of the third electric push rod 412 is fixedly connected to the top of the telescopic frame 410; wherein, a pressing plate 411 is fixed at the position of the telescopic frame 410 corresponding to the extension plate 210 of the vertical frame 22.

[0048] It should be noted that when the object to be welded is placed on the welding table 11, the third electric push rod 412 raises the telescopic frame 410, and under the action of the limiting frame 48, the front end of the robotic arm 42 is raised above the welding table 11. The fourth screw 47 and the first screw 26 are connected through the second transmission belt 115. When the position of the hollow cylinder 28 is adjusted by rotating the first screw 26, the screw plate 413 inside the slide 41 is threadedly engaged with the fourth screw 47, driving the slide 41 to move along the slide frame 4, so that the welding head 43 of the robotic arm 42 is on the same straight line as the hollow cylinder 28. The top of the robotic arm 42 slides along the inside of the limiting frame 48 through the slide plate 49, and the motor inside the slide 41 drives the fourth screw 47 to move along the slide frame 41. The rotation of the three screws 45 causes the robotic arm 42 to move along the moving groove 44 toward the welding table 11. The telescopic frames 410 on both sides of the limiting frame 48 slide synchronously along the connecting plates 113 on both sides of the slide 4 and the base 1. After the movement, the extrusion plate 411 on the surface of the telescopic frame 410 will contact the extension plate 210. At this time, the robotic arm 42 stops moving. At this time, the vertical end of the welding head 43 is perpendicular to the axis of the hollow cylinder 28. The rotation of the robotic arm 42 itself and the third electric push rod 412 drive the telescopic frame 410 and the limiting frame 48 to descend, keeping the welding head 43 descending vertically. The vertical end of the welding head 43 penetrates into the hollow cylinder 28 to spot weld the object surface at the bottom of the hollow cylinder 28.

[0049] Working principle:

[0050] When using the device, the object to be welded is placed on the welding table 11. The third electric push rod 412 raises the telescopic frame 410, and under the action of the limiting frame 48, the front end of the robotic arm 42 is lifted upward, above the welding table 11. The fourth screw 47 and the first screw 26 are connected through the second transmission belt 115. When the first screw 26 is rotated to adjust the position of the hollow cylinder 28, the screw plate 413 inside the slide 41 is threadedly engaged with the fourth screw 47, driving the slide 41 to move along the slide frame 4. This makes the welding head 43 of the robotic arm 42 and the hollow cylinder 28 collinear. The top of the robotic arm 42 slides along the inside of the limiting frame 48 through the slide plate 49. The motor inside the slide 41 drives the third screw 45 to rotate, causing the robotic arm 42 to move along the moving groove 4. The robot arm 42 moves towards the welding table 11. The telescopic frames 410 on both sides of the limiting frame 48 slide synchronously along the connecting plates 113 on both sides of the slide 4 and the base 1. After moving, the pressing plate 411 on the surface of the telescopic frame 410 will contact the extension plate 210. At this time, the robot arm 42 stops moving. At this time, the vertical end of the welding head 43 is perpendicular to the axis of the hollow cylinder 28. The robot arm 42 rotates itself and the third electric push rod 412 drives the telescopic frame 410 and the limiting frame 48 to descend, keeping the welding head 43 descending vertically. The vertical end of the welding head 43 penetrates into the hollow cylinder 28 to spot weld the object surface at the bottom of the hollow cylinder 28. The second transmission is installed through the connection of the first spring telescopic plate 118 and the second spring telescopic plate 119 with the connecting frame 114. The connector 115 allows the insert plate 117 of the connecting shaft 116 to be inserted into the slot 29 of the first screw 26. When the first screw 26 is manually rotated to adjust the position of the hollow cylinder 28, the fourth screw 47 will simultaneously adjust the position of the robotic arm 42, keeping the welding head 43 and the hollow cylinder 28 on the same straight line. Through the telescopic property of the first spring telescopic plate 118, it can cooperate with the rotation of the second screw 211, allowing the horizontal frame 25 to slide up and down along the interior of the vertical frame 22. Consequently, the connecting shaft 116 can move up and down together with the first screw 26. Because of the telescopic properties of the first spring telescopic plate 118 and the second spring telescopic plate 119, the position of the connecting shaft 116 and the first screw 26 changes during the up-and-down movement, thus... The tension of the second transmission belt 115 is maintained by the telescopic properties of the first spring telescopic plate 118 and the second spring telescopic plate 119. A motor drives one pulley of the first transmission belt 17 to rotate, causing the two bidirectional screws 16 to rotate synchronously. Two vertical plates 18 on the bidirectional screws 16 move along the moving notch 19 to clamp and fix the object on the welding table 11. Simultaneously, the second electric push rod 110 on the vertical plate 18 drives the side plate 111 to move, clamping and fixing the object from the side, maintaining the stability of the object during the welding process. The horizontal frame 25 of the positioning component 2, after descending, can provide a certain limit to the top of the object. The first electric push rod 15 pushes the moving frame 31 up and down, controlling the length by which the vertical plate 18 can extend beyond the moving notch 19.For clamping and limiting objects of varying thicknesses, the corresponding number of positioning components 2 are moved from the storage track 13 according to the required welding position on the object's surface. The vertical frame 22 can slide along the slide groove 112 via the bottom slider 21, moving it from the storage track 13 to the welding table 11. Once moved to the required welding position, the first screw 26 is rotated, and the moving block 27 engages with the first screw 26, moving the hollow cylinder 28 to the required welding position. Then, the second screw 211 is rotated, and the screw block 24 moves along the inside of the vertical frame 22, while the horizontal frame 25 moves downwards simultaneously, pressing the bottom of the hollow cylinder 28 into contact with the object's surface. The rubber ring 212 protects the object and can also handle uneven surfaces. The vertical frame 22 can be moved along the slide groove 112 via the bottom slider 212. 1. Slide along the slide 112 to move it from the storage track 13 to the welding table 11, and move it to the position where the object needs to be welded. Rotate the first screw 26, and the moving block 27 engages with the first screw 26 threadedly, moving the hollow cylinder 28 to the position where the object needs to be welded. Then rotate the second screw 211, and the screw block 24 moves along the inside of the vertical frame 22, while the horizontal frame 25 moves downwards simultaneously, pressing the bottom of the hollow cylinder 28 into contact with the surface of the object. The rubber ring 212 can protect the object and also handle some uneven surfaces of the object. Through the movement of the robotic arm 42 on the slide 4 and its cooperation with the positioning component 2, the horizontal and vertical positions of the welding head 43 are automatically adjusted to keep it in a vertical line with the hollow cylinder 28. The welding head 43 is inserted into the hollow cylinder 28 to perform point welding on the surface of the object.

[0051] In the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0052] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0053] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0054] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A robotic flexible welding device, characterized in that, include: Base (1), cylinders (12) are fixed at the four corners of the top of the base (1), and welding stations (11) are fixed at the extended ends of the cylinders (12). The slide (4) is fixed on one side of the base (1), and a slide seat (41) is slidably installed on the surface of the slide (4). A robotic arm (42) is slidably installed on the top of the slide seat (41), and an L-shaped welding head (43) is fixed at the front end of the robotic arm (42). The clamping assembly (3) includes a movable notch (19). Two movable notches (19) are symmetrically opened on the surface of the welding table (11). Vertical plates (18) are slidably inserted into both ends of the movable notches (19). A movable frame (31) is provided at the bottom of the welding table (11). The bottom of the vertical plate (18) slides along both sides of the movable frame (31). Storage track (13): The welding table (11) is fixed with storage track (13) on both sides of the end away from the robotic arm (42). The storage track (13) contains multiple sets of positioning components (2). Positioning component (2), the positioning component (2) includes a horizontal frame (25), a movable block (27) is slidably connected inside the horizontal frame (25), and a hollow cylinder (28) is slidably inserted inside the movable block (27). Vertical frames (22) are slidably connected to both ends of the horizontal frame (25), and screw blocks (24) are slidably connected inside the vertical frames (22), and screw blocks (24) are fixedly connected to the horizontal frame (25). A slider (21) is fixed to the bottom of the vertical frames (22). The welding table ( 11) A groove (112) is provided on the top surface of the storage track (13) corresponding to the positions of the sliders (21) at both ends of the horizontal frame (25), and the sliders (21) slide along the inside of the groove (112). The first screw (26) is rotatably installed inside the horizontal frame (25) through a bearing, and the moving block (27) is threaded onto the surface of the first screw (26). A vertical groove (23) is provided on the outer surface of the vertical frame (22) at one end of the horizontal frame (25), and one end of the first screw (26) passes through... The vertical groove (23) is provided with a slot (29). The two sides of the slide (4) are fixed with connecting plates (113). The two sides of the base (1) are fixedly connected to the other end of the connecting plate (113). The connecting plate (113) is slidably mounted with a connecting frame (114) on the surface of the two sides of the slide (41). The first screw (26) is provided with a first spring telescopic plate (118) on the outside of one end of the slot (29). The bottom of the first spring telescopic plate (118) is fixed with a second spring telescopic plate (119). The extended end of the second spring telescopic plate (119) is fixedly connected to the connecting frame (114). A second transmission belt (115) is mounted on the surface of the connecting frame (114). One end of the second transmission belt (115) is rotatably mounted with a pulley on the top of the first spring telescopic plate (118). A fourth screw (47) is rotatably mounted between the two connecting frames (114). One end of the fourth screw (47) is fixedly connected to the pulley of the second transmission belt (115).

2. The robotic flexible welding equipment according to claim 1, characterized in that, The clamping assembly (3) further includes: The moving frame (31) is equipped with a bidirectional screw (16), a first transmission belt (17), a second electric push rod (110), and a side plate (111). The two sides of the moving frame (31) are rotatably mounted with bidirectional screws (16). The bottom threads of the two vertical plates (18) in the moving notch (19) are threaded onto the surface of the bidirectional screws (16). The moving frame (31) is equipped with a first transmission belt (17) at the outer end of the two bidirectional screws (16), and the two pulleys of the first transmission belt (17) are fixedly connected to the bidirectional screws (16). The top of the vertical plate (18) through the movable notch (19) is fixed with a second electric push rod (110), and the extended end of the second electric push rod (110) is fixed with a side plate (111), which is perpendicular to the vertical plate (18).

3. The robotic flexible welding equipment according to claim 2, characterized in that, The bottom of the movable frame (31) is provided with a fixed frame (14), and both ends of the fixed frame (14) are fixedly connected to the bottom of the welding table (11). Two first electric push rods (15) are fixed in the middle of the fixed frame (14), and the extended ends of the first electric push rods (15) are fixedly connected to the movable frame (31).

4. The robotic flexible welding equipment according to claim 1, characterized in that, The positioning component (2) further includes: The second screw (211) and rubber ring (212) are mounted inside the vertical frame (22) via a bearing, and the screw block (24) is threaded onto the surface of the second screw (211). The hollow cylinder (28) is fixed with a rubber ring (212) at its bottom, and the vertical frame (22) is fixed with an extension plate (210) on its top surface facing outward.

5. The robotic flexible welding equipment according to claim 4, characterized in that, A connecting shaft (116) is rotatably mounted on the top of the first spring telescopic plate (118) facing the side of the first screw (26), and the connecting shaft (116) is fixedly connected to the pulley of the second transmission belt (115). The connecting shaft (116) is fixed with a plate (117) at one end facing the slot (29), and the plate (117) is slidably inserted into the slot (29).

6. The robotic flexible welding equipment according to claim 5, characterized in that, The slide (41) has a moving groove (44) on its top surface, and a third screw (45) is rotatably mounted inside the moving groove (44) via a bearing. The mounting seat at the bottom of the robotic arm (42) is threaded onto the surface of the third screw (45).

7. The robotic flexible welding equipment according to claim 6, characterized in that, The fourth screw (47) has a screw plate (413) threaded onto its surface. The slide block (41) has a transverse notch (46) at the position corresponding to the screw plate (413). The screw plate (413) slides along the inside of the transverse notch (46). The two ends of the screw plate (413) are slidably engaged with the inner walls of the two sides of the transverse notch (46).

8. The robotic flexible welding equipment according to claim 7, characterized in that, The top of the robotic arm (42) is provided with a limit frame (48), and a slide plate (49) is slidably connected inside the limit frame (48), and the top of the robotic arm (42) is fixedly passed through the slide plate (49). The bottom of both ends of the limiting frame (48) is fixed with a telescopic frame (410), and the bottom of the telescopic frame (410) slides along the outside of the connecting plate (113).

9. The robotic flexible welding equipment according to claim 8, characterized in that: A third electric push rod (412) is fixed to the outside of the storage end of the telescopic frame (410), and the extended end of the third electric push rod (412) is fixedly connected to the top of the telescopic frame (410). Among them, the telescopic frame (410) is fixed with a pressing plate (411) at the position of the extension plate (210) of the vertical frame (22).

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