Gun head device for industrial robot welding and industrial robot

Abstract

The invention discloses a gun head device for industrial robot welding and an industrial robot, and relates to the technical field of welding gun heads. Comprising a gun head mounting piece, a sliding control piece is mounted on the gun head mounting piece, and a pushing control piece is mounted on the gun head mounting piece; the propelling control piece is used for driving the sliding control piece to perform telescopic displacement; the sliding control piece is used for isolating welding splashes; a reset detection piece is mounted on the propulsion control piece; a laser inspection piece is mounted on the gun head mounting piece; the isolation net is adopted and can be used for isolating metal molten drops splashed during welding, and the service life of the contact tube is prolonged; the telescopic displacement of the sliding sleeve is controlled through the propelling control piece, and welding splashing molten drops attached to the separation net can be pushed and removed in cooperation with the inserting piece. The problems that according to an existing gun head device for industrial robot welding, it is difficult to prevent large welding splashes from blocking a gun head, and the joint precision of an industrial robot is not convenient to check rapidly are solved.

Description

Technical Field

[0001] This invention relates to the field of welding gun tip technology, specifically to a welding gun tip device for industrial robots and an industrial robot. Background Technology

[0002] In practical automated welding work, using arc welding torches mounted on robots can effectively improve welding efficiency and is more suitable for continuous welding of standard parts. Installing welding torches on industrial robots can reduce labor costs. Among them, installing MIG / MAG torches on robots is a common arc welding method, which can supply carbon dioxide shielding gas in real time to improve the welding quality of MIG / MAG flux-cored wire. However, current industrial robot welding torch devices are difficult to avoid large welding spatter clogging the torch and contact tip, requiring regular cleaning, which is difficult and costly to do manually. At the same time, the traditional torches mounted on industrial robots have their own weight, and their joint precision decreases under long-term operation of the industrial robot, making it difficult to quickly perform calibration work, and continuous welding production can easily affect welding accuracy.

[0003] Therefore, we propose a welding torch head device for industrial robots and an industrial robot. Summary of the Invention

[0004] The purpose of this invention is to provide a welding torch head device for industrial robots and an industrial robot, so as to solve the problems mentioned in the background art, that current welding torch head devices for industrial robots are difficult to avoid clogging of the torch head by large welding spatter, and that the joint accuracy of industrial robots is not easy to be quickly verified.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a welding torch head device for an industrial robot, comprising a torch head mounting component, a sliding control component mounted on the torch head mounting component, and a propulsion control component mounted on the torch head mounting component; the propulsion control component is used to drive the sliding control component to extend or retract; the sliding control component is used to isolate welding spatter.

[0006] A reset detection component is installed on the propulsion control component;

[0007] A laser inspection device is installed on the gun head mounting component;

[0008] The gun head mounting component includes: a gun head mounting plate, on which a welding gun is fixedly mounted.

[0009] Preferably, the torch head mounting component further includes: a gooseneck tube protective sleeve, which is threadedly connected to the gooseneck tube of the welding torch; the gooseneck tube protective sleeve has four sliding grooves; a vent ring is fixedly installed at the end of the gooseneck tube protective sleeve, and the vent ring has a through groove; a ring of inserts is fixedly installed on the vent ring, and the ring of inserts is located between the through grooves on the vent ring; a return spring is sleeved on the gooseneck tube protective sleeve.

[0010] Preferably, the sliding control component includes: a sliding sleeve, inside which four sliding strips are fixedly installed, and the four sliding strips are respectively slidably inserted into four sliding grooves on the gooseneck tube protective sleeve; the sliding sleeve is slidably fitted onto the gooseneck tube protective sleeve; one end of the reset spring is fixedly connected to the sliding sleeve, and the other end of the reset spring is fixedly connected to the gooseneck tube protective sleeve; an isolation net is fixedly installed on the sliding sleeve, and the isolation net is provided with a ring of through grooves; a ring of inserts are respectively aligned with the ring of through grooves provided on the isolation net; a ring of inserts are respectively used to clear the ring of through grooves on the isolation net.

[0011] Preferably, the sliding control component further includes a push protrusion, which is fixedly installed on the sliding sleeve and has an arc-shaped structure.

[0012] Preferably, the propulsion control component includes: a propulsion control plate, which is fixedly mounted on the gooseneck tube protective sleeve; a fixing frame is fixedly mounted on the propulsion control plate, and an outer sleeve is fixedly sleeved on the fixing frame, and the outer sleeve is sleeved on the sliding sleeve.

[0013] Preferably, the propulsion control component further includes: a servo motor, which is fixedly mounted on the propulsion control plate; the output shaft of the servo motor passes through the propulsion control plate; a drive disk is fixedly mounted on the output shaft of the servo motor; a drive protrusion is fixedly mounted on the drive disk; the drive protrusion has an arc-shaped structure; and the drive protrusion is used to compress the propulsion protrusion.

[0014] Preferably, the reset detection component includes: a detection mounting block, which is fixedly mounted on the propulsion control board; a contact spring is fixedly mounted on the detection mounting block, and the contact spring has an arc-shaped spring structure; the contact spring elastically fits the drive disk; and an indicator light is fixedly mounted on the servo motor.

[0015] Preferably, the reset detection component further includes: a wire, the end of which is fixedly mounted on the sliding sleeve; the wire, the indicator light, and the contact spring are connected in series with a power supply.

[0016] Preferably, the laser inspection component includes: a mounting base, which is fixedly mounted on the gun head mounting plate by bolts; a laser rangefinder is fixedly mounted on the mounting base; and the mounting base is tilted.

[0017] An industrial robot includes a robot body and a welding torch device for the industrial robot; the robot body includes a robotic arm, and the torch mounting plate is fixedly mounted on the robotic arm by bolts; a calibration block is fixedly mounted on the robotic arm; the calibration block is provided with a conical groove.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] This invention employs an isolation mesh to isolate molten metal droplets from welding, preventing them from clogging the conductive nozzles inside the welding torch and extending their service life. By controlling the extension and retraction of the sliding sleeve with a push-pull mechanism, and in conjunction with inserts, the molten metal droplets adhering to the isolation mesh can be pushed away, further preventing excessive clogging that could affect the supply of carbon dioxide shielding gas, extending the mesh's lifespan, and increasing the cleaning and maintenance cycle. A reset detection mechanism can detect the smoothness of the sliding sleeve's retraction and reset, allowing workers to easily understand whether the molten metal droplets on the isolation mesh have been properly pushed away, facilitating an assessment of the structure's operational quality and avoiding the need for machine shutdowns required for direct manual observation, thus improving welding efficiency.

[0020] Using a calibration block as a reference, in conjunction with a laser rangefinder, allows staff to regularly calibrate the robotic arm, preventing increased joint play after long-term use that could affect welding accuracy. This structure also allows for easy and intuitive understanding of the offset, enabling timely adjustments or repairs. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a welding torch head device for an industrial robot and the overall structure of the industrial robot according to the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of a welding gun head device for an industrial robot according to the present invention;

[0023] Figure 3 This is a schematic diagram of the gun head mounting component of the present invention;

[0024] Figure 4 For the present invention Figure 3 Enlarged view of the structure of region C in the middle;

[0025] Figure 5 This is a schematic diagram of the sliding control component of the present invention;

[0026] Figure 6 This is a schematic diagram of the propulsion control component structure of the present invention;

[0027] Figure 7 This is a schematic diagram showing the position of the driving protrusion in this invention;

[0028] Figure 8 For the present invention Figure 7 Enlarged view of the structure of region H in the middle;

[0029] Figure 9 This is a schematic diagram of the slider installation position of the present invention;

[0030] Figure 10 For the present invention Figure 1 Enlarged view of the structure of the J region.

[0031] In the diagram: 1. Gun head mounting component; 101. Gun head mounting plate; 102. Welding gun; 103. Gooseneck tube protective sleeve; 1031. Reset tension spring; 104. Vent ring; 105. Insert plate; 2. Sliding control component; 201. Sliding sleeve; 2011. Sliding bar; 202. Isolation net; 203. Propulsion protrusion; 3. Propulsion control component; 301. Propulsion control plate; 302. Fixing frame; 3021. Outer sleeve; 303. Servo motor; 304. Drive disk; 3041. Drive protrusion; 4. Reset detection component; 401. Detection mounting block; 4011. Electrical contact spring; 402. Indicator light; 403. Wire; 5. Laser inspection component; 501. Mounting base; 502. Laser rangefinder; 6. Robot main body component; 601. Robotic arm; 602. Calibration block. Detailed Implementation

[0032] 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.

[0033] Example 1: Please refer to Figures 1 to 10 As shown:

[0034] This invention provides a technical solution: a welding torch device for an industrial robot, comprising a torch mounting component 1, on which a sliding control component 2 is mounted, characterized in that: a propulsion control component 3 is mounted on the torch mounting component 1; the propulsion control component 3 is used to drive the sliding control component 2 to extend and retract; the sliding control component 2 is used to isolate welding spatter; a reset detection component 4 is mounted on the propulsion control component 3; a laser inspection component 5 is mounted on the torch mounting component 1; the torch mounting component 1 includes: a torch mounting plate 101 and a welding torch 102, the welding torch 102 is fixedly mounted on the torch mounting plate 101, and the welding torch 102 passes through the torch mounting plate 101.

[0035] The torch head mounting component 1 further includes: a gooseneck tube protective sleeve 103, a reset spring 1031, a vent ring 104, and inserts 105. The gooseneck tube protective sleeve 103 is threaded onto the gooseneck tube of the welding torch 102. The gooseneck tube protective sleeve 103 has four sliding grooves. A vent ring 104 is fixedly installed at the end of the gooseneck tube protective sleeve 103, and the vent ring 104 has a through groove. A ring of inserts 105 is fixedly installed on the vent ring 104, and the ring of inserts 105 is located between the through grooves on the vent ring 104. A reset spring 1031 is sleeved on the gooseneck tube protective sleeve 103. The sliding control component 2 includes: a sliding sleeve 201, a sliding bar 2011, and a protective mesh 2. 02. Four sliding strips 2011 are fixedly installed inside the sliding sleeve 201, and the four sliding strips 2011 are respectively slidably inserted into the four sliding grooves on the gooseneck tube protective sleeve 103; the sliding sleeve 201 is slidably sleeved on the gooseneck tube protective sleeve 103; one end of the return spring 1031 is fixedly connected to the sliding sleeve 201, and the other end of the return spring 1031 is fixedly connected to the gooseneck tube protective sleeve 103; an isolation net 202 is fixedly installed on the sliding sleeve 201, and the isolation net 202 is provided with a through groove; a ring of inserts 105 are respectively aligned with the through groove provided on the isolation net 202; the ring of inserts 105 are respectively used to clear the through groove on the isolation net 202; the welding wire passes through the isolation net. 202; The sliding control component 2 further includes: a propulsion protrusion 203, which is fixedly installed on the sliding sleeve 201, and the propulsion protrusion 203 has an arc-shaped structure; The propulsion control component 3 includes: a propulsion control plate 301, a fixing frame 302, and an outer sleeve 3021, the propulsion control plate 301 is fixedly installed on the gooseneck tube protective sleeve 103; the propulsion control plate 301 is insulated; the fixing frame 302 is fixedly installed on the propulsion control plate 301, and the outer sleeve 3021 is fixedly sleeved on the fixing frame 302, and the outer sleeve 3021 is sleeved on the sliding sleeve 201; when the sliding sleeve 201 extends, the end of the sliding sleeve 201 is located inside the outer sleeve 3021; ​​The propulsion control component 3 also includes The system consists of a servo motor 303, a drive disk 304, and a drive protrusion 3041. The servo motor 303 is fixedly mounted on the propulsion control plate 301. The output shaft of the servo motor 303 passes through the propulsion control plate 301. The drive disk 304 is fixedly mounted on the output shaft of the servo motor 303. The drive protrusion 3041 is fixedly mounted on the drive disk 304. The drive protrusion 3041 has an arc-shaped structure. The drive protrusion 3041 is used to press the propulsion protrusion 203. When the drive protrusion 3041 is aligned with the propulsion protrusion 203, the end of the insert 105 is located on the side of the isolation net 202. The outer sleeve 3021 can protect the outside of the sliding sleeve 201 without affecting the normal extension and retraction of the sliding sleeve 201.The isolation mesh 202 is used to isolate molten metal droplets from welding, preventing them from clogging the contact tip inside the welding torch 102, extending the contact tip's lifespan, and ensuring normal welding operations. Simultaneously, this structure allows control of the sliding sleeve 201's extension and retraction via the push control component 3. Combined with the insert 105, it can push and remove welding spatter droplets adhering to the isolation mesh 202, further preventing excessive clogging and ensuring adequate carbon dioxide shielding gas supply. This structure utilizes the fact that the width of the insert 105 is smaller than the width of the slot on the isolation mesh 202. The insert 105 is inserted into the isolation mesh 202... At time 2, it does not affect carbon dioxide ventilation, the structure is more reasonable, the service life of the isolation net 202 is extended, and the cleaning and maintenance cycle is also increased; the servo motor 303 drives the drive disk 304 to rotate one revolution. When the drive protrusion 3041 does not squeeze the push protrusion 203, the reset spring 1031 can pull the sliding sleeve 201 to push the protrusion 203 to stick to the drive disk 304. At this time, the sliding sleeve 201 will also drive the isolation net 202 to retract. The solidified welding spatter on the through groove of the isolation net 202 will be pushed off the isolation net 202 by the insert 105 and removed for cleaning.

[0036] The reset detection component 4 includes: a detection mounting block 401, a contact spring 4011, and an indicator light 402. The detection mounting block 401 is fixedly mounted on the propulsion control plate 301. The contact spring 4011 is fixedly mounted on the detection mounting block 401 and has an arc-shaped spring structure. The contact spring 4011 elastically fits the drive disk 304. The indicator light 402 is fixedly mounted on the servo motor 303. The reset detection component 4 also includes: a wire 403, the end of which is fixedly mounted on the sliding sleeve 201. The wire 403, the indicator light 402, and the contact spring 4011 are connected in series with a power supply. The reset detection component 4 can detect... The smooth retraction and reset of the sliding sleeve 201 allows staff to easily understand whether the splashed metal droplets on the isolation net 202 have been properly pushed away, thus facilitating an assessment of the structure's operational quality. This avoids the need for machine shutdowns required for direct manual observation, which would affect welding efficiency. The structure's testing is simple and intuitive, directly reflecting its self-cleaning operational quality. After the sliding sleeve 201 is pushed out, the push protrusion 203 can be in real-time contact with the drive protrusion 3041 or drive disk 304 under the pull of the reset spring 1031. The electrical contact spring 4011 is in real-time contact with the side of the drive disk 304, and the circuit remains conductive throughout the process, causing the indicator light 402 to illuminate.

[0037] The laser inspection component 5 includes a mounting base 501 and a laser rangefinder 502. The mounting base 501 is fixedly mounted on the gun head mounting plate 101 by bolts. The laser rangefinder 502 is fixedly mounted on the mounting base 501. The mounting base 501 is tilted. Laser measurement work can be carried out using the laser inspection component 5. The data is accurate and reliable, and it is convenient to understand the accuracy of the welding reference.

[0038] An industrial robot includes a robot body 6 and a welding torch device. The robot body 6 includes a robotic arm 601 and a calibration block 602. A torch mounting plate 101 is fixedly mounted on the robotic arm 601 by bolts. The calibration block 602 is fixedly mounted on the robotic arm 601. The calibration block 602 has a conical groove. Using the calibration block 602 as a reference, in conjunction with a laser rangefinder 502, it is convenient for operators to periodically calibrate the robotic arm 601, avoiding the increase of joint play in the robotic arm 601 after long-term use, which would affect welding accuracy. It also allows for intuitive understanding of the offset and timely adjustment or maintenance, making the calibration quick and direct.

[0039] The working principle of this embodiment is as follows: First, when the welding torch 102 is welding, the servo motor 303 drives the drive disk 304 to rotate, which in turn drives the drive protrusion 3041 to press and push the protrusion 203, thus advancing the sliding sleeve 201 and stretching the return spring 1031. At this time, the end of the insert 105 is located on the side of the isolation net 202. The isolation net 202 normally emits carbon dioxide gas for protection, and the larger metal spatter generated by the welding wire can be isolated by the isolation net 202. The servo motor 303 is timed to drive the drive disk 304 to rotate one revolution. When the drive protrusion 3041 is not pressing and pushing the protrusion 203, the return spring 1031 can pull the sliding sleeve 201 to push the protrusion 203 to stick to the drive disk 304. At this time, the sliding sleeve 201... 01 will cause the isolation net 202 to move, and the solidified welding spatter on the through groove of the isolation net 202 will be pushed off the isolation net 202 by the insert 105, and cleaned, so as to avoid the continuous accumulation of metal spatter and blockage, and improve service life. When the drive protrusion 3041 passes through the push protrusion 203, if the solidified metal droplets in the through groove of the isolation net 202 are not pushed off by the insert 105, it will prevent the sliding sleeve 201 from retracting under the action of the reset spring 1031, causing the push protrusion 203 to be unable to fit the drive disk 304, which will then disconnect the series circuit composed of the wire 403, the contact spring 4011 and the indicator light 402, and the indicator light 402 will go out, which will visually indicate the cleaning abnormality.

[0040] Before the robotic arm 601 is put into use, all joints of the robotic arm 601 must be kept in the zero position. This is also known as the attached... Figure 1In the process, the gun head mounting plate 101 is rotated 180 degrees by the rotary motor at the end of the robotic arm 601. At this time, the laser rangefinder 502 is aligned with the center of the conical groove on the calibration block 602. This position is the zero position when calibrating the robotic arm 601. When calibrating the robotic arm 601, the robotic arm 601 is controlled to maintain the above-mentioned zero position, the laser rangefinder 502 is turned on, and the reading of the laser rangefinder 502 is observed. Once the joint wear of the robotic arm 601 is large and a "collapse" occurs, the laser rangefinder 502 will no longer be aligned with the center of the conical groove on the calibration block 602. At this time, the distance measurement reading will change, which can be visually indicated. Once the reading deviation exceeds the standard, the robotic arm 601 needs to be inspected and adjusted in time.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A welding torch head device for an industrial robot, comprising a torch head mounting component (1), wherein a sliding control component (2) is mounted on the torch head mounting component (1), characterized in that: The gun head mounting component (1) is equipped with a propulsion control component (3); the propulsion control component (3) is used to drive the sliding control component (2) to extend and retract; the sliding control component (2) is used to isolate welding spatter. The propulsion control component (3) is equipped with a reset detection component (4); A laser inspection piece (5) is installed on the gun head mounting part (1); The gun head mounting component (1) includes: a gun head mounting plate (101), on which a welding gun (102) is fixedly mounted.

2. The welding torch head device for industrial robots according to claim 1, characterized in that: The gun head mounting component (1) further includes: a gooseneck tube protective sleeve (103), which is threadedly connected to the gooseneck tube of the welding gun (102); the gooseneck tube protective sleeve (103) is provided with four sliding grooves; a vent ring (104) is fixedly installed at the end of the gooseneck tube protective sleeve (103), and a through groove is provided on the vent ring (104); a ring of inserts (105) is fixedly installed on the vent ring (104), and the ring of inserts (105) is located between the through grooves on the vent ring (104); a reset spring (1031) is sleeved on the gooseneck tube protective sleeve (103).

3. The welding torch head device for industrial robots according to claim 2, characterized in that: The sliding control component (2) includes: a sliding sleeve (201), inside which four sliding strips (2011) are fixedly installed, and the four sliding strips (2011) are respectively slidably inserted into four sliding grooves on the gooseneck tube protective sleeve (103); the sliding sleeve (201) is slidably sleeved on the gooseneck tube protective sleeve (103); the end of the reset spring (1031) is fixedly connected to the sliding sleeve (201), and the other end of the reset spring (1031) is fixedly connected to the gooseneck tube protective sleeve (103); an isolation net (202) is fixedly installed on the sliding sleeve (201), and the isolation net (202) is provided with a through groove; a ring of inserts (105) are respectively aligned with the through groove provided on the isolation net (202); a ring of inserts (105) are respectively used to clear the through groove on the isolation net (202).

4. The welding torch head device for an industrial robot according to claim 3, characterized in that: The sliding control component (2) further includes a push protrusion (203), which is fixedly installed on the sliding sleeve (201) and has an arc-shaped structure.

5. The welding torch head device for an industrial robot according to claim 4, characterized in that: The propulsion control component (3) includes: a propulsion control plate (301), which is fixedly installed on the gooseneck tube protective sleeve (103); a fixing frame (302) is fixedly installed on the propulsion control plate (301), and an outer sleeve (3021) is fixedly sleeved on the fixing frame (302), and the outer sleeve (3021) is sleeved on the sliding sleeve (201).

6. The welding torch head device for an industrial robot according to claim 5, characterized in that: The propulsion control component (3) further includes: a servo motor (303), which is fixedly mounted on the propulsion control plate (301); the output shaft of the servo motor (303) passes through the propulsion control plate (301); a drive disk (304) is fixedly mounted on the output shaft of the servo motor (303); a drive protrusion (3041) is fixedly mounted on the drive disk (304); the drive protrusion (3041) has an arc-shaped structure; the drive protrusion (3041) is used to squeeze the propulsion protrusion (203).

7. The welding torch head device for an industrial robot according to claim 6, characterized in that: The reset detection component (4) includes: a detection mounting block (401), which is fixedly mounted on the propulsion control board (301); a power contact spring (4011) is fixedly mounted on the detection mounting block (401), and the power contact spring (4011) is an arc-shaped spring structure; the power contact spring (4011) elastically fits the drive disk (304); and an indicator light (402) is fixedly mounted on the servo motor (303).

8. The welding torch head device for an industrial robot according to claim 7, characterized in that: The reset detection component (4) further includes: a wire (403), the end of which is fixedly mounted on the sliding sleeve (201); the wire (403), the indicator light (402) and the contact spring (4011) are connected in series with a power supply.

9. The welding torch head device for an industrial robot according to claim 1, characterized in that: The laser inspection piece (5) includes: a mounting base (501), which is fixedly mounted on the gun head mounting plate (101) by bolts; a laser rangefinder (502) is fixedly mounted on the mounting base (501); the mounting base (501) is inclined.

10. An industrial robot, comprising a robot body (6), characterized in that: It also includes a welding gun head device for industrial robots as described in any one of claims 1-9; the robot body (6) includes: a robotic arm (601), the gun head mounting plate (101) is fixedly mounted on the robotic arm (601) by bolts; a calibration block (602) is fixedly mounted on the robotic arm (601); the calibration block (602) is provided with a conical groove.

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