Mechanical arm shell welding workbench and positioning method thereof
By designing a welding workbench for the robotic arm housing, and combining clamping, welding, and measuring mechanisms, the welding torch angle can be adjusted in real time, solving the problems of welding efficiency and accuracy in small and medium batch production, and achieving efficient and precise welding results.
Patent Information
- Application Number
- CN202610258748.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-04
- Publication Date
- 2026-04-10
AI Technical Summary
In the welding process of robotic arm shells produced in small and medium batches, the traditional angle control method that relies on modeling is costly and inefficient, making it difficult to achieve efficient and precise welding.
The welding worktable, which uses a robotic arm shell, includes a clamping mechanism, a welding device, a feeding mechanism, a measuring mechanism, and an adjustment mechanism. By measuring the workpiece curvature and the position of the reinforcing ribs, the welding torch angle is adjusted in real time to ensure welding accuracy.
It enables efficient and precise welding of the inner wall of the workpiece and the reinforcing ribs, improves the compatibility of the equipment and welding efficiency, simplifies the control logic, and enhances the welding accuracy.
Smart Images
Figure CN121820989A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of mechanical arm welding, in particular to a mechanical arm shell welding workbench and a positioning method thereof. BACKGROUND
[0002] A large number of electrical structures are generally arranged inside the mechanical arm. In order to improve the volume of the internal space of the mechanical arm, the inner wall section of the general mechanical arm shell is a standard circle. At the same time, for the production of small and medium batch mechanical arm shells, the setting of the reinforcing ribs is generally completed by welding. Welding on the cylindrical surface requires adjusting the welding angle in combination with the curvature of the cylindrical surface to balance the weld pool fluidity, weld penetration and structural stress, thereby ensuring the integrity, uniformity and density of the weld, and enhancing the strength of the weld.
[0003] (Reference Figure 9 ) During the welding process of the mechanical arm shell, the radius of the inner wall of the shell changes along the axial direction, the corresponding tangent angle of the welding point changes (that is, the curvature of the cylindrical surface changes), and the corresponding welding angle also changes. At this time, if the mechanical arm is modeled in advance to control the welding angle, the characteristics of "small batch and multiple specifications" of small and medium batch production make the traditional angle control method relying on modeling high in cost and low in efficiency. SUMMARY
[0004] The purpose of the present application is to provide a mechanical arm shell welding workbench and a positioning method thereof to solve the problems raised in the background art.
[0005] To achieve the above purpose, the present application provides the following technical scheme: a mechanical arm shell welding workbench, comprising a clamping mechanism, a workpiece and a reinforcing rib, further comprising a welding device, the welding device is arranged above the clamping mechanism, and the welding device can feed along the reinforcing rib; The welding device comprises a feeding mechanism for adjusting the position of the welding device and driving the welding device to move; An adjusting mechanism comprising an arc-shaped track with a rack on the inner wall, a gear meshing in the arc-shaped track, a welding gun connected to the side wall of the gear, a centering assembly provided on the welding gun, and a driving assembly provided on the gear; A measuring mechanism for measuring the curvature of the workpiece at the welding point and controlling the driving assembly.
[0006] Preferably, the centering assembly comprises two sliding blocks, the sliding blocks are slidingly connected along the track of the arc-shaped track, and the center of the track of the arc-shaped track is concentric with the tip of the welding gun.
[0007] Preferably, the driving assembly comprises a stepping motor, the stepping motor is fixedly connected to the end portion of the welding gun, and the output shaft of the stepping motor is fixedly connected with the gear.
[0008] Preferably, the measuring mechanism comprises a mounting rod and an externally connected computer arranged horizontally; the left end of the mounting rod is provided with a height measuring assembly for measuring the height of the left end of the mounting rod to the inner wall of the workpiece; the lower end of the mounting rod is vertically and fixedly connected with a connecting rod, and the lower end of the connecting rod is provided with a width measuring assembly for measuring the distance between the side wall of the reinforcing rib and the axis of the connecting rod; the computer can determine the welding angle of the welding torch according to the real-time measurement data of the height measuring assembly and the width measuring assembly, and drive the gear to rotate to adjust the welding angle of the welding torch through the driving assembly.
[0009] Preferably, the height measuring assembly comprises a test pen vertically penetrating the mounting rod and being elastically and slidably connected with the mounting rod, the lower end of the test pen can abut against the inner wall of the workpiece, and the test pen is externally connected with a displacement sensor for transmitting the height change of the test pen to the computer.
[0010] Preferably, the width measuring assembly comprises a pressing wheel rotatably connected to the lower end of the connecting rod, the left end of the pressing wheel is elastically and slidably connected with a clamping wheel along the axial direction of the pressing wheel, the side wall of the connecting rod is provided with a guide assembly for moving the pressing wheel to move on the upper end of the reinforcing rib, the clamping wheel is used to move on the side wall of the reinforcing rib, and the clamping wheel is externally connected with a displacement sensor for transmitting the height change of the test pen to the computer.
[0011] Preferably, the guide assembly comprises a connecting frame fixedly connected to the side wall of the connecting rod, the connecting frame is symmetrically and elastically rotatably connected with elastic telescopic rods at the front and rear ends, the end portions of the elastic telescopic rods are fixedly connected with mounting plates, the mounting plates are slidably connected with mounting blocks at both ends, the opposite faces of the two mounting blocks on the same mounting plate are respectively rotatably connected with limiting wheels, and a tensioning assembly is arranged between the two limiting wheels.
[0012] Preferably, the tensioning assembly comprises two insertion cylinders inserted into each other, the insertion cylinders are fixedly connected with the two limiting wheels respectively, and a spring is fixedly connected between the two insertion cylinders.
[0013] Preferably, the feeding mechanism comprises a track fixedly arranged above the clamping mechanism through an externally connected fixing mechanism, the track is slidably connected with a driving frame, the driving frame can actively slide on the track, the lower end of the driving frame is fixedly connected with a vertically arranged motor, the output shaft of the motor is fixedly connected with a connecting plate, the lower end of the connecting plate is fixedly connected with vertically arranged fixing plates on the left and right sides respectively, the opposite faces of the fixing plates are fixedly connected with spring two, the spring two are fixedly connected with a vertically arranged connecting rod between them, the upper end of the connecting rod is slidably connected with the lower end of the fixing plate in the transverse direction, and the lower end of the connecting rod is fixedly connected with the upper end of the mounting rod.
[0014] A positioning method of a mechanical arm shell welding workbench, suitable for the mechanical arm shell welding workbench of claim, the method is as follows: S1, first, the reinforcing rib is temporarily fixed in the inner wall of the workpiece by spot welding; the clamping mechanism fixes the workpiece, adjusts the feeding mechanism to make the connecting rod axis be located in the radial direction of the inner wall section of the workpiece, and ensures that the measurement and the welding reference are consistent; S2, the measurement mechanism measures the curvature of the workpiece at the welding point in real time; S3, the measurement mechanism determines the required welding angle according to the measured data, and adjusts the angle of the welding gun along the arc track through the driving assembly; S4, the precise welding of the reinforcing rib and the inner wall of the workpiece is finally completed.
[0015] Compared with the prior art, the beneficial effects of the present application are: The present application realizes efficient and precise welding of the inner wall of the workpiece and the reinforcing rib through the cooperation of the mechanical structure and the measurement mechanism, and is especially suitable for workpieces such as mechanical arm shells with standard circular inner walls and parallel vertical reinforcing ribs; the universality of the equipment is effectively improved, and the welding efficiency of the mechanical arm shell is improved.
[0016] Through double-point support, it is ensured that the welding gun always moves in an arc around the center of the gun tip; this structure enables the computer to only focus on calculating the required welding angle, without additional compensation for the position deviation of the gun tip, simplifying the control logic and greatly improving the welding precision. BRIEF DESCRIPTION OF DRAWINGS
[0017] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the overall structure of the present application; Figure 1 It is an enlarged schematic diagram of the structure at C; Figure 3 It is a schematic diagram of the overall structure of the present application; Figure 2 It is an enlarged schematic diagram of the structure at F; Figure 4 It is a schematic diagram of the overall structure of the present application; Figure 5 It is a schematic diagram of the overall structure of the present application; Figure 4 It is an enlarged schematic diagram of the structure at D; Figure 6 It is a schematic diagram of the overall structure of the present application; Figure 4 It is an enlarged schematic diagram of the structure at E; Figure 7 It is a schematic diagram of the overall structure of the present application; Figure 8 It is a schematic diagram of the overall structure of the present application; Figure 9 It is a schematic diagram of the overall structure of the present application;
[0018] In the drawings, the components represented by each reference numeral are listed as follows: Clamping mechanism 1, mounting rod 2, connecting rod 3, pressure wheel 4, clamping wheel 5, test pen 6, arc track 7, gear 8, welding gun 9, workpiece 10, reinforcing rib 11, stepping motor 12, sliding block 13, connecting frame 14, elastic telescopic rod 15, mounting plate 16, mounting block 17, limiting wheel 18, insertion cylinder 19, spring 20, track 21, driving frame 22, motor 23, connecting plate 24, fixed plate 25, spring 26, connecting rod 27. DETAILED DESCRIPTION
[0019] Please refer to Figures 1-9 The present application provides a technical solution: A mechanical arm shell welding workbench, comprising a clamping mechanism 1, a workpiece 10 and a reinforcing rib 11, characterized in that it further comprises a welding device, the welding device is arranged above the clamping mechanism 1, and the welding device can be fed along the reinforcing rib 11. The welding device comprises a feeding mechanism for adjusting the position of the welding device and driving the welding device to move; The adjusting mechanism comprises an arc track 7 with a rack on the inner wall, the arc track 7 is engaged with a gear 8, the gear 8 is connected with a welding gun 9 on the side wall, the welding gun 9 is provided with a centering assembly, and the gear 8 is provided with a driving assembly; The measuring mechanism is used for measuring the curvature of the workpiece 10 at the welding point and controlling the driving assembly.
[0020] Reference Figure 8 The inner wall section of the workpiece 10 is a standard circle, and the two side walls of the reinforcing rib 11 are vertical planes parallel to each other; Preparation: First, the reinforcing rib 11 is temporarily fixed in the inner wall of the workpiece 10 by spot welding; Measurement and data feedback: The measuring mechanism measures the curvature of the inner wall of the workpiece 10 at the welding point in real time, which is used as the basis for calculating the welding angle of the welding gun 9, and controls the driving assembly to work; Welding gun 9 angle adjustment and welding: The driving assembly drives the gear 8 to rotate in the arc track 7, which drives the welding gun 9 to adjust the angle along the arc trajectory (because the center of the arc track 7 is concentric with the gun tip, and the centering assembly ensures that the position of the gun tip does not change, only the angle changes); Finally, the reinforcing rib 11 and the inner wall of the workpiece 10 are precisely welded.
[0021] Precise positioning: through the real-time feedback data of the measuring mechanism, the angle of the welding gun 9 is dynamically adjusted to adapt to the structural characteristics of the workpiece 10 (standard circle inner wall) and the reinforcing rib 11 (parallel vertical side wall).
[0022] Stable welding: the meshing design of the arc-shaped track 7 and the gear 8, the gun tip fixing function of the centering assembly, ensures that the welding point does not change when the angle is adjusted, and improves the welding precision.
[0023] The present application realizes efficient and accurate welding of the inner wall of the workpiece 10 and the reinforcing rib 11 through the cooperation of the mechanical structure and the measuring mechanism, and is especially suitable for workpieces 10 such as mechanical arm shells whose inner wall is a standard circle and whose reinforcing rib 11 is a parallel vertical surface; effectively improves the universality of the equipment and improves the welding efficiency of the mechanical arm shell.
[0024] Preferably, the centering assembly includes two sliding blocks 13, which are slidingly connected along the track of the arc-shaped track 7, and the center of the track of the arc-shaped track 7 is concentric with the gun tip of the welding gun 9.
[0025] The center of the track of the arc-shaped track 7 is completely concentric with the gun tip of the welding gun 9 — when the gear 8 drives the welding gun 9 to rotate along the arc-shaped track 7, the two sliding blocks will slide along the track synchronously with the welding gun 9, and through double-point support, it is ensured that the welding gun 9 always moves in a circular arc around the center of the gun tip.
[0026] This structure makes the computer only need to focus on calculating the required welding angle, without additional compensation for the deviation of the gun tip position, simplifying the control logic, while greatly improving the welding precision.
[0027] Preferably, the driving assembly includes a stepping motor 12, which is fixedly connected to the end of the welding gun 9, and the output shaft of the stepping motor 12 is fixedly connected with the gear 8.
[0028] The stepping motor 12 is fixedly connected to the end of the welding gun 9, and its output shaft is directly fixedly connected with the gear 8; this rigid connection design of “motor-gear 8” ensures the directness and accuracy of power transmission — every step of rotation of the stepping motor will be completely transmitted to the gear 8, avoiding the gap or error that may be generated by the intermediate transmission link (such as belt, chain), laying the foundation for the accuracy of angle adjustment.
[0029] Preferably, the measuring mechanism includes a computer horizontally provided with a mounting rod 2 and an external connection; the left end of the mounting rod 2 is provided with a height measuring assembly for measuring the height from the left end of the mounting rod 2 to the inner wall of the workpiece 10; the lower right side of the mounting rod 2 is vertically fixedly connected with a connecting rod 3, and the lower end of the connecting rod 3 is provided with a width measuring assembly for measuring the distance between the side wall of the reinforcing rib 11 and the axis of the connecting rod 3; the computer can determine the welding angle of the welding gun 9 according to the real-time measurement data of the height measuring assembly and the width measuring assembly, and drive the gear 8 to rotate through the driving assembly to adjust the welding angle of the welding gun 9.
[0030] The height measuring assembly measures the height from a fixed point at the left end of the mounting rod 2 to the projection point A on the inner wall of the workpiece 10. The width measuring assembly measures the distance between the side wall of the reinforcing rib 11 and the axis of the connecting rod 3, i.e. the distance between the intersection point B of the side wall of the reinforcing rib 11 and the inner wall of the workpiece 10 and the axis of the connecting rod 3. The data is transmitted to the computer as the basis for calculating the welding angle of the welding torch 9. Reference Figure 9 With the known axis of the connecting rod 3 (i.e. the position of the radius of the circle), the positions of points A and B on the circle (the parameters of the mounting rod 2 and the connecting rod 3 are fixed, and the positions of points A and B can be determined according to the measured data of the height measuring assembly and the width measuring assembly), the circular trajectory of the inner wall of the workpiece 10 at the welding position of the welding torch 9 can be fitted in the computer. Further, the tangent angle at point B (i.e. the welding point) can be obtained, and further, combined with the data of the width measuring assembly, the welding angle of the welding torch 9 between the tangent at point B and the reinforcing rib 11 can be obtained.
[0031] Preferably, the height measuring assembly comprises a test pen 6 vertically penetrating the mounting rod 2 and being in elastic sliding connection with the mounting rod 2. The lower end of the test pen 6 can be in contact with the inner wall of the workpiece 10. The test pen 6 is externally connected with a displacement sensor for transmitting the height change of the test pen 6 to the computer.
[0032] The test pen 6 is vertically penetrated into the mounting rod 2 and is in elastic sliding connection with the mounting rod 2. The key role of this design is that no matter whether the welding device moves with the feeding mechanism or the workpiece 10 has a slight size deviation, the lower end of the test pen 6 can always be in contact with the inner wall of the workpiece 10 under the action of elastic force, avoiding the interruption or error of measurement caused by the disconnection of contact, and ensuring the continuity of measurement. The test pen 6 is externally connected with a displacement sensor for converting the height change of the test pen 6 into a calculable electrical signal or data signal and transmitting it to the computer. Since the lower end of the test pen 6 is always in contact with the inner wall of the workpiece 10, when the mounting rod 2 has a position change in the height direction relative to the inner wall of the workpiece 10 (such as adjustment of the feeding mechanism) or the workpiece 10 has a slight fluctuation in the roundness of the inner wall, the test pen 6 will slide up and down synchronously with the contact surface, and the displacement sensor will capture this sliding amount in real time, indirectly reflecting the height from the left end of the mounting rod 2 to the inner wall of the workpiece 10.
[0033] Preferably, the width measuring assembly comprises a pressure roller 4 rotatably connected to the lower end of the connecting rod 3. The left end of the pressure roller 4 is in elastic sliding connection with a clamping roller 5 along the axial direction of the pressure roller 4. The side wall of the connecting rod 3 is provided with a guide assembly for moving the pressure roller 4 on the upper end of the reinforcing rib 11. The clamping roller 5 is used to move in contact with the side wall of the reinforcing rib 11. The clamping roller 5 is externally connected with a displacement sensor for transmitting the height change of the test pen 6 to the computer.
[0034] The pressing wheel 4 is rotationally connected to the lower end of the connecting rod 3, and the left end thereof is elastically and slidingly connected to the clamping wheel 5 in the axial direction, i.e., the horizontal direction, parallel to the side wall of the reinforcing rib 11. The clamping wheel 5 can always adhere to the side wall of the reinforcing rib 11 under the action of the elastic force, so that stable contact can be maintained even if there is a slight installation deviation or size fluctuation of the reinforcing rib 11. Meanwhile, the adhesion state of the clamping wheel 5 indirectly reflects the transverse position of the reinforcing rib 11. The guiding assembly on the side wall of the connecting rod 3 keeps the pressing wheel 4 moving on the upper end of the reinforcing rib 11. Since the clamping wheel 5 always elastically adheres to the side wall of the reinforcing rib 11 and is fixedly connected to the connecting rod 3 to slide in the axial direction of the pressing wheel 4, the real-time position of the clamping wheel 5 can indirectly reflect the distance between the side wall of the reinforcing rib 11 and the axis of the connecting rod 3. When the transverse position of the reinforcing rib 11 relative to the axis of the connecting rod 3 changes, the clamping wheel 5 will synchronously slide in the axial direction, and the sliding amount can be converted into data by subsequent sensing components and transmitted to the computer.
[0035] Preferably, the guiding assembly comprises a connecting frame 14 fixedly connected to the side wall of the connecting rod 3, elastically and rotationally connected elastic extension rods 15 symmetrically at the front and rear ends of the connecting frame 14, mounting plates 16 fixedly connected to the end portions of the elastic extension rods 15, mounting blocks 17 slidingly connected to the two ends of each mounting plate 16, limit wheels 18 rotationally connected to the opposite faces of the two mounting blocks 17 on the same mounting plate 16, and a tensioning assembly arranged between the two limit wheels 18.
[0036] The connecting frame 14 is directly fixed to the side wall of the connecting rod 3 and serves as the “mounting base” of the entire guiding assembly. Its core function is to rigidly connect the connecting rod 3 and the pressing wheel 4, which are the core components of the guiding assembly and the width measuring assembly, to ensure that the movement of the guiding assembly is completely synchronized with the movement of the pressing wheel 4. When the welding device moves longitudinally along with the feeding mechanism, the connecting frame will drive the entire guiding assembly to move synchronously, thereby avoiding path deviation caused by component misalignment. The elastic extension rods 15, which are “symmetrically and elastically rotationally connected” at the front and rear ends of the connecting frame 14, are the “adaptive core” of the guiding assembly. The design highlights of the elastic extension rods 15 are as follows: Elasticity: The elastic extension rods can absorb errors such as slight inclination of the reinforcing rib 11 during installation and slight roundness deviation of the inner wall of the workpiece 10 through their own elastic deformation, thereby avoiding component wear or path jamming caused by rigid contact. Rotational connection: The elastic extension rods are allowed to rotate around the connecting frame at a small angle, which further adapts to the actual position of the reinforcing rib 11 and ensures that the subsequent limit wheels 18 can flexibly adhere to the side wall of the reinforcing rib 11 rather than being forcibly and rigidly contacted. The mounting plate 16 is fixed at the end of the elastic telescopic rod 15, and the two ends of the mounting block 17 are “slidably connected” and the end limiting wheel 18 is adjusted in distance along the mounting plate 16, which is suitable for reinforcing bars 11 of different width specifications. By sliding the mounting block, the two limiting wheels 18 can be accurately clamped on the front and rear side walls of the reinforcing bar 11, forming a “double-sided clamping” limiting effect. The tensioning assembly between the two limiting wheels 18 can make the reinforcing bar 11 have a slight width fluctuation such as a production error, and the tensioning assembly can also push the mounting block 17 to slide through its own elastic force, ensuring that the limiting wheel 18 always fits the side wall of the reinforcing bar 11 and will not deviate from the upper end of the reinforcing bar 11 due to the gap.
[0037] Preferably, the tensioning assembly includes two mutually inserted insertion cylinders 19, the insertion cylinders 19 are fixedly connected with the two limiting wheels 18 respectively, and a spring 20 is fixedly connected between the two insertion cylinders 19.
[0038] The pre-tightening force of the spring 20 is transmitted to the two limiting wheels 18 through the insertion cylinders 19, so that they always have a tendency to approach each other, thereby tightly fitting the two side walls of the reinforcing bar 11.
[0039] Preferably, the feeding mechanism includes a track 21, the track 21 is fixedly arranged above the clamping mechanism 1 through an external fixing mechanism, the track 21 is slidably connected with a driving frame 22, the driving frame 22 can actively slide on the track 21, the driving frame 22 is fixedly connected with a vertical motor 23 at the lower end, the output shaft of the motor 23 is fixedly connected with a connecting plate 24, the lower end of the connecting plate 24 is fixedly connected with two vertical fixing plates 25 on the left and right sides respectively, the opposite faces of the fixing plates 25 are fixedly connected with two springs 26, the two springs 26 are fixedly connected with a vertical connecting rod 27 between them, the upper end of the connecting rod 27 is transversely slidably connected with the lower end of the fixing plate 25, and the lower end of the connecting rod 27 is fixedly connected with the upper end of the mounting rod 2.
[0040] The track 21 is fixedly arranged above the clamping mechanism 1, which is the “path reference” of the overall movement of the welding device; the driving frame 22 is slidably connected with the track and can actively slide, which is inferred to be built-in driving devices such as servo motors + rack and pinion or ball screws, which are not explicitly mentioned but are common designs for active movement; its core function is to realize the macro position adjustment of the welding device: by sliding the driving frame 22 along the track 21, the entire welding device is longitudinally moved along the length direction of the workpiece 10, which meets the feeding demand of different welding positions; The motor drives the connecting plate 24 and all the components below to rise and fall as a whole, thereby accurately adjusting the initial height of the mounting rod 2 and the welding gun 9; The upper end of the connecting rod 27 is horizontally slidingly connected with the lower end of the fixed plate 25, allowing the connecting rod to move in the horizontal direction perpendicular to the feeding direction of the track; meanwhile, the two springs 26 symmetrically apply elastic clamping force to the connecting rod, so that the connecting rod is naturally kept in the middle position; when the height measuring assembly or the width measuring assembly generates a transverse force due to the size deviation and installation error of the workpiece 10 / reinforcing rib 11, the connecting rod 27 can compress one side of the spring 26 and slide along the fixed plate 25, absorbing the error through elastic deformation, avoiding damage to the components caused by rigid transmission, and ensuring that the testing pen 6, the clamping wheel 5 and the like always adhere to the workpiece 10 / reinforcing rib 11, thereby ensuring the continuity of the measurement data.
[0041] A positioning method of a mechanical arm shell welding workbench, suitable for the mechanical arm shell welding workbench of claims 1-9, the method being as follows: S1, first temporarily fix the reinforcing rib 11 in the inner wall of the workpiece 10 by spot welding; fix the workpiece 10 by the clamping mechanism, and adjust the feeding mechanism to ensure that the axis of the connecting rod 3 is located in the radial direction of the inner wall section of the workpiece 10, so as to ensure that the measurement is consistent with the welding reference; S2, the measuring mechanism measures the curvature of the workpiece 10 at the welding point in real time; S3, the measuring mechanism determines the required welding angle according to the measured data, and drives the welding gun 9 to adjust the angle along the arc-shaped track 7 through the driving assembly; S4, finally complete the precise welding of the reinforcing rib 11 and the inner wall of the workpiece 10.
Claims
1. A welding workbench for a robotic arm shell, comprising a clamping mechanism (1), a workpiece (10), and reinforcing ribs (11), characterized in that: It also includes a welding device, which is disposed above the clamping mechanism (1) and is capable of feeding along the reinforcing rib (11); The welding device includes a feeding mechanism for adjusting the position of the welding device and moving the welding device. The adjustment mechanism includes an arc-shaped track (7) with a rack on the inner wall, a gear (8) meshing inside the arc-shaped track (7), a welding torch (9) connected to the side wall of the gear (8), a centering component provided in the welding torch (9), and a drive component provided in the gear (8). A measuring mechanism is used to measure the curvature of the workpiece (10) at the welding point and control the drive assembly.
2. The robotic arm shell welding workbench according to claim 1, characterized in that: The centering component includes two sliders (13), which slide along the trajectory of the arc track (7) and are connected to the arc track (7). The center of the arc track (7) is concentric with the tip of the welding torch (9).
3. The robotic arm shell welding workbench according to claim 1, characterized in that: The drive assembly includes a stepper motor (12), which is fixedly connected to the end of the welding torch (9), and the output shaft of the stepper motor (12) is fixedly connected to a gear (8).
4. The robotic arm shell welding workbench according to claim 1, characterized in that: The measuring mechanism includes a horizontally mounted mounting rod (2) and an external computer; a height measuring component for measuring the height from the left end of the mounting rod (2) to the inner wall of the workpiece (10) is provided on the left end of the mounting rod (2); a connecting rod (3) is vertically fixedly connected to the right side of the lower end of the mounting rod (2), and a width measuring component for measuring the distance between the side wall of the reinforcing rib (11) and the axis of the connecting rod (3) is provided at the lower end of the connecting rod (3); the computer can determine the welding angle of the welding torch (9) based on the real-time measurement data of the height measuring component and the width measuring component, and drive the gear (8) to rotate through the drive component to adjust the welding angle of the welding torch (9).
5. A robotic arm housing welding workbench according to claim 4, characterized in that: The height measuring component includes a test pen (6), which vertically penetrates the mounting rod (2) and is elastically slidably connected to the mounting rod (2). The lower end of the test pen (6) can keep in contact with the inner wall of the workpiece (10). The test pen (6) is externally connected to a displacement sensor, which is used to transmit the height change of the test pen (6) to the computer.
6. The robotic arm shell welding workbench according to claim 4, characterized in that: The width measuring component includes a pressure roller (4) rotatably connected to the lower end of the connecting rod (3). A retaining wheel (5) is elastically slidably connected to the left end of the pressure roller (4) along the axial direction of the pressure roller (4). A guide component is provided on the side wall of the connecting rod (3). The guide component is used to keep the pressure roller (4) moving at the upper end of the reinforcing rib (11). The retaining wheel (5) is used to move in contact with the side wall of the reinforcing rib (11). A displacement sensor is externally connected to the retaining wheel (5). The displacement sensor is used to transmit the height change of the test pen (6) to the computer.
7. A robotic arm housing welding workbench according to claim 6, characterized in that: The guide assembly includes a connecting frame (14), which is fixedly connected to the side wall of the connecting rod (3). The front and rear ends of the connecting frame (14) are symmetrically and elastically rotatably connected to elastic telescopic rods (15). The ends of the elastic telescopic rods (15) are fixedly connected to mounting plates (16). The two ends of the mounting plates (16) are slidably connected to mounting blocks (17). The two mounting blocks (17) on the same mounting plate (16) are rotatably connected to limit wheels (18) on opposite faces. A tensioning assembly is provided between the two limit wheels (18).
8. A welding workbench for a robotic arm housing according to claim 7, characterized in that: The tensioning assembly includes two inserts (19) that fit together. The inserts (19) are fixedly connected to two limit wheels (18) respectively, and a spring (20) is fixedly connected between the two inserts (19).
9. A welding workbench for a robotic arm housing according to claim 1, characterized in that: The feeding mechanism includes a track (21), which is fixedly mounted above the clamping mechanism (1) by an external fixing mechanism. The track (21) is slidably connected to a drive frame (22), which can actively slide on the track (21). The lower end of the drive frame (22) is fixedly connected to a vertically mounted motor (23), and the output shaft of the motor (23) is fixedly connected to a connecting plate (24). The lower left and right sides of the connecting plate (24) are respectively fixedly connected to vertically mounted fixing plates (25). The opposing surfaces of the fixing plates (25) are fixedly connected to springs (26), and the springs (26) are fixedly connected to a vertically mounted connecting rod (27). The upper end of the connecting rod (27) is slidably connected to the lower end of the fixing plate (25), and the lower end of the connecting rod (27) is fixedly connected to the upper end of the mounting rod (2).
10. A positioning method for a robotic arm housing welding workbench, applicable to the robotic arm housing welding workbench as described in claims 1-9, characterized in that: The method is as follows: S1. First, the reinforcing rib (11) is temporarily fixed to the inner wall of the workpiece (10) by spot welding; the clamping mechanism fixes the workpiece (10), and the feed mechanism is adjusted so that the axis of the connecting rod (3) is located in the radial direction of the inner wall section of the workpiece (10) to ensure that the measurement and welding reference are consistent. S2. The measuring mechanism measures the curvature of the workpiece (10) at the welding point in real time. S3. The measuring mechanism determines the required welding angle based on the measured data, and drives the welding gun (9) to adjust the angle along the arc track (7) through the driving component; S4. Finally, complete the precise welding of the reinforcing rib (11) to the inner wall of the workpiece (10).