Gantry type multi-axis welding robot

Abstract

The application relates to the technical field of welding, in particular to a gantry type multi-axis welding robot which comprises a fixed chassis, a welding gun for welding is fixedly connected to the bottom of the fixed chassis, a mounting pipe is vertically fixedly connected to one side of the fixed chassis, a CCD camera is fixedly installed at the top of the mounting pipe, a microscope lens is rotatably installed at the bottom of the mounting pipe, and a protection pipe cover is fixedly connected to the bottom of the mounting pipe and arranged outside the microscope lens. The device takes a motor as a power source, so that the microscope lens and the pipe are simultaneously rotated, the pollution problems of two light transmission elements are solved by using centrifugal force generated by rotation, the reliability and durability of the system under a harsh welding environment are greatly improved, the flexibility of the gantry and the microscope lens are combined, and accurate tracking and welding of internal welds of a complex thin-wall structure are realized. The device is internally provided with a smoke exhaust mechanism for instant treatment of welding fume, tail gas pollution is reduced from the source, equipment is protected, and the working environment is improved.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to a gantry-type multi-axis welding robot. Background Technology

[0002] Welding, an indispensable processing technology in modern manufacturing, is widely used in shipbuilding, bridges, pressure vessels, heavy machinery, and other fields. With the development of automation technology, gantry welding robots, due to their large working space, high load-bearing capacity, and configurable multi-axis degrees of freedom, have become key equipment for the automated welding of medium-to-large and ultra-long workpieces.

[0003] However, in practical engineering applications, especially in precision welding scenarios with extremely high requirements for thin-walled structures, internal cavities, or weld quality (such as aerospace and nuclear energy equipment), existing gantry welding robots still face the following problems: To achieve automated welding, visual sensors (such as CCD cameras) are often used to track the weld. However, during the welding process, the welding fumes, spatter, and water vapor generated by the high temperature can quickly contaminate the lens protective lens or microscope head surface, leading to blurred imaging and loss of laser tracking points, seriously affecting the stability and accuracy of tracking. Existing solutions mostly involve manual cleaning with tools after shutdown, during which welding work cannot be performed, significantly impacting efficiency. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a gantry-type multi-axis welding robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: Design a gantry-type multi-axis welding robot, including a fixed chassis. A welding torch for welding is fixedly connected to the bottom of the fixed chassis. A mounting tube is vertically fixedly connected to one side of the fixed chassis. A CCD camera is fixedly installed at the top of the mounting tube. A microscope head is rotatably installed at the bottom of the mounting tube. A protective tube cover is fixedly connected to the bottom of the mounting tube and placed outside the microscope head. A circular fixing ring is fixedly installed at the bottom of the protective tube. A trumpet-shaped lampshade is fixedly connected to the bottom surface of the fixing ring. Multiple light sources are evenly spaced on the inner wall of the lampshade.

[0006] Preferably, a long shaft is rotatably mounted on the upper end face of the fixing ring, a small gear is fixedly connected to the shaft body of the long shaft, and a large gear is fixedly connected to the outer ring of the microscope head. The small gear and the large gear are matched to drive the microscope head to rotate.

[0007] Preferably, a motor is provided at the top of the protective tube to drive the long shaft to rotate.

[0008] Preferably, a colorless and transparent tubular component is rotatably installed inside the lampshade to protect the light source.

[0009] Preferably, a ring gear is fixedly installed on the top outer wall of the pipe fitting, and a friction wheel is fixedly connected to the bottom of the long shaft. The friction wheel abuts against the outer wall of the ring gear to drive the ring gear to rotate.

[0010] Preferably, a pin is fixedly connected to the upper end face of the fixing ring, a connecting plate is fixedly connected to the top of the pin, and a cleaning roller is rotatably installed on the bottom surface of the connecting plate. The cleaning roller abuts against the inner wall of the pipe to clean the inner wall of the pipe.

[0011] Preferably, a transmission gear is rotatably mounted on the bottom surface of the connecting plate, the transmission gear meshing with the toothed blocks on the inner ring of the ring gear, and a driven gear is fixedly connected to the top of the cleaning roller, the driven gear matching the transmission gear.

[0012] Preferably, a trumpet-shaped conical tube is fixedly connected to the outer wall of the protective tube, and a fan is provided on the outer wall of the conical tube to extract welding fumes.

[0013] Preferably, an air inlet pipe is fixedly connected to the bottom surface of the conical tube, and a circular filter screen is fixedly connected to the bottom of the air inlet pipe.

[0014] Preferably, the fixed chassis is connected to the gantry frame via a rotary bracket.

[0015] The gantry-type multi-axis welding robot proposed in this invention has the following advantages: This device uses a motor as a power source, enabling the microscope head and the pipe to rotate simultaneously. The centrifugal force generated by the rotation solves the contamination problem of the two light-transmitting elements, greatly improving the system's reliability and durability in harsh welding environments. Combined with the flexibility of the gantry and the microscope head, it achieves precise tracking and welding of weld seams inside complex thin-walled structures. The device has a built-in fume extraction mechanism to treat welding fumes in real time, reducing exhaust gas pollution at the source, protecting the equipment and improving the working environment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a gantry-type multi-axis welding robot proposed in this invention.

[0017] Figure 2 This is a front view of the rotary support of a gantry-type multi-axis welding robot proposed in this invention.

[0018] Figure 3 This is a schematic diagram of the fixed chassis of a gantry-type multi-axis welding robot proposed in this invention.

[0019] Figure 4 This is a front view of the fixed chassis of a gantry-type multi-axis welding robot proposed in this invention.

[0020] Figure 5 This is a schematic diagram of the internal structure of the mounting tube of a gantry-type multi-axis welding robot proposed in this invention.

[0021] Figure 6 This is a schematic diagram of the internal structure of the protective tube of a gantry-type multi-axis welding robot proposed in this invention.

[0022] Figure 7 This invention proposes a gantry-type multi-axis welding robot. Figure 6 The main view.

[0023] Figure 8 This is a schematic diagram of the internal structure of the lampshade of a gantry-type multi-axis welding robot proposed in this invention.

[0024] Figure 9 This invention proposes a gantry-type multi-axis welding robot. Figure 8 Enlarged view of point A in the middle.

[0025] In the diagram: 1. Gantry frame; 2. Rotary support; 3. Fixed chassis; 4. Welding torch; 5. Mounting pipe; 6. Protective pipe; 7. Motor; 8. Tapered pipe; 9. Fan; 10. Air inlet pipe; 11. Filter screen; 12. Lampshade; 13. Fixing ring; 14. Large gear; 15. Microscope lens; 16. Small gear; 17. CCD camera; 18. Long shaft; 19. Friction wheel; 20. Pipe fitting; 21. Light source; 22. Cleaning roller; 23. Pin; 24. Connecting plate; 25. Driven gear; 26. Transmission gear; 27. Ring gear. Detailed Implementation

[0026] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0027] Reference Figures 1-6 A gantry-type multi-axis welding robot includes a fixed chassis 3, which is connected to a gantry frame 1 via a rotating bracket 2. A welding torch 4 for welding is fixedly connected to the bottom of the fixed chassis 3. A mounting tube 5 is vertically fixedly connected to one side of the fixed chassis 3. A CCD camera 17 is fixedly installed at the top inside the mounting tube 5. A microscope head 15 is rotatably installed at the bottom of the mounting tube 5. A protective tube 6 is fixedly connected to the bottom of the mounting tube 5 and covers the outside of the microscope head 15. When the microscope head 15 collides with an external object, a circular fixed ring 13 is fixedly installed at the bottom of the protective tube 6. A trumpet-shaped lampshade 12 is fixedly connected to the bottom surface of the fixed ring 13. Multiple light sources 21 are evenly spaced on the inner wall of the lampshade 12.

[0028] During welding, the welding torch 4 connected to the gantry 1 adjusts its position through the rotating bracket 2, so that the welding torch 4 enters the workpiece with thin wall structure for welding. After power is turned on, the light source 21 on the inner wall of the lamp cover 12 illuminates the weld. The CCD camera 17 captures images of the weld point through the microscope lens 15, so as to track and measure the weld in real time during the welding process.

[0029] like Figures 5-7 As shown, a long shaft 18 is rotatably mounted on the upper end face of the fixed ring 13. A small gear 16 is fixedly connected to the shaft of the long shaft 18. A large gear 14 is fixedly connected to the outer ring of the microscope head 15. The small gear 16 and the large gear 14 are matched to drive the microscope head 15 to rotate. A motor 7 is provided at the top of the protective tube 6 to drive the long shaft 18 to rotate.

[0030] When the motor 7 is powered on, it drives the long shaft 18 to rotate. The rotation of the long shaft 18 drives the small gear 16 to rotate at high speed. During the rotation of the small gear 16, it drives the large gear 14 to rotate. During the rotation of the large gear 14, it drives the microscope head 15 to rotate at high speed. The welding fumes, impurities and water vapor attached to the surface of the microscope head 15 will be thrown out under the action of centrifugal force, so that the microscope head 15 can always maintain its own cleanliness and ensure the image quality of the CCD camera 17.

[0031] like Figures 7-9 As shown, a colorless and transparent tube 20 is rotatably installed inside the lampshade 12 to protect the light source 21. A ring gear 27 is fixedly installed on the top outer wall of the tube 20. A friction wheel 19 is fixedly connected to the bottom of the long shaft 18. The friction wheel 19 abuts against the outer wall of the ring gear 27 to drive the ring gear 27 to rotate. A pin 23 is fixedly connected to the upper end face of the fixed ring 13. A connecting plate 24 is fixedly connected to the top of the pin 23. A cleaning roller 22 is rotatably installed on the bottom surface of the connecting plate 24. The cleaning roller 22 abuts against the inner wall of the tube 20 to clean the inner wall of the tube 20. A transmission gear 26 is rotatably installed on the bottom surface of the connecting plate 24. The transmission gear 26 cooperates with the tooth block on the inner ring of the ring gear 27. A driven gear 25 is fixedly connected to the top of the cleaning roller 22. The driven gear 25 matches the transmission gear 26.

[0032] During its rotation, the long shaft 18 also drives the friction wheel 19 to rotate synchronously. During the rotation of the friction wheel 19, the ring gear 27 is driven to rotate by friction. During the operation of the ring gear 27, while driving the pipe 20 to rotate, it also drives the transmission gear 26 to rotate. The transmission gear 26 drives the cleaning roller 22 to rotate through the driven gear 25. During the rotation, the cleaning roller 22 cleans the inner wall of the pipe 20, thereby preventing the pipe 20 from becoming less transparent due to welding fume pollution, and ensuring the illumination intensity of the weld seam after the light source 21 passes through the pipe 20.

[0033] like Figures 5-9As shown, a trumpet-shaped conical tube 8 is fixedly connected to the outer wall of the protective tube 6. A fan 9 is installed on the outer wall of the conical tube 8 to extract welding fumes. An air inlet pipe 10 is fixedly connected to the bottom surface of the conical tube 8, and a circular filter screen 11 is fixedly connected to the bottom of the air inlet pipe 10.

[0034] After the fan 9 starts, it draws air into the conical tube 8, creating a negative pressure inside the conical tube 8. The welding fumes from the outside are then drawn in through the filter screen 11 to collect and centrally process the exhaust gases generated during welding.

[0035] Working principle: During welding, the welding torch 4 connected to the gantry 1 adjusts its position through the rotating bracket 2, so that the welding torch 4 enters the workpiece with thin wall structure for welding. After power is turned on, the light source 21 on the inner wall of the lamp cover 12 illuminates the weld. The CCD camera 17 captures images of the weld point through the microscope lens 15, so as to track and measure the weld in real time during the welding process.

[0036] When the motor 7 is powered on, it drives the long shaft 18 to rotate. The rotation of the long shaft 18 drives the small gear 16 to rotate at high speed. During the rotation of the small gear 16, it drives the large gear 14 to rotate. During the rotation of the large gear 14, it drives the microscope head 15 to rotate at high speed. The welding fumes, impurities and water vapor attached to the surface of the microscope head 15 will be thrown out under the action of centrifugal force, so that the microscope head 15 can always maintain its own cleanliness and ensure the image quality of the CCD camera 17.

[0037] During its rotation, the long shaft 18 also drives the friction wheel 19 to rotate synchronously. During the rotation of the friction wheel 19, the ring gear 27 is driven to rotate by friction. During the operation of the ring gear 27, while driving the pipe 20 to rotate, it also drives the transmission gear 26 to rotate. The transmission gear 26 drives the cleaning roller 22 to rotate through the driven gear 25. During the rotation, the cleaning roller 22 cleans the inner wall of the pipe 20, thereby preventing the pipe 20 from becoming less transparent due to welding fume pollution, and ensuring the illumination intensity of the weld seam after the light source 21 passes through the pipe 20.

[0038] After the fan 9 starts, it draws air into the conical tube 8, creating a negative pressure inside the conical tube 8. The welding fumes from the outside are then drawn in through the filter screen 11 to collect and centrally process the exhaust gases generated during welding.

[0039] This device uses motor 7 as a power source, enabling the microscope head 15 and the tube 20 to rotate simultaneously. The centrifugal force generated by this rotation solves the contamination problem of the two light-transmitting elements, greatly improving the system's reliability and durability in harsh welding environments. Combined with the flexibility of the gantry 1 and the microscope head 15, it achieves precise tracking and welding of welds inside complex thin-walled structures. The device has a built-in fume extraction mechanism to treat welding fumes in real time, reducing exhaust gas pollution at the source, protecting the equipment and improving the working environment.

[0040] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A gantry-type multi-axis welding robot, comprising a fixed chassis (3), characterized in that, The bottom of the fixed base (3) is fixedly connected to a welding torch (4) for welding. The fixed base (3) is vertically fixedly connected to a mounting tube (5) on one side. A CCD camera (17) is fixedly installed at the top inside the mounting tube (5). A microscope head (15) is rotatably installed at the bottom of the mounting tube (5). A protective tube (6) is fixedly connected to the bottom of the mounting tube (5) and covers the outside of the microscope head (15). A circular fixed ring (13) is fixedly installed at the bottom of the protective tube (6). A trumpet-shaped lampshade (12) is fixedly connected to the bottom surface of the fixed ring (13). Multiple light sources (21) are evenly spaced on the inner wall of the lampshade (12).

2. The gantry-type multi-axis welding robot according to claim 1, characterized in that, A long shaft (18) is rotatably mounted on the upper end face of the fixed ring (13). A small gear (16) is fixedly connected to the shaft body of the long shaft (18). A large gear (14) is fixedly connected to the outer ring of the microscope head (15). The small gear (16) and the large gear (14) are matched to drive the microscope head (15) to rotate.

3. The gantry-type multi-axis welding robot according to claim 2, characterized in that, The top of the protective tube (6) is equipped with a motor (7) for driving the long shaft (18) to rotate.

4. The gantry-type multi-axis welding robot according to claim 3, characterized in that, The lampshade (12) has a colorless and transparent tube (20) installed inside to protect the light source (21).

5. The gantry-type multi-axis welding robot according to claim 4, characterized in that, A ring gear (27) is fixedly installed on the top outer wall of the pipe fitting (20), and a friction wheel (19) is fixedly connected to the bottom of the long shaft (18). The friction wheel (19) abuts against the outer wall of the ring gear (27) to drive the ring gear (27) to rotate.

6. The gantry-type multi-axis welding robot according to claim 5, characterized in that, A pin (23) is fixedly connected to the upper end face of the fixing ring (13), and a connecting plate (24) is fixedly connected to the top of the pin (23). A cleaning roller (22) is rotatably installed on the bottom surface of the connecting plate (24). The cleaning roller (22) abuts against the inner wall of the pipe fitting (20) to clean the inner wall of the pipe fitting (20).

7. The gantry-type multi-axis welding robot according to claim 6, characterized in that, The bottom surface of the connecting plate (24) is rotatably mounted with a transmission gear (26), which engages with the tooth block on the inner ring of the ring gear (27). The top of the cleaning roller (22) is fixedly connected with a driven gear (25), which matches the transmission gear (26).

8. The gantry-type multi-axis welding robot according to any one of claims 1-7, characterized in that, The outer wall of the protective tube (6) is fixedly connected to a trumpet-shaped conical tube (8), and a fan (9) is provided on the outer wall of the conical tube (8) to extract welding fumes.

9. The gantry-type multi-axis welding robot according to claim 8, characterized in that, An air inlet pipe (10) is fixedly connected to the bottom surface of the conical tube (8), and a circular filter screen (11) is fixedly connected to the bottom of the air inlet pipe (10).

10. The gantry-type multi-axis welding robot according to claim 1, characterized in that, The fixed chassis (3) is connected to the gantry (1) via a rotating bracket (2).

Images