A robotic frame welding apparatus that automatically eliminates stress
By combining a heat-concentrating shell and an ultrasonic impact head, the problem of existing welding equipment being unable to eliminate weld stress has been solved, achieving efficient welding stress elimination and multi-face welding, thus improving welding quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XUZHOU BAOYUAN INTELLIGENT MFG CO LTD
- Filing Date
- 2026-04-01
- Publication Date
- 2026-06-05
AI Technical Summary
Existing welding equipment can only relax tensile stress when eliminating welding stress, and cannot handle compressive stress at the weld, which makes the weld toe prone to cracks and affects the welding effect.
A combination of a heat-concentrating shell and an ultrasonic impact head is used to pre-treat and relieve stress on the weld through high-temperature heating and high-frequency micro-impact. Flexible fixing components are used to limit the robot frame and perform flipping operations.
It effectively reduces the temperature difference of the weld, eliminates welding stress, prevents cracks, adapts to the fixation of thin-walled robot frames, and enables convenient multi-face welding.
Smart Images
Figure CN122142618A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of welding technology, and in particular to a robotic frame welding device that automatically relieves stress. Background Technology
[0002] A robot is an automated machine, but unlike humans or other living beings, it possesses intelligent capabilities similar to those of humans or other biological entities, such as perception, planning, movement, and coordination. It is a highly flexible automated machine. With the continuous development of technology and the rapid progress of society, the application of robots in various industries is increasing. The manufacturing of robots requires long, rectangular frames, which are then welded together; therefore, welding equipment is necessary.
[0003] For example, Chinese Patent Publication No. CN206436256U describes a welding robot capable of relieving welding stress, comprising a base, a rotating table, connecting rod 1, connecting rod 2, connecting rod 3, connecting rod 4, a protruding rod, rotating shaft 1, rotating shaft 2, rotating shaft 3, rotating shaft 4, rotating shaft 5, a welding torch, and a flame nozzle. The rotating table is mounted on the base and rotatably connected to the base via rotating shaft 1. One end of connecting rod 1 is rotatably connected to the rotating table via rotating shaft 2, and the other end is rotatably connected to connecting rod 2 via rotating shaft 3. The other end of connecting rod 2 is fixedly connected to the welding torch. The protruding rod is positioned on the connecting rod... In the middle of rod one, one end of the protruding rod is fixedly connected to connecting rod one, and the other end is rotatably connected to connecting rod three via rotating shaft four. The other end of connecting rod three is rotatably connected to connecting rod four via rotating shaft five. The other end of connecting rod four is fixedly connected to a flame nozzle. Rotating shaft one, rotating shaft two, rotating shaft three, rotating shaft four, and rotating shaft five are respectively connected to a drive device. The drive device is connected to a control cabinet. A flame nozzle is provided on the connecting rod, which can preheat the workpiece before welding and perform tempering operation after welding, effectively eliminating welding stress and ensuring the processing quality of the workpiece.
[0004] In existing technical references, the workpiece can be preheated using a flame nozzle and then tempered after welding to eliminate welding stress. However, with this design, the tempering only relaxes tensile stress and does not introduce compressive stress. At the same time, it is inconvenient to treat the weld, which leads to cracks at the weld toe and affects the overall welding effect. Summary of the Invention
[0005] To solve the above technical problems, the present invention is implemented through the following technical solution: An automated stress-relieving robotic frame welding device, comprising: The main body, and the gantry frame fixedly installed on the top side of the main body; The welding mechanism includes an adjuster and a welding host. The adjuster is installed on the top of the gantry frame, and the welding host is installed on the surface of the adjuster. A welding head is installed at the bottom of the welding host. A servo motor is fixedly installed at the bottom of the surface of the welding host, and a turn wheel is fixedly installed at the output end of the servo motor. A connecting sleeve is rotatably installed at the middle of the surface of the welding head. A semi-circular groove is opened at the top of the connecting sleeve. A heat-collecting shell is fixedly connected to the surface of the connecting sleeve. A high-temperature heater is installed at the top of the heat-collecting shell. An ultrasonic impact head is installed on the surface of the connecting sleeve away from the heat-collecting shell. The heat-collecting shell and the ultrasonic impact head rotate together with the connecting sleeve to adjust their positions. The positions of the heat-collecting shell and the ultrasonic impact head can be adjusted in time according to the movement direction of the welding head. The robot frame is always heated first by the heat-collecting shell, then welded by the welding head, and finally stress is relieved by the ultrasonic impact head. The material turning mechanism includes a driver, a right-angle opening frame, and a stepper motor. The driver is installed inside the machine body, the right-angle opening frame is installed on top of the driver, and the stepper motor is installed on top of the driver and close to the right-angle opening frame. The output end of the stepper motor is fixedly connected to a drive wheel. The inner wall of the right-angle opening frame has a trapezoidal groove, and a strip-shaped release rod is fixedly connected to the center of the right-angle opening frame. The long strip robot frame to be welded is placed on the right-angled inner side of the right-angle opening frame, so that the surface of the robot frame is in contact with the right-angled surface of the right-angle opening frame, thus initially limiting the robot frame. A flexible fixing component is installed at the right-angle opening on the surface of the right-angle opening frame.
[0006] Furthermore, the semi-circular grooves are evenly distributed on the top of the connecting sleeve, the teeth on the surface of the actuating wheel are engaged with the semi-circular grooves, and the welding head passes through the center of the connecting sleeve.
[0007] Furthermore, the regulator includes a linear push-pull device and a guide rail. The guide rail is fixedly installed on the top of the gantry frame, and the linear push-pull device is installed inside the guide rail. A connecting slide is slidably installed on the top of the guide rail, and a hydraulic cylinder is fixedly connected to the surface of the connecting slide. The surface of the welding host is fixedly installed with the telescopic end of the hydraulic cylinder. Under the support of the welding head, the heat-collecting shell and the ultrasonic impact head move downward together with the welding head, so that the bottom of the heat-collecting shell and the bottom of the ultrasonic impact head are close to the robot frame. Through the heating of the high-temperature heater and the heat-collecting shell, the weld seam of the robot frame can be heated, thereby pre-treating the weld seam of the robot frame and reducing the temperature difference of the weld seam of the robot frame during welding.
[0008] Furthermore, the output end of the linear push-pull device is fixedly installed at the side of the connecting slide surface, the hydraulic cylinder is installed vertically, there are two hydraulic cylinders, and the two hydraulic cylinders are installed symmetrically along the welding host.
[0009] After the welding head welds the robot frame, the ultrasonic impact head emits high-frequency vibrations to perform high-frequency micro-impacts on the welded joint of the robot frame. The high-frequency micro-impacts cause the weld and heat-affected zone metal to undergo micro-plastic extension, releasing and relaxing the "stuck" shrinkage stress, thereby automatically eliminating stress and making it less prone to cracking.
[0010] Furthermore, the strip-shaped release rod is installed horizontally, there are two right-angle opening frames, and the two right-angle opening frames are installed symmetrically along the strip-shaped release rod. The trapezoidal grooves are evenly distributed along the circumferential direction of the central axis of the right-angle opening frame, and the strip teeth on the surface of the drive wheel mesh with the trapezoidal grooves.
[0011] Furthermore, the driver includes a linear mover, which is fixedly installed in the middle of the inner side of the machine body. A support platform is fixedly connected to the output end at the bottom of the linear mover. A flat plate is fixedly connected to the top of the support platform. A stepper motor is fixedly installed on the top of the flat plate. An I-shaped wheel is rotatably installed on the top of the flat plate near the stepper motor. A right-angle open frame is installed in the annular groove at the top of the I-shaped wheel.
[0012] Furthermore, the linear movers are installed horizontally, and there are two linear movers, which are installed symmetrically along the central axis of the machine body.
[0013] Furthermore, the flexible fixing component includes a first cylinder and a second cylinder. The first cylinder is hinged to the side of the inner wall of the right-angle opening frame, and the second cylinder is hinged to the inner wall of the right-angle opening frame and close to the first cylinder. A first sliding sleeve is slidably installed at the opening on the surface of the right-angle opening frame, and a second sliding sleeve is slidably installed on the surface of the right-angle opening frame away from the first sliding sleeve. A strap is fixedly connected between the first and second sliding sleeves. An anti-slip block is fixedly connected to the surface of the strap and close to the first cylinder. A triangular limiting piece is fixedly connected to the outer end of the anti-slip block. When the first and second sliding sleeves move together, the strap is pulled and is in a taut state. The end of the long strip robot frame is located between the right angle of the right-angle opening frame and the strap. The strap fixes the end of the long strip robot frame and contacts the end of the robot frame through the anti-slip block, which increases friction and plays an anti-slip role. The surface of the triangular limiting piece fits against the end face of the robot frame, which can position the robot frame and prevent displacement.
[0014] Furthermore, both the first and second cylinders are installed at an angle. The telescopic end of the first cylinder is hinged to the surface of the first sliding sleeve, and the telescopic end of the second cylinder is hinged to the surface of the second sliding sleeve. The straps are flexible; after contacting the robot frame, they wrap around the end of the robot frame, achieving flexible fixation and avoiding rigid clamping. This makes the robot frame less prone to deformation. The robot frame and the right-angled frame have surface contact, increasing the contact area, making it suitable for fixing thin-walled robot frames. The strip-shaped release bar supports the robot frame, lifting it as a whole, further preventing deformation.
[0015] Furthermore, the inner sides of the first sliding sleeve and the second sliding sleeve are in contact with the opening on the surface of the right-angle opening frame. The anti-slip blocks are evenly distributed on the surface of the strap. The welding head moves away from the robot frame, and the right-angle opening frame is driven by the strip tooth force on the surface of the drive wheel. Under the rolling support of the I-shaped wheel on the right-angle opening frame, the right-angle opening frame drives the robot frame to rotate in a circumferential direction, thereby flipping the robot frame and facilitating the welding head to weld multiple sides of the robot frame.
[0016] The beneficial effects of the technical solution provided by this invention include: 1. Supported by the welding head, the heat-collecting shell and the ultrasonic impact head move downwards together with the welding head, so that the bottom of the heat-collecting shell and the bottom of the ultrasonic impact head are close to the robot frame. Through the heating of the high-temperature heater and the heat-collecting shell, the weld seam of the robot frame can be heated, thereby pre-treating the weld seam of the robot frame and reducing the temperature difference of the weld seam of the robot frame during welding.
[0017] 2. After the welding head welds the robot frame, the ultrasonic impact head will emit high-frequency vibrations to perform high-frequency micro-impact on the welded joint of the robot frame. The high-frequency micro-impact causes the weld and heat-affected zone metal to undergo micro-plastic extension, releasing and relaxing the "stuck" shrinkage stress, thereby automatically eliminating stress and making it less prone to cracking.
[0018] Third, the heat-concentrating shell and ultrasonic impact head will rotate and adjust their positions together with the connecting sleeve. The positions of the heat-concentrating shell and ultrasonic impact head can be adjusted in a timely manner according to the movement direction of the welding head. The robot frame is always heated first through the heat-concentrating shell, then welded through the welding head, and finally stress is relieved through the ultrasonic impact head.
[0019] Fourth, by placing the long, rectangular robot frame onto the right-angled inner side of the right-angled opening frame, so that the surface of the robot frame fits against the right-angled surface of the right-angled opening frame, the robot frame can be initially positioned.
[0020] 5. As the first and second sliding sleeves move together, the straps are pulled and are in a taut state. The end of the long robot frame is between the right angle face of the right angle opening frame and the straps. The straps fix the end of the long robot frame and contact the end of the robot frame through the anti-slip block, which can increase the friction and play an anti-slip role. In addition, the surface of the triangular limiting piece fits with the end face of the robot frame, which can position the robot frame and prevent it from shifting.
[0021] 6. After the straps come into contact with the robot frame, they wrap around the ends of the robot frame to achieve flexible fixation and avoid rigid clamping. This makes the robot frame less prone to deformation. Furthermore, the robot frame and the right-angled frame have surface contact, increasing the contact area. This is suitable for fixing robot frames with thin walls. The strip-shaped release bar supports the robot frame, and the robot frame is lifted as a whole by the strip-shaped release bar, further preventing deformation of the robot frame.
[0022] 7. By moving the welding head away from the robot frame, and with the right-angle opening frame being driven by the strip tooth force on the surface of the drive wheel, and with the rolling support of the I-shaped wheel on the right-angle opening frame, the right-angle opening frame drives the robot frame to rotate in a circumferential direction, thereby flipping the robot frame and facilitating the welding head to weld multiple sides of the robot frame. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of the overall structure of an automatic stress-relieving robot frame welding device provided in an embodiment of the present invention; Figure 2 A bottom view of an automatic stress-relieving robotic frame welding device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the connection structure between the welding mechanism and the gantry frame provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the overall structure of the welding mechanism provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the connection structure between the material turning mechanism and the machine body provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the overall structure of the driver provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the overall structure of the material turning mechanism provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the connection structure between the flexible fixing component and the right-angle opening frame provided in an embodiment of the present invention.
[0024] In the diagram: 1. Machine body; 2. Gantry frame; 3. Welding mechanism; 4. Material turning mechanism; 5. Flexible fixing component; 31. Regulator; 32. Welding host; 33. Welding head; 34. Servo motor; 35. Actuating wheel; 36. Connecting sleeve; 37. Semi-circular groove; 38. Heat-collecting cover; 39. High-temperature heater; 310. Ultrasonic impact head; 3101. Linear push-pull device; 3102. Connecting slide; 3103. Liquid... 3104. Pressure cylinder; 41. Guide rail; 42. Driver; 43. Right-angle opening frame; 44. Stepper motor; 45. Drive wheel; 46. Trapezoidal groove; 47. Strip-shaped release rod; 411. Linear mover; 412. Support platform; 413. Flat plate; 414. I-shaped wheel; 51. First cylinder; 52. Second cylinder; 53. First sliding sleeve; 54. Second sliding sleeve; 55. Strap; 56. Anti-slip block; 57. Triangular limit plate. Detailed Implementation
[0025] Example 1, see Figures 1-4 A technical solution is provided: An automated stress-relieving robotic frame welding device, comprising: The main body 1, and the gantry 2 fixedly installed on the top side of the main body 1; Welding mechanism 3 includes an adjuster 31 and a welding host 32. The adjuster 31 is installed on the top of the gantry 2, and the welding host 32 is installed on the surface of the adjuster 31. A welding head 33 is installed at the bottom of the welding host 32. A servo motor 34 is fixedly installed on the bottom surface of the welding host 32. A turn wheel 35 is fixedly installed at the output end of the servo motor 34. A connecting sleeve 36 is rotatably installed at the middle of the surface of the welding head 33. A semi-circular groove 37 is opened on the top of the connecting sleeve 36. A heat-collecting cover 38 is fixedly connected to the surface of the connecting sleeve 36. A high-temperature heater 39 is installed on the top of the heat-collecting cover 38. An ultrasonic impact head 310 is installed on the surface of the connecting sleeve 36 away from the heat-collecting cover 38. The operator starts the servo motor 34 to work. The rotation of the output end of the servo motor 34 can drive the actuating wheel 35 to rotate. Combined with the meshing installation between the actuating wheel 35's teeth and the semi-circular groove 37, the connecting sleeve 36 is subjected to the actuating force of the actuating wheel 35's teeth, which causes the connecting sleeve 36 to rotate. The heat-collecting cover 38 and the ultrasonic impact head 310 will rotate and adjust their positions along with the connecting sleeve 36. The positions of the heat-collecting cover 38 and the ultrasonic impact head 310 can be adjusted in time according to the moving direction of the welding head 33. The robot frame is always heated first through the heat-collecting cover 38, then welded through the welding head 33, and finally the stress is relieved through the ultrasonic impact head 310. Semi-circular grooves 37 are evenly distributed on the top of the connecting sleeve 36. The teeth on the surface of the actuating wheel 35 are engaged with the semi-circular grooves 37. The welding head 33 passes through the center of the connecting sleeve 36.
[0026] The adjuster 31 includes a linear pusher 3101 and a guide rail 3104. The guide rail 3104 is fixedly installed on the top of the gantry 2. The linear pusher 3101 is installed inside the guide rail 3104. A connecting slide 3102 is slidably installed on the top of the guide rail 3104. A hydraulic cylinder 3103 is fixedly connected to the surface of the connecting slide 3102. The surface of the welding host 32 is fixedly installed with the telescopic end of the hydraulic cylinder 3103. When the operator activates the hydraulic cylinder 3103, the extension of the telescopic end of the hydraulic cylinder 3103 applies a downward pushing force to the welding host 32, causing the welding host 32 to move downward. The welding head 33 moves downward along with the welding host 32, adjusting the height of the welding host 32 and the welding head 33 to facilitate the movement of the bottom end of the welding head 33 to a distance from the robot frame. The accurate location of the weld seam facilitates the welding head 33 to weld the robot frame. At the same time, the output end of the linear push-pull device 3101 applies pushing and pulling forces to the connecting slide 3102. Under the connection of the hydraulic cylinder 3103, the connecting slide 3102 drives the welding host 32 and the welding head 33 to move linearly, increasing the welding range. With the support of the welding head 33, the heat-collecting shell 38 and the ultrasonic impact head 310 move downward together with the welding head 33, so that the bottom of the heat-collecting shell 38 and the bottom of the ultrasonic impact head 310 are close to the robot frame. Through the heating of the high-temperature heater 39 and the heat-collecting shell 38, the weld seam of the robot frame can be heated, thereby pre-treating the weld seam of the robot frame and reducing the temperature difference of the weld seam of the robot frame during welding.
[0027] The output end of the linear push-pull device 3101 is fixedly installed on the side of the surface of the connecting slide 3102. The hydraulic cylinder 3103 is installed vertically. There are two hydraulic cylinders 3103, and the two hydraulic cylinders 3103 are symmetrically installed along the welding host 32. After the welding head 33 welds the robot frame, the ultrasonic impact head 310 will emit high-frequency vibration to perform high-frequency micro-impact on the weld of the robot frame. The high-frequency micro-impact causes the weld and heat-affected zone metal to produce micro-plastic extension, and the "stuck" shrinkage stress is released and relaxed, thereby automatically eliminating stress and making it less prone to cracking.
[0028] Example 2, based on Example 1, see [link / reference] Figures 1 to 7 A technical solution is provided: The material turning mechanism 4 includes a driver 41, a right-angle opening frame 42, and a stepper motor 43. The driver 41 is installed inside the body 1, the right-angle opening frame 42 is installed on top of the driver 41, and the stepper motor 43 is installed on top of the driver 41 and close to the right-angle opening frame 42. The output end of the stepper motor 43 is fixedly connected to a drive wheel 44. The inner wall of the right-angle opening frame 42 is provided with a trapezoidal groove 45, and a strip-shaped release rod 46 is fixedly connected to the center of the right-angle opening frame 42. The operator places the long strip robot frame to be welded onto the right-angled inner side of the right-angle opening frame 42, so that the surface of the robot frame is in contact with the right-angled surface of the right-angle opening frame 42, thus initially limiting the robot frame.
[0029] The strip-shaped release bar 46 is installed horizontally, and there are two right-angle opening frames 42. The two right-angle opening frames 42 are installed symmetrically along the strip-shaped release bar 46. The trapezoidal grooves 45 are evenly distributed along the circumferential direction of the central axis of the right-angle opening frame 42. The strip teeth on the surface of the drive wheel 44 mesh with the trapezoidal grooves 45.
[0030] The driver 41 includes a linear mover 411, which is fixedly installed in the middle of the inner side of the machine body 1. The output end of the linear mover 411 is fixedly connected to a support platform 412. The top of the support platform 412 is fixedly connected to a plate 413. A stepper motor 43 is fixedly installed on the top of the plate 413. An I-shaped wheel 414 is rotatably installed on the top of the plate 413 and near the stepper motor 43. A right-angle open frame 42 is installed in the annular groove on the top of the I-shaped wheel 414.
[0031] The linear movers 411 are installed horizontally. There are two linear movers 411, and the two linear movers 411 are installed symmetrically along the central axis of the body 1.
[0032] Example 3, based on Examples 1 and 2, see below. Figures 1 to 8 A technical solution is provided: A flexible fixing component 5 is installed at the right-angle opening on the surface of the right-angle opening frame 42; The flexible fixing component 5 includes a first cylinder 51 and a second cylinder 52. The first cylinder 51 is hinged to the side of the inner wall of the right-angle opening frame 42, and the second cylinder 52 is hinged to the inner wall of the right-angle opening frame 42 and close to the first cylinder 51. A first sliding sleeve 53 is slidably installed at the opening on the surface of the right-angle opening frame 42, and a second sliding sleeve 54 is slidably installed on the surface of the right-angle opening frame 42 away from the first sliding sleeve 53. A strap 55 is fixedly connected between the first sliding sleeve 53 and the second sliding sleeve 54. An anti-slip block 56 is fixedly connected to the surface of the strap 55 and close to the first cylinder 51. A triangular limiting piece 57 is fixedly connected to the outer end of the anti-slip block 56. When the operator starts the first cylinder 51 and the second cylinder 52, the first cylinder 51 is extended or retracted to operate. When the first sliding sleeve 53 is retracted, a pulling force can be applied to the first sliding sleeve 53, causing it to slide inward toward the right-angle opening frame 42. When the extension end of the second cylinder 52 retracts, a pulling force can be applied to the second sliding sleeve 54, causing it to move inward toward the right-angle opening frame 42. As the first sliding sleeve 53 and the second sliding sleeve 54 move together, the strap 55 is pulled and is in a taut state. The end of the long strip robot frame is located between the right angle surface of the right-angle opening frame 42 and the strap 55. The strap 55 fixes the end of the long strip robot frame and contacts the end of the robot frame through the anti-slip block 56, which increases friction and plays a role in preventing slippage. The surface of the triangular limiting piece 57 fits against the end face of the robot frame, which can position the robot frame and prevent it from shifting.
[0033] Both the first cylinder 51 and the second cylinder 52 are installed at an angle. The telescopic end of the first cylinder 51 is hinged to the surface of the first sliding sleeve 53, and the telescopic end of the second cylinder 52 is hinged to the surface of the second sliding sleeve 54. The strap 55 is flexible and, after contacting the robot frame, wraps around the end of the robot frame to achieve flexible fixation and avoid rigid clamping fixation. This makes the robot frame less prone to deformation. The robot frame and the right-angled opening frame 42 are in surface contact, increasing the contact area, which is suitable for fixing robot frames with thin walls. The strip-shaped release bar 46 supports the robot frame, and the robot frame is lifted as a whole by the strip-shaped release bar 46, further preventing the robot frame from deforming.
[0034] The inner sides of the first sliding sleeve 53 and the second sliding sleeve 54 are fitted against the opening on the surface of the right-angle opening frame 42. Anti-slip blocks 56 are evenly distributed on the surface of the strap 55. After the robot frame is fixed to the right-angle face of the right-angle opening frame 42, the operator starts the linear actuator 411. Using the movement of the bottom output end of the linear actuator 411, the support platform 412 can be moved. Supported by the plate 413, the robot frame to be processed on the right-angle opening frame 42 moves towards the welding head 33. When the robot frame to be processed moves directly below the welding head 33, the linear actuator 411 is paused, stopping the robot frame movement. When flipping is required, a hydraulic cylinder is used... The retraction of the telescopic end 3103 applies an upward pulling force to the welding host 32, causing the welding host 32 to drive the welding head 33 to move upward. As the welding head 33 moves away from the robot frame, the stepper motor 43 is activated to start working. The rotation of the output end of the stepper motor 43 drives the drive wheel 44 to rotate. The drive wheel 44 is engaged with the trapezoidal groove 45. The right-angle opening frame 42 is driven by the drive wheel 44 and supported by the rolling of the I-shaped wheel 414. This causes the right-angle opening frame 42 to drive the robot frame to rotate in a circumferential direction, thereby flipping the robot frame and facilitating the welding head 33 to weld multiple sides of the robot frame.
[0035] When in use, the staff first place the long strip robot frame to be welded onto the right-angled inner side of the right-angled opening frame 42, so that the surface of the robot frame fits against the right-angled surface of the right-angled opening frame 42, and the robot frame can be initially limited. At this time, the staff activates the first cylinder 51 and the second cylinder 52. By retracting the telescopic end of the first cylinder 51, a pulling force can be applied to the first sliding sleeve 53, causing the first sliding sleeve 53 to slide inward toward the right-angle opening frame 42. When the telescopic end of the second cylinder 52 retracts, a pulling force can be applied to the second sliding sleeve 54, causing the second sliding sleeve 54 to move inward toward the right-angle opening frame 42. As the first sliding sleeve 53 and the second sliding sleeve 54 move together, the strap 55 is pulled and is in a taut state. The end of the long strip robot frame is located between the right angle surface of the right-angle opening frame 42 and the strap 55. The strap 55 fixes the end of the long strip robot frame and contacts the end of the robot frame through the anti-slip block 56, which can increase the friction and play an anti-slip role. The surface of the triangular limiting piece 57 is attached to the end face of the robot frame, which can position the robot frame. After the robot frame is fixed on the right angle face of the right angle opening frame 42, the operator starts the linear motion device 411 to work. By moving the bottom output end of the linear motion device 411, the support platform 412 can be moved. With the support of the plate 413, the robot frame to be processed on the right angle opening frame 42 moves closer to the welding head 33. When the robot frame to be processed moves to the bottom of the welding head 33, the linear motion device 411 is paused and the robot frame movement is stopped. The operator activates the hydraulic cylinder 3103 to perform the work. By extending the telescopic end of the hydraulic cylinder 3103, a downward pushing force can be applied to the welding host 32, causing the welding host 32 to move downward. The welding head 33 will also move downward along with the welding host 32, adjusting the height of the welding host 32 and the welding head 33. This facilitates the bottom of the welding head 33 to move to the accurate position relative to the weld seam of the robot frame, making it easier for the welding head 33 to perform welding processing on the robot frame. At the same time, the output end of the linear push-pull device 3101 applies a pushing and pulling force to the connecting slide 3102. With the connection of the hydraulic cylinder 3103, the connecting slide 3102 drives the welding host 32 and the welding head 33 to move linearly, increasing the welding range. Simultaneously, supported by the welding head 33, the heat-collecting shell 38 and the ultrasonic impact head 310 move downward together with the welding head 33, so that the bottom of the heat-collecting shell 38 and the bottom of the ultrasonic impact head 310 are close to the robot frame. Through the heating of the high-temperature heater 39 and the heat-collecting shell 38, the weld seam of the robot frame can be heated, thereby pre-treating the weld seam of the robot frame and reducing the temperature difference of the weld seam of the robot frame during welding. Moreover, after the welding head 33 welds the robot frame, the ultrasonic impact head 310 will emit high-frequency vibrations to perform high-frequency micro-impact on the weld of the robot frame. The high-frequency micro-impact causes the weld and heat-affected zone metal to produce micro-plastic extension, and the "stuck" shrinkage stress is released and relaxed, thereby automatically eliminating stress and making it less prone to cracks. When flipping is required, the retraction of the extension end of the hydraulic cylinder 3103 applies an upward pulling force to the welding host 32, causing the welding host 32 to drive the welding head 33 to move upward. As the welding head 33 moves away from the robot frame, the stepper motor 43 is activated to start working. The rotation of the output end of the stepper motor 43 drives the drive wheel 44 to rotate. Combined with the meshing of the strip teeth on the surface of the drive wheel 44 and the trapezoidal groove 45, the right-angle opening frame 42 is driven by the strip teeth on the surface of the drive wheel 44. Under the rolling support of the I-shaped wheel 414, the right-angle opening frame 42 drives the robot frame to rotate in a circumferential direction, thereby flipping the robot frame and facilitating the welding head 33 to weld multiple sides of the robot frame. After the welding of multiple sides of the robot frame is completed, the output end of the linear translator 411 is moved to move the right-angle opening frame 42 to the side away from the welding head 33. The first cylinder 51 and the second cylinder 52 are activated again. The first cylinder 51 and the second cylinder 52 extend together, so that the strap 55 is no longer tightened. The strap 55 is released from fixing the robot frame, and the robot frame can be removed.
[0036] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. An automated stress-relieving robotic frame welding device, characterized in that, include: The main body (1) and the gantry (2) fixedly installed on the top side of the main body (1); Welding mechanism (3), the welding mechanism (3) includes an adjuster (31) and a welding host (32). The adjuster (31) is installed on the top of the gantry (2). The welding host (32) is installed on the surface of the adjuster (31). A welding head (33) is installed at the bottom of the welding host (32). A servo motor (34) is fixedly installed at the bottom of the surface of the welding host (32). A turn wheel (35) is fixedly installed at the output end of the servo motor (34). A connecting sleeve (36) is rotatably installed at the middle of the surface of the welding head (33). A semi-circular groove (37) is opened at the top of the connecting sleeve (36). A heat-collecting shell (38) is fixedly connected to the surface of the connecting sleeve (36). A high-temperature heater (39) is installed at the top of the heat-collecting shell (38). An ultrasonic impact head (310) is installed on the surface of the connecting sleeve (36) and on the side away from the heat-collecting shell (38). The material turning mechanism (4) includes a driver (41), a right-angle opening frame (42) and a stepper motor (43). The driver (41) is installed inside the machine body (1). The right-angle opening frame (42) is installed on the top of the driver (41). The stepper motor (43) is installed on the top of the driver (41) and close to the right-angle opening frame (42). The output end of the stepper motor (43) is fixedly connected to a drive wheel (44). The inner wall of the right-angle opening frame (42) is provided with a trapezoidal groove (45). A strip-shaped release rod (46) is fixedly connected to the center of the right-angle opening frame (42). A flexible fixing component (5) is installed at the right-angle opening on the surface of the right-angle opening frame (42).
2. The automatic stress-relieving robotic frame welding equipment according to claim 1, characterized in that: The semi-circular grooves (37) are evenly distributed on the top of the connecting sleeve (36), the teeth on the surface of the actuating wheel (35) are engaged with the semi-circular grooves (37), and the welding head (33) passes through the center of the connecting sleeve (36).
3. The robotic frame welding equipment for automatic stress relief according to claim 1, characterized in that: The regulator (31) includes a linear push-pull device (3101) and a guide rail (3104). The guide rail (3104) is fixedly installed on the top of the gantry (2). The linear push-pull device (3101) is installed inside the guide rail (3104). A connecting slide (3102) is slidably installed on the top of the guide rail (3104). A hydraulic cylinder (3103) is fixedly connected to the surface of the connecting slide (3102). The surface of the welding host (32) is fixedly installed with the telescopic end of the hydraulic cylinder (3103).
4. The automatic stress-relieving robotic frame welding equipment according to claim 3, characterized in that: The output end of the linear push-pull device (3101) is fixedly installed at the side of the surface of the connecting slide (3102). The hydraulic cylinder (3103) is installed vertically. There are two hydraulic cylinders (3103), and the two hydraulic cylinders (3103) are installed symmetrically along the welding host (32).
5. The robotic frame welding equipment for automatic stress relief according to claim 1, characterized in that: The strip rod (46) is installed horizontally, and there are two right-angle opening frames (42), which are installed symmetrically along the strip rod (46). The trapezoidal groove (45) is evenly distributed along the circumferential direction of the central axis of the right-angle opening frame (42). The strip teeth on the surface of the drive wheel (44) mesh with the trapezoidal groove (45).
6. The robotic frame welding equipment for automatic stress relief according to claim 1, characterized in that: The driver (41) includes a linear mover (411), which is fixedly installed in the middle of the inner side of the machine body (1). The output end of the linear mover (411) is fixedly connected to a support platform (412). The top of the support platform (412) is fixedly connected to a plate (413). The stepper motor (43) is fixedly installed on the top of the plate (413). An I-shaped wheel (414) is rolled on the top of the plate (413) and near the stepper motor (43). The right-angle open frame (42) is installed in the annular groove on the top of the I-shaped wheel (414).
7. The robotic frame welding equipment for automatic stress relief according to claim 6, characterized in that: The linear mover (411) is installed horizontally, and there are two linear movers (411), and the two linear movers (411) are installed symmetrically along the central axis of the body (1).
8. The automatic stress-relieving robotic frame welding equipment according to claim 1, characterized in that: The flexible fixing component (5) includes a first cylinder (51) and a second cylinder (52). The first cylinder (51) is hinged to the side of the inner wall of the right-angle opening frame (42). The second cylinder (52) is hinged to the inner wall of the right-angle opening frame (42) and close to the first cylinder (51). A first sliding sleeve (53) is slidably installed at the opening on the surface of the right-angle opening frame (42). A second sliding sleeve (54) is slidably installed on the surface of the right-angle opening frame (42) away from the first sliding sleeve (53). A strap (55) is fixedly connected between the first sliding sleeve (53) and the second sliding sleeve (54). An anti-slip block (56) is fixedly connected to the surface of the strap (55) and close to the first cylinder (51). A triangular limiting piece (57) is fixedly connected to the outer end of the anti-slip block (56).
9. The automatic stress-relieving robotic frame welding equipment according to claim 8, characterized in that: The first cylinder (51) and the second cylinder (52) are both installed at an angle. The telescopic end of the first cylinder (51) is hinged to the surface of the first sliding sleeve (53), and the telescopic end of the second cylinder (52) is hinged to the surface of the second sliding sleeve (54).
10. The robotic frame welding equipment for automatic stress relief according to claim 8, characterized in that: The inner side of the first sliding sleeve (53) and the inner side of the second sliding sleeve (54) are in contact with the opening on the surface of the right-angle opening frame (42), and the anti-slip block (56) is evenly distributed on the surface of the strap (55).