Modular welding robot and welding platform

Abstract

The application relates to the field of welding robots, and particularly discloses a modular welding robot and a welding platform, which solve the problems that the operation space is narrow after the existing multi-module welding robot is combined and arranged, workpieces are difficult to be smoothly fed and discharged, the platform does not have an integrated central calibration structure, workpiece positioning deviation is large, welding misplacement is prone to occur, and machining precision and production efficiency are low. The following scheme is proposed: the device comprises a ring groove, an arc-shaped seat, a mechanical arm, a welding device, a sliding rod frame one, a sliding rod frame four, a sliding plate, a rotating plate, a supporting plate frame, a frame body, a sleeve seat one, a sleeve frame one, a sliding seat two, a sleeve frame two, a driving assembly and a linkage assembly; the sleeve seat one is provided with a folding assembly; the folding assembly is used for driving the sleeve frame one to be vertically folded and rotated to a horizontal state when the two sliding plates are away from each other. The device can modularly and flexibly disassemble and assemble the welding device, facilitates feeding and discharging of the welding piece, and calibrates the position, so that the welding precision is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of welding robots, and in particular to a modular welding robot and welding platform. Background Technology

[0002] Multi-robot modular welding systems can be flexibly combined and arranged according to workpiece specifications, and are widely used in the batch welding of steel structures and mechanical parts. Existing multi-module combined welding robot platforms have obvious defects: after the workpiece is placed, there is a lack of a reliable centering and calibration mechanism, resulting in large manual positioning errors, easy deviation of the welding trajectory, poor welding accuracy of finished products, and high rework rate.

[0003] When multiple robot modules are arranged side-by-side, each robotic arm and welding torch occupies a large amount of space around the workpiece. The operating space on both sides and at the front of the welding area is narrow, hindering workpiece clamping and loading / unloading operations. This limits processing to small parts only at a time, making it difficult to handle large parts and significantly reducing production cycle time. Traditional welding platforms have separate calibration mechanisms and loading / unloading stations, resulting in a dispersed structure that cannot adapt to the compact arrangement of multiple robots. Adding additional positioning fixtures would further encroach on the operating space, making it difficult to simultaneously meet the production requirements of precise positioning and convenient loading / unloading. Therefore, a modular welding robot and welding platform are proposed. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes a modular welding robot and welding platform, which solves the problems of limited operating space, difficulty in smooth loading and unloading of workpieces, lack of integrated centering and calibration structure, large workpiece positioning deviation, easy welding misalignment, and low processing accuracy and production efficiency after the existing multi-modal welding robot is combined and arranged.

[0005] To solve the above-mentioned technical problems, the basic technical solution proposed by this invention is as follows:

[0006] A modular welding robot and welding platform includes an annular groove, an arc-shaped seat slidably fitted inside the annular groove, a robotic arm mounted on the arc-shaped seat, and welding equipment mounted on the robotic arm. A sliding rod frame one and a sliding rod frame four are respectively connected to the bottom of the annular groove along the front and rear radial sides and the left and right radial sides. A sliding plate is slidably fitted on the sliding rod frame one. A rotating plate is rotatably connected to both ends of each sliding plate. A support frame is rotatably connected to the upper end of the rotating plate on the front and rear sliding plates. A frame body is connected to the far ends of the front and rear sliding plates. A sleeve seat one is slidably arranged inside the frame body.

[0007] A sleeve frame is rotatably connected to the sleeve base one. Slide seats two are symmetrically slidably mounted on the slide rod frames four on both sides, and the upper end of the slide seats two is connected to the sleeve frame two. A driving component is provided on the annular groove. The driving component is used to drive the slide plate to slide outside the slide rod frame one, or to drive the slide seats two to slide outside the slide rod frame four. A linkage component is provided inside the frame. The linkage component is used to drive the sleeve base one on both sides to move closer to each other when the slide plates on both sides slide to the limit state. A folding component is provided on the sleeve base one. The folding component is used to drive the sleeve frame one to fold vertically and rotate to a horizontal state when the slide plates on both sides move away from each other.

[0008] Preferably, a toothed ring is fitted on the inner wall of the annular groove, a servo motor is installed in the arc-shaped seat, and a gear that meshes with the toothed ring is fitted on the output end of the servo motor.

[0009] Preferably, a plurality of rollers 1 are rotatably mounted at equal intervals on the pallet frame, and the edges of the rollers 1 extend to the outside of the pallet frame; a plurality of rollers 2 are rotatably mounted at equal intervals inside the sleeve frame 1, and the edges of the rollers 2 extend to the outside of the sleeve frame 1; a plurality of rollers 3 are rotatably mounted at equal intervals inside the sleeve frame 2, and the edges of the rollers 3 extend to the outside of the sleeve frame 2.

[0010] Preferably, the slide rod frame 1 is arranged in groups along both sides of the annular groove, with two sets of slide rod frame 1 on each side. The ends of the slide plates on the front and rear sides that are far apart from each other are connected to the ends of the slide rod frame 1 on the front and rear sides that are far apart from each other, and springs 1 are sleeved on the outside of the slide rod frame 1. The ends of the rotating plates on the front and rear sides that are far apart from their respective slide plates are inclined away from each other and are rotatably connected to the bottom of the support frame. The ends of the slide seats 2 on both sides that are close to each other are connected to the ends of the slide rod frame 4 on both sides that are close to each other, and springs 4 are sleeved on the outside of the slide rod frame 4.

[0011] Preferably, the drive assembly includes a base ring, a second lever, a drive motor, a frame, guide rods, a second servo motor, a lead screw, a third slide, and a retainer. The base ring is concentrically fitted at the bottom of the ring groove. The second lever is connected to the bottom of the second slide. The drive motor is installed at the center of the base ring. The frame is fitted radially around the drive motor at its output end. The guide rods are in pairs, symmetrically connected to both ends of the frame. The second servo motors are in pairs, respectively installed on both sides of the frame. The lead screws are respectively connected to the output ends of the second servo motors on opposite sides, and are parallel to the guide rods, positioned between the two guide rods on their respective sides. The third slide is threaded onto the outside of the lead screw, and also slidably fitted onto the outside of the guide rod on its respective side. The retainer is connected to the upper end of the third slide and cooperates with the second lever.

[0012] Preferably, the inner wall of the base ring is also fitted with a ring rail, and both ends of the frame extend radially into the ring rail and slide within the ring rail. The bottom of the ring groove is symmetrically provided with two sliding grooves on both sides along the left and right radial directions. The second sliding seat slides within the second sliding groove and extends through the second sliding groove to the bottom of the ring groove. The second lever is connected to the lower extension end of the second sliding seat in the ring groove. Both the first and second sleeve frames extend above the support frame.

[0013] Preferably, the linkage component includes a slide block 1 and a lever 1. The slide block 1 is slidably disposed within the frame and is located between the sleeve 1 and the inner wall of the frame away from the center of the annular groove. The lever 1 is connected to the bottom of the slide block 1 and engages with the retaining seat. A slide rod frame 2 is connected between the inner walls of the frame along the radial direction of the annular groove. Both the slide block 1 and the sleeve 1 are slidably sleeved on the outer side of the slide rod frame 2. A spring 2 sleeved on the outer side of the slide rod frame 2 is connected between the sleeve 1 and the inner wall of the frame near the center of the annular groove.

[0014] Preferably, a sliding groove is provided on both the front and rear sides of the bottom of the annular groove, the sliding seat is slidably sleeved in the sliding groove and extends through the sliding groove to the bottom of the annular groove, and the lever is connected to the lower extension end of the sliding seat in the annular groove.

[0015] Preferably, the folding assembly includes a rotating shaft, a second gear, a third slide rod, a sleeve plate, a toothed plate, a slanted frame, and a top plate frame. The rotating shaft is rotatably mounted on the first sleeve. The second gear is mounted on the outside of the rotating shaft. The first sleeve frame is connected to the rotating shaft. The third slide rod is connected to the first sleeve. The sleeve plate is slidably mounted on the outside of the third slide rod, and a third spring mounted on the outside of the third slide rod is connected between the sleeve plate and the first sleeve. The toothed plate is connected to the lower end of the sleeve plate and meshes with the second gear. The slanted frame is connected to both ends of the sleeve plate. The top plate frame is connected to the bottom of the annular groove, and both ends of the top plate frame slide and abut against the slanted surfaces of the slanted frames on the front and rear sleeve plates, respectively.

[0016] Preferably, a mounting base is connected to the first sleeve, the rotating shaft is rotatably mounted on the side of the mounting base away from the center of the annular groove, and the third slide rod bracket is also connected to the mounting base.

[0017] The beneficial effects of this invention are:

[0018] 1. The technical solution of the present invention can drive the frame to rotate to the front-back or left-right orientation by controlling the operation of the drive motor. When rotating to the front-back orientation, the servo motor 2 drives the slide 3 and the card seat to move to the circumferential outline of the lever 1 below the slide 1. Then, the frame is controlled to rotate to the front-back orientation. At this time, the card seat on the front and rear slide 3 can be sleeved on the lever 1. Then, the front and rear slide 3 are driven to move away from each other. Then, the slide 3 pushes the lever 1 and the slide 1 away from each other, so as to resist and drive the front and rear frame and the slide plate away from each other, thereby driving the turntable to rotate. During the process, the pallet frame will be lifted so that the pallet frame can move up to be coplanar with the annular groove, so as to facilitate the delivery of the welded parts to the pallet frame. During the process, the movement of the front and rear frame and the slide plate away from each other can also drive the front and rear sleeve frame 1 to move away from each other, so as to leave space for the welded parts to be delivered to the pallet frame. At the same time, the multi-axis robotic arm and the welding equipment can be installed on the arc-shaped seat by bolts, so that multiple welding equipment can run on the annular groove at the same time to achieve multi-directional high-efficiency welding.

[0019] 2. The technical solution of this invention involves controlling the two sliding blocks three to move away from each other within the frame until they reach the circumferential outline of the bottom lever two of the left and right sliding blocks two. Then, the frame is rotated to a left-right orientation, allowing the card holder to be fitted onto the lever two. Then, controlling the two sliding blocks three and the card holder to move closer together causes the left and right lever two, sliding blocks two, and the sleeve frame two to move closer together. This allows the sleeve frame two on the left and right sides and the roller three inside to make left-right centered contact with the welded parts supported by roller one on the already lowered pallet frame. Then, the frame is adjusted again to a front-back orientation, allowing the card holder to... The lever is engaged and drives the front and rear slides to move closer together. At this time, the slide will contact the slide frame, which will in turn drive the slide to push the sleeve to slide closer together in the two side frames. This allows the sleeve frame on the front and rear sleeves to move closer together, and the rollers inside the sleeve frame will center the front and rear sides of the welded part to contact each other. Since the rollers on the support frame are arranged left and right, the left and right centering contact is performed first, and then the front and rear centering contact is performed. When the welded part is centered in the front and rear, it will roll on the surface of the roller and ensure that it will not move in the left and right directions, thus improving the accuracy and stability of the centering alignment.

[0020] 3. The technical solution of the present invention, when supporting the welded parts by moving the pallet frame upward, causes the front and rear side frames and the slide plate to move away from each other during the process. This will cause the inclined frames at both ends of the sliding plate on the sleeve seat to stop contacting the ends of the top plate frame. Then, under the action of the spring three, the sleeve plate slides upward along the slide rod frame three and pulls the toothed plate to mesh with the gear two, causing the sleeve frame one to rotate from a vertical fold to a horizontal state. This makes the sleeve frame one lower than the upper end surface of the pallet frame, so as to facilitate the support of the conveyed welded parts and avoid the sleeve frame one from obstructing the transfer of the welded parts, making the operation more convenient. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a cross-sectional view of the front structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the welding-free equipment of the present invention;

[0024] Figure 4 This is a schematic diagram of the bottom of the annular groove of the present invention viewed from below;

[0025] Figure 5 This is a schematic diagram of the internal structure of the annular groove of the present invention;

[0026] Figure 6 This is a bottom view of the relevant structure between the two sliding plates of the present invention;

[0027] Figure 7 This is a schematic diagram of the relevant structure between the two sliding plates of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of the folding component of the present invention;

[0029] Figure 9 This is a schematic diagram of the structure of the driving component of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Base ring; 2. Ring groove; 3. Gear ring; 4. Arc-shaped seat; 5. Servo motor one; 6. Gear one; 7. Robotic arm; 8. Welding equipment; 9. Slide 1; 10. Slide 2; 11. Slide rod frame one; 12. Slide plate; 13. Spring one; 14. Turning plate; 15. Pallet frame; 16. Roller one; 17. Frame; 18. Slide rod frame two; 19. Slide seat one; 20. Lever one; 21. Sleeve one; 22. Spring two; 23. Mounting seat; 24. Rotating shaft; 25. Sleeve Frame 1; 26. Roller 2; 27. Gear 2; 28. Slide Rod Frame 3; 29. ​​Sleeve Plate; 30. Gear Plate; 31. Inclined Frame; 32. Spring 3; 33. Top Plate Frame; 34. Slide Rod Frame 4; 35. Slide Base 2; 36. Sleeve Frame 2; 37. Lever 2; 38. Roller 3; 39. Spring 4; 40. Drive Motor; 41. Frame; 42. Guide Rod; 43. Servo Motor 2; 44. Lead Screw; 45. Slide Base 3; 46. Card Seat; 47. Ring Rail. Detailed Implementation

[0032] The following will be combined with the appendix Figure 1 To be continued Figure 9The technical solutions in the embodiments of the present invention have been clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1: As Figures 1-9 As shown, the present invention discloses a modular welding robot and welding platform, including an annular groove 2, an arc-shaped seat 4 slidably sleeved in the annular groove 2, a robotic arm 7 mounted on the arc-shaped seat 4, and a welding device 8 mounted on the robotic arm 7. The bottom of the annular groove 2 is connected to a sliding rod frame 11 and a sliding rod frame 34 on the front and rear radial sides and the left and right radial sides, respectively. A sliding plate 12 is slidably sleeved on the sliding rod frame 11. A rotating plate 14 is rotatably connected to both ends of each sliding plate 12. The upper ends of the rotating plates 14 on the front and rear sliding plates 12 are rotatably connected to a support frame 15. The far ends of the front and rear sliding plates 12 are connected to a frame body 17. A sleeve seat 21 is slidably arranged in the frame body 17.

[0034] A sleeve frame 25 is rotatably connected to the sleeve base 21. Slide seats 35 are symmetrically slidably mounted on the slide rod frames 34 on both sides, and a sleeve frame 36 is connected to the upper end of the slide seat 35. A drive assembly is provided on the annular groove 2. The drive assembly is used to drive the slide plate 12 to slide outside the slide rod frame 11, or to drive the slide seat 35 to slide outside the slide rod frame 34. A linkage assembly is provided inside the frame 17. The linkage assembly is used to drive the sleeve bases 21 on both sides to move closer to each other when the slide plates 12 on both sides slide to the limit state. A folding assembly is provided on the sleeve base 21. The folding assembly is used to drive the sleeve frame 25 to fold vertically and rotate to the horizontal state when the slide plates 12 on both sides move away from each other.

[0035] A toothed ring 3 is fitted inside the inner wall of the annular groove 2, and a servo motor 5 is installed inside the arc-shaped seat 4. The output end of the servo motor 5 is fitted with a gear 6 that meshes with the toothed ring 3, so that each arc-shaped seat 4 can be independently controlled in position on the annular groove 2. Under the calculation of the existing anti-collision module, each arc-shaped seat 4 and its robotic arm 7 can cooperate with the welding equipment 8 to move in position and coordinate to perform welding or loading and unloading operations, thereby improving operating efficiency.

[0036] Multiple rollers 16 are rotatably mounted at equal intervals on the pallet frame 15, with the edges of the rollers 16 extending to the outside of the pallet frame 15. Multiple rollers 26 are rotatably mounted at equal intervals inside the sleeve frame 25, with the edges of the rollers 26 extending to the outside of the sleeve frame 25. Multiple rollers 38 are rotatably mounted at equal intervals inside the sleeve frame 26, with the edges of the rollers 38 extending to the outside of the sleeve frame 26. This allows for more flexible displacement adjustment when the welded parts are centered and collide left and right or front and back.

[0037] The slide rod brackets 11 are arranged in groups along both sides of the annular groove 2. Each side has two sets of slide rod brackets 11. The ends of the slide plates 12 on the front and rear sides that are far apart from each other are connected to the ends of the slide rod brackets 11 on the front and rear sides that are far apart from each other. Springs 13 are sleeved on the outside of the slide rod brackets 11. The ends of the rotating plates 14 on the front and rear sides that are far apart from their respective slide plates 12 are inclined away from each other and are rotatably connected to the bottom of the support frame 15. The ends of the slide seats 35 on both sides that are close to each other and the ends of the slide rod brackets 34 on both sides that are close to each other are connected to the ends of the slide rod brackets 34 on both sides that are close to each other. This ensures that in the initial state, due to the weight of the support frame 15 itself and the action of the springs 13, the slide plates 12 on both sides can be in a state of being close to each other and in contact with the ends of the slide rod brackets 11 on both sides, thus ensuring the stability of the support frame 15.

[0038] Example 2: Figures 1-9 As shown, the present invention discloses a modular welding robot and welding platform. Compared with Embodiment 1, this embodiment discloses the structure of the drive component.

[0039] The drive assembly includes a base ring 1, a lever 37, a drive motor 40, a frame 41, guide rods 42, servo motors 43, lead screws 44, a slide block 45, and a retainer 46. The base ring 1 is concentrically fitted at the bottom of the ring groove 2. The lever 37 is connected to the bottom of the slide block 35. The drive motor 40 is installed at the center of the base ring 1. The frame 41 is fitted radially around the drive motor 40 at its output end. The guide rods 42 are in pairs and symmetrically connected to both ends of the frame 41. The servo motors 43 are in pairs and installed on both sides of the frame 41. The lead screws 44 are connected to the output ends of the two servo motors 43 on opposite sides, and are parallel to the guide rods 42 and located between the two guide rods 42 on their respective sides. The slide block 45 is threaded onto the outside of the lead screw 44 and also slides on the outside of the guide rods 42 on their respective sides. The retainer 46 is connected to the upper end of the slide block 45 and is fitted in conjunction with the lever 37.

[0040] The inner wall of the base ring 1 is also fitted with a ring rail 47. The two ends of the frame 41 extend radially into the ring rail 47 and slide within the ring rail 47. The bottom of the ring groove 2 is symmetrically provided with two sliding grooves 10 on both sides of the left and right radial direction. The second sliding seat 35 slides within the second sliding groove 10 and extends through the second sliding groove 10 to the bottom of the ring groove 2. The second lever 37 is connected to the lower extension end of the second sliding seat 35 in the ring groove 2. Both the first sleeve frame 25 and the second sleeve frame 36 extend above the support frame 15.

[0041] This allows the drive motor 40 to operate, adjust the orientation of the frame 41, control the servo motor 43 to rotate forward and backward, and drive the slide blocks 45 and the card holder 46 on both sides to move closer or further apart. This controls the card holder 46 to move to the circumferential outline of the lever 37 at the lower end of the slide blocks 35 on both sides. By rotating the frame 41, the card holder 46 can be moved closer together, and the slide blocks 35 and the sleeve frame 36 on both sides can be moved closer together, so as to center the welded parts that are transferred from the pallet frame 15 by the roller 16.

[0042] Example 3: Figures 1-9 As shown, the present invention discloses a modular welding robot and welding platform. Compared with Embodiment 2, this embodiment discloses the structure of the linkage component.

[0043] The linkage assembly includes a slide block 19 and a lever 20. The slide block 19 is slidably disposed inside the frame 17 and is located between the sleeve 21 and the inner wall of the frame 17 away from the center of the annular groove 2. The lever 20 is connected to the bottom of the slide block 19 and cooperates with the retainer 46. A slide rod bracket 18 is connected between the inner walls of the two sides of the frame 17 along the radial direction of the annular groove 2. The slide block 19 and the sleeve 21 are both slidably sleeved on the outside of the slide rod bracket 18. A spring 22 is sleeved on the outside of the slide rod bracket 18 and connected between the sleeve 21 and the inner wall of the frame 17 near the center of the annular groove 2.

[0044] The bottom of the annular groove 2 has a sliding groove 9 on both the front and rear sides. The sliding seat 19 is slidably fitted in the sliding groove 9 and extends through the sliding groove 9 to the bottom of the annular groove 2. The lever 20 is connected to the lower extension end of the sliding seat 19 in the annular groove 2.

[0045] By controlling the drive motor 40, the frame 41 can be rotated to either the front-back or left-right orientation. Before rotating to the front-back orientation, the servo motor 43 moves the slide block 45 and the mounting bracket 46 to the circumferential outline of the lever 20 below the slide block 19. Then, the frame 41 is rotated to the front-back orientation. At this time, the mounting bracket 46 on the front and rear slide blocks 45 can engage the lever 20, causing the front and rear slide blocks 45 to move away from each other. This, in turn, pushes the lever 20 away from the slide block 19, thus abutting and moving the front and rear frame bodies 1... As the sliding plate 12 moves away from each other, the rotating plate 14 rotates. During this process, the pallet frame 15 is lifted, allowing it to move upwards to be coplanar with the annular groove 2. This facilitates the transfer of the welded parts onto the pallet frame 15. The movement of the front and rear side frames 17 away from the sliding plate 12 also causes the front and rear side sleeve frames 25 to move away from each other, creating space for the welded parts to be transferred onto the pallet frame 15. Simultaneously, the multi-axis robotic arm 7 and the welding equipment 8 can be mounted on the arc-shaped seat 4 using bolts, allowing multiple welding devices 8 to operate simultaneously on the annular groove 2, thus achieving multi-directional and efficient welding.

[0046] Example 4: Figures 1-9 As shown, the present invention discloses a modular welding robot and welding platform. Compared with Embodiment 3, this embodiment discloses the structure of the folding component.

[0047] The folding assembly includes a pivot 24, a second gear 27, a third slide bar 28, a sleeve plate 29, a toothed plate 30, a slanted frame 31, and a top plate frame 33. The pivot 24 is rotatably mounted on the first sleeve 21. The second gear 27 is mounted on the outside of the pivot 24. The first sleeve frame 25 is connected to the pivot 24. The third slide bar 28 is connected to the first sleeve 21. The sleeve plate 29 is slidably mounted on the outside of the third slide bar 28. A third spring 32 is mounted on the outside of the third slide bar 28 and connected between the sleeve plate 29 and the first sleeve 21. The toothed plate 30 is connected to the lower end of the sleeve plate 29 and meshes with the second gear 27. The slanted frame 31 is connected to both ends of the sleeve plate 29. The top plate frame 33 is connected to the bottom of the annular groove 2. The two ends of the top plate frame 33 slide and abut against the slanted surfaces of the slanted frames 31 on the front and rear sleeve plates 29.

[0048] Mounting base 23 is connected to the sleeve 21. Rotating shaft 24 is rotatably mounted on the side of mounting base 23 away from the center of annular groove 2. Slide rod bracket 28 is also connected to mounting base 23.

[0049] By controlling the two sliding blocks 3 45 to move away from each other within the frame 41 until they are on the circumferential outline of the lever 2 37 at the bottom of the two sliding blocks 2 35, and then controlling the frame 41 to rotate to the left and right orientation, the holder 46 can be fitted onto the lever 2 37. Then, by controlling the two sliding blocks 3 45 and the holder 46 to move closer together, the lever 2 37, the sliding blocks 2 35 and the holder 2 36 on the left and right sides will move closer together, so that the holder 2 36 on the left and right sides and the roller 3 38 inside can make left and right center contact with the welded parts supported by the roller 1 16 on the already fallen pallet frame 15. Then, adjust again to rotate the frame 41 to the front and back orientation, so that the holder 46 can be fitted onto the lever 2 37. The rod 20 is clamped and drives the front and rear slide blocks 19 to move closer to each other. At this time, the slide plate 12 will abut against the slide rod frame 11, which will drive the slide block 19 to push the sleeve 21 to slide closer to each other in the two side frames 17. This allows the sleeve frame 25 on the front and rear sleeves 21 to move closer to each other. The roller 26 in the sleeve frame 25 will center the front and rear sides of the welded part to abut. Since the roller 16 on the support frame 15 is arranged left and right, the left and right centering abutment is performed first. Then, when the front and rear centering abutment is performed, the welded part will roll on the surface of the roller 16 when centering front and back, and ensure that it will not move in the left and right direction, thus improving the accuracy and stability of the centering alignment.

[0050] When the pallet frame 15 is moved upward to support the welded parts, the front and rear side frames 17 and the slide plate 12 move away from each other during the process. This will cause the inclined frames 31 at both ends of the sliding plate 29 on the sleeve seat 21 to stop contacting the top plate frame 33. Then, under the action of the spring 32, the sleeve plate 29 slides upward along the slide rod frame 38 and pulls the toothed plate 30 to mesh with the gear 27. This will cause the sleeve frame 25 to rotate from a vertical fold to a horizontal state, so that the sleeve frame 25 is lower than the upper surface of the pallet frame 15, which will facilitate the support of the conveyed welded parts and avoid the sleeve frame 25 from obstructing the transfer of the welded parts, making the operation more convenient.

[0051] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A modular welding robot and welding platform, comprising an annular groove (2), wherein an arc-shaped seat (4) is slidably fitted inside the annular groove (2), characterized in that, A robotic arm (7) is installed on the arc-shaped seat (4), and a welding device (8) is installed on the robotic arm (7). The bottom of the annular groove (2) is connected to a sliding rod frame one (11) and a sliding rod frame four (34) on the front and rear radial sides and the left and right radial sides, respectively. A sliding plate (12) is slidably sleeved on the sliding rod frame one (11). A rotating plate (14) is rotatably connected to both ends of each sliding plate (12). A support frame (15) is rotatably connected to the upper end of the rotating plate (14) on the front and rear sliding plates (12). A frame (17) is connected to the far ends of the front and rear sliding plates (12). A sleeve seat one (21) is slidably arranged inside the frame (17). A frame 1 (25) is rotatably connected to the first sleeve (21). Slide seats 2 (35) are symmetrically slidably mounted on the slide rod frames 4 (34) on both sides. A frame 2 (36) is connected to the upper end of the slide seat 2 (35). A drive assembly is provided on the annular groove (2). The drive assembly is used to drive the slide plate (12) to slide outside the slide rod frame 1 (11) or to drive the slide seat 2 (35) to slide outside the slide rod frame 4 (34). A linkage assembly is provided inside the frame (17). The linkage assembly is used to drive the first sleeve (21) on both sides to move closer to each other when the slide plates (12) on both sides slide to the limit state. A folding assembly is provided on the first sleeve (21). The folding assembly is used to drive the frame 1 (25) to fold vertically and rotate to the horizontal state when the slide plates (12) on both sides move away from each other.

2. The modular welding robot and welding platform according to claim 1, characterized in that, The inner wall of the annular groove (2) is fitted with a toothed ring (3), and a servo motor (5) is installed in the arc-shaped seat (4), and the output end of the servo motor (5) is fitted with a gear (6) that meshes with the toothed ring (3).

3. The modular welding robot and welding platform according to claim 1, characterized in that, Multiple rollers (16) are rotatably mounted at equal intervals on the pallet frame (15), and the edges of the rollers (16) extend to the outside of the pallet frame (15). Multiple rollers (26) are rotatably mounted at equal intervals inside the sleeve frame (25), and the edges of the rollers (26) extend to the outside of the sleeve frame (25). Multiple rollers (38) are rotatably mounted at equal intervals inside the sleeve frame (36), and the edges of the rollers (38) extend to the outside of the sleeve frame (36).

4. The modular welding robot and welding platform according to claim 1, characterized in that, The slide bar frame 1 (11) is arranged in groups on both sides of the annular groove (2) radially. Each side is provided with two sets of slide bar frames 1 (11). The ends of the slide plates (12) on the front and rear sides that are far apart from each other are connected to the ends of the slide bar frames 1 (11) on the front and rear sides that are far apart from each other, and springs 1 (13) are sleeved on the outside of the slide bar frame 1 (11). The ends of the rotating plates (14) on the front and rear sides that are far apart from their respective slide plates (12) are inclined to be far apart from each other and are rotatably connected to the bottom of the support frame (15). The ends of the slide seats 2 (35) on both sides that are close to each other are connected to the ends of the slide bar frames 4 (34) on both sides that are close to each other, and springs 4 (39) are sleeved on the outside of the slide bar frames 4 (34).

5. A modular welding robot and welding platform according to claim 1, characterized in that, The drive assembly includes a base ring (1), a second lever (37), a drive motor (40), a frame (41), guide rods (42), a second servo motor (43), a lead screw (44), a third slide (45), and a mounting bracket (46). The base ring (1) is concentrically fitted at the bottom of the ring groove (2). The second lever (37) is connected to the bottom of the second slide (35). The drive motor (40) is installed at the center of the base ring (1). The frame (41) is fitted radially around the drive motor (40) at its output end. The guide rods (42) are in pairs. Symmetrically connected to both ends of the frame (41), the servo motors (43) are installed in pairs on both sides of the frame (41), the lead screws (44) are connected to the output ends of the two servo motors (43) on opposite sides, and the lead screws (44) are parallel to the guide rods (42) and located between the two guide rods (42) on their respective sides. The slide block (45) is threaded on the outside of the lead screw (44), and the slide block (45) is also slidably sleeved on the outside of the guide rods (42) on their respective sides. The card holder (46) is connected to the upper end of the slide block (45) and is sleeved in cooperation with the lever (37).

6. A modular welding robot and welding platform according to claim 5, characterized in that, The inner wall of the base ring (1) is also fitted with a ring rail (47). The two ends of the frame (41) extend radially into the ring rail (47) and slide within the ring rail (47). The bottom of the ring groove (2) is symmetrically provided with two sliding grooves (10) on both sides of the left and right radial direction. The second sliding seat (35) slides within the second sliding groove (10) and extends through the second sliding groove (10) to the bottom of the ring groove (2). The second lever (37) is connected to the lower extension end of the second sliding seat (35) in the ring groove (2). The first frame (25) and the second frame (36) both extend above the tray frame (15).

7. A modular welding robot and welding platform according to claim 5, characterized in that, The linkage assembly includes a slide block (19) and a lever (20). The slide block (19) is slidably disposed inside the frame (17) and is located between the sleeve (21) and the inner wall of the frame (17) away from the center of the annular groove (2). The lever (20) is connected to the bottom of the slide block (19) and cooperates with the card holder (46) for a card sleeve. The inner walls of the frame (17) along the radial direction of the annular groove (2) are connected to a slide rod frame (18). The slide block (19) and the sleeve (21) are both slidably sleeved on the outside of the slide rod frame (18). The sleeve (21) and the inner wall of the frame (17) near the center of the annular groove (2) are connected by a spring (22) sleeved on the outside of the slide rod frame (18).

8. A modular welding robot and welding platform according to claim 7, characterized in that, The bottom of the annular groove (2) is provided with a sliding groove (9) on both the front and rear sides. The sliding seat (19) is slidably sleeved in the sliding groove (9) and extends through the sliding groove (9) to the bottom of the annular groove (2). The lever (20) is connected to the lower extension end of the sliding seat (19) in the annular groove (2).

9. A modular welding robot and welding platform according to claim 1, characterized in that, The folding assembly includes a pivot (24), a second gear (27), a third slide frame (28), a sleeve (29), a toothed plate (30), a slanted frame (31), and a top plate frame (33). The pivot (24) is rotatably mounted on the first sleeve (21). The second gear (27) is mounted on the outside of the pivot (24). The first sleeve frame (25) is connected to the pivot (24). The third slide frame (28) is connected to the first sleeve (21). The sleeve (29) is slidably mounted on the third slide frame (29). 28) On the outside, and between the sleeve plate (29) and the first sleeve (21), there is a spring three (32) sleeved on the outside of the slide rod frame three (28). The toothed plate (30) is connected to the lower end of the sleeve plate (29) and meshes with the gear two (27). The inclined frame (31) is connected to both ends of the sleeve plate (29). The top plate frame (33) is connected to the bottom of the ring groove (2). The two ends of the top plate frame (33) are respectively close to the inclined frame (31) on the front and rear side sleeve plates (29) and slide against each other on the inclined surface.

10. A modular welding robot and welding platform according to claim 9, characterized in that, The first sleeve (21) is connected to the mounting base (23), the rotating shaft (24) is rotatably mounted on the side of the mounting base (23) away from the center of the annular groove (2), and the third slide rod bracket (28) is also connected to the mounting base (23).

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