Multi-angle welding robot and welding method

Abstract

The present application relates to welding robot technical field, specifically many angle welding robot and welding method, including mechanical arm, the lower end of mechanical arm is fixedly connected with nozzle, the upper end of nozzle is provided with air pipe, the surface of nozzle is provided with feeding assembly, the surface of feeding assembly is provided with stabilizing assembly, the stabilizing assembly includes fixed box, two clamping grooves are set up on the inner wall of fixed box, the inside of clamping groove is inserted with plugboard, the welding rod is all-around limited through fixed box, plugboard and arc block cooperation, the welding rod is received and transported through rubber rotary drum with threaded groove, when the mechanical arm carries out multi-angle overturning and bending operation, the welding rod is fixed on the surface of rubber rotary drum through arc block, the position of welding rod can be effectively constrained, the welding rod is prevented from twisting, deviating and loosening, the feeding resistance fluctuation is greatly reduced, the discharge landing point of welding rod always keeps accurate, and the welding seam forming quality and workpiece connection strength are improved.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to a multi-angle welding robot and welding method. Background Technology

[0002] Multi-angle welding robots rely on the multi-degree-of-freedom mechanical body and workpiece displacement system to work together, and can flexibly switch between various welding postures to complete multi-faceted and irregularly shaped welds on complex components. The equipment integrates modules such as wire feeding and arc tracking, and can automatically correct the position of the welding rod, effectively reducing manual intervention. The welding quality is stable and the production efficiency is high. It is suitable for processing a variety of workpieces such as pipes, frames, and boxes.

[0003] For example, a multi-angle welding robot with publication number CN220480635U, after the device finishes welding the workpiece, uses the sliding plate to move the grinding block above the welding head. Pulling the limiting rod makes the grinding block stuck on the surface of the welding head. Continuously pulling the moving rod allows the grinding block to clean the residual molten metal on the surface of the welding head. However, the wire feeding system of the multi-angle welding robot has obvious defects. When the robotic arm rotates in multiple postures, the wire feeding hose is prone to bending and twisting, which leads to uneven wire feeding resistance, making it difficult to maintain a stable electrode landing point, affecting the connection strength of the weld. In addition, the length of the electrode extension cannot be maintained stably, which easily leads to a large amount of solder adhering to the welding head, affecting the welding work of the welding head. Summary of the Invention

[0004] To address the problems in the prior art, this invention provides a multi-angle welding robot and welding method.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a multi-angle welding robot, including a robotic arm, a nozzle fixedly connected to the lower end of the robotic arm, an air pipe provided at the upper end of the nozzle, a feeding component provided on the surface of the nozzle, and a stabilizing component provided on the surface of the feeding component. The stabilizing component includes a fixed box with two slots on its inner wall. Insert plates are inserted into the slots, and a fixed plate is fixedly connected to the other end of each insert plate. A fixed motor is fixedly connected to the other side wall of the fixed plate. A rotating shaft is fixedly connected to the output end of the fixed motor. A rubber cylinder is fixedly sleeved on the surface of the rotating shaft. Two circular pieces are slidably sleeved on the surface of the rotating shaft. A threaded groove is formed on the surface of the rubber cylinder, and a welding rod is wound around its surface. Two arc blocks are engaged between the two circular pieces, and clamping grooves are formed on the surface of each arc block. Two through holes are formed on the outer wall of the fixed box.

[0006] Specifically, the insert plate is inserted into the groove, and the arc surface of the arc block is in contact with the surface of the welding rod.

[0007] Specifically, the welding rod extends through a through hole to the outside of the fixing box, and the welding rod matches the threaded groove.

[0008] Specifically, a notch is provided on the surface of the disc, and the notch engages with the surface of the insert plate.

[0009] Specifically, the feeding assembly includes a fixing block, a guide tube embedded inside the fixing block, two symmetrical rotating grooves inside the fixing block, a round shaft rotatably connected inside the rotating grooves, a rubber wheel fixedly sleeved on the surface of the round shaft, two symmetrical arc openings on the surface of the guide tube, a drive motor fixedly connected to the outer wall of the fixing block, the output end of the drive motor fixedly connected to the round shaft, and the upper surface of the fixing block fixedly connected to the lower surface of the fixing box.

[0010] Specifically, the rubber wheel extends into the interior of the guide tube through an arc opening, and a welding rod is inserted into the interior of the guide tube, with the surface of the rubber wheel and the welding rod in contact.

[0011] Specifically, the circumference of the outer wall of the rubber wheel is the same as the circumference of the outer wall of the rubber drum.

[0012] The welding method of a multi-angle welding robot includes the following steps: S1. Wrap the welding rod around the threaded groove of the rubber drum, pass it through the through hole of the fixing box and the guide tube in sequence, and finally extend it to the nozzle discharge end to complete the welding rod installation; S2. Insert the insert plate into the slot and clamping slot to complete the positioning and clamping of the arc block and the circular piece, so that the arc block is in close contact with the outer wall of the welding rod, and the welding rod is limited. S3. Control the robotic arm to adjust to the welding position and welding angle, and simultaneously start the drive motor and the fixed motor. The rubber wheel and the rubber drum rotate synchronously, and the welding rod is fed at a uniform speed. The gas pipe is used to introduce protective gas, and the nozzle is used to ignite the arc and start the welding operation. S4. After the single-segment weld is completed, first turn off the welding arc and shielding gas, then stop the drive motor and fix the motor in sequence, reset the robotic arm, clean the residual welding material on the nozzle surface, and wait for the next operation.

[0013] The beneficial effects of this invention are: (1) The multi-angle welding robot and welding method described in this invention use a fixed box, insert plate and arc block to limit the welding rod in all directions. Combined with a rubber drum with threaded groove to store and transport the welding rod, when the robotic arm performs multi-angle flipping and bending operations, the arc block fixes the welding rod on the surface of the rubber drum, which can effectively constrain the position of the welding rod, avoid the welding rod from twisting, shifting or loosening, greatly reduce the fluctuation of feeding resistance, and keep the welding rod output point accurate, thereby improving the weld formation quality and workpiece connection strength.

[0014] (2) The multi-angle welding robot and welding method described in this invention utilizes a drive motor to actively feed the material onto a rubber wheel. The rubber wheel and the rubber drum have the same circumference, and their rotation speeds and linear velocities are synchronized, achieving uniform and stable electrode feeding and eliminating problems such as electrode slippage, stretching, and jamming. At the same time, the guide tube and the through hole form a continuous guide channel, which, together with the arc block for circumferential limiting, can maintain a stable electrode extension length over a long period of time, avoiding the accumulation of excess welding material on the welding head and ensuring the continuous and stable operation of the welding equipment.

[0015] (3) The multi-angle welding robot and welding method described in this invention have a high degree of overall structural integration. The stabilizing component and the feeding component are assembled on the outside of the nozzle and move synchronously with the robotic arm. This adapts to the welding requirements of multiple angles and postures under complex working conditions. The parts are assembled using a plug-in and snap-fit ​​structure, making disassembly and maintenance convenient. The overall failure rate is low, effectively improving the efficiency of welding operations. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a structural schematic diagram of the multi-angle welding robot provided by the present invention; Figure 2 A partial structural diagram of the multi-angle welding robot provided by the present invention; Figure 3 A schematic cross-sectional structure of the feeding component of the multi-angle welding robot provided by the present invention; Figure 4 A schematic cross-sectional view of the stabilizing component of the multi-angle welding robot provided by the present invention; Figure 5 A schematic diagram of the rubber drum structure of the multi-angle welding robot provided by the present invention; Figure 6 This is a schematic diagram of the fixing block structure of the multi-angle welding robot provided by the present invention; Figure 7 A schematic diagram of the internal structure of the stabilizing component of the multi-angle welding robot provided by the present invention.

[0018] In the diagram: 1. Robotic arm; 2. Nozzle; 3. Air pipe; 4. Feeding assembly; 41. Fixing block; 42. Guide pipe; 43. Rotary groove; 44. Round shaft; 45. Rubber wheel; 46. Arc opening; 47. Drive motor; 5. Stabilizing assembly; 51. Fixing box; 52. Slot; 53. Insert plate; 54. Fixing plate; 55. Fixing motor; 56. Rotating shaft; 57. Rubber drum; 58. Circular piece; 59. Threaded groove; 510. Welding rod; 511. Arc block; 512. Clamping groove; 513. Through hole. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0020] Please see Figures 1 to 7 The present invention provides the following technical solutions: Example 1: A multi-angle welding robot includes a robotic arm 1. A nozzle 2 is fixedly connected to the lower end of the robotic arm 1. An air pipe 3 is provided at the upper end of the nozzle 2. A feeding assembly 4 is provided on the surface of the nozzle 2. A stabilizing assembly 5 is provided on the surface of the feeding assembly 4. The stabilizing assembly 5 includes a fixing box 51. Two slots 52 are formed on the inner wall of the fixing box 51. An insert plate 53 is inserted into the slots 52. A fixing plate 54 is fixedly connected to the other end of the insert plate 53. A fixing motor 55 is fixedly connected to the other side wall of the fixing plate 54. A rotating rotor is fixedly connected to the output end of the fixing motor 55. A shaft 56 is fitted with a rubber cylinder 57. Two circular pieces 58 are slidably fitted onto the surface of the shaft 56. A threaded groove 59 is formed on the surface of the rubber cylinder 57. A welding rod 510 is wound around the surface of the rubber cylinder 57. Two arc blocks 511 are engaged between the two circular pieces 58. A clamping groove 512 is formed on the surface of the arc blocks 511. Two through holes 513 are formed on the outer wall of the fixing box 51. The stabilizing component 5 is used to wind, guide, and limit the welding rod 510 to prevent the welding rod 510 from shifting or twisting during multi-angle displacement, thus ensuring stable feeding posture.

[0021] The insert plate 53 is inserted into the clamping groove 512 to realize the positioning and installation of the arc block 511. The arc surface of the arc block 511 is in contact with the surface of the welding rod 510. The arc surface structure is used to encircle and limit the welding rod 510 to prevent the welding rod 510 from swaying left and right during transportation.

[0022] The welding rod 510 extends to the outside of the fixing box 51 through the through hole 513. The through hole 513 serves as a guide for the welding rod 510 to pass through. The welding rod 510 is matched with the threaded groove 59. The orderly winding and uniform feeding of the welding rod 510 are achieved by relying on the threaded groove 59.

[0023] A notch is provided on the surface of the disc 58, and the notch is engaged with the surface of the insert plate 53 to restrict the axial sliding of the disc 58, ensuring the overall stability of the disc 58 and the arc block 511, and improving the clamping stability of the welding rod 510.

[0024] The feeding assembly 4 includes a fixing block 41, with a guide tube 42 embedded inside the fixing block 41. Two rotating grooves 43 are symmetrically opened inside the fixing block 41, and a round shaft 44 is rotatably connected inside the rotating grooves 43. A rubber wheel 45 is fixedly sleeved on the surface of the round shaft 44. Two arc openings 46 are symmetrically opened on the surface of the guide tube 42. A drive motor 47 is fixedly connected to the outer wall of the fixing block 41, and the output end of the drive motor 47 is fixedly connected to the round shaft 44. The upper surface of the fixing block 41 is fixedly connected to the lower surface of the fixing box 51. The feeding assembly 4, together with the stabilizing assembly 5, completes the continuous feeding of the welding rod 510, and the guide tube 42 provides a straight feeding channel for the welding rod 510.

[0025] The rubber wheel 45 extends into the guide tube 42 through the arc opening 46. A welding rod 510 is inserted into the guide tube 42. The surface of the rubber wheel 45 is in contact with the surface of the welding rod 510. The rubber wheel 45 drives the welding rod 510 forward by friction, realizing active feeding, while increasing the contact friction and preventing the welding rod 510 from slipping.

[0026] The outer circumference of the rubber wheel 45 is the same as the outer circumference of the rubber drum 57, so that the linear speed of the rubber wheel 45 and the rubber drum 57 are consistent, ensuring that the conveying speed of the welding rod 510 is uniform and consistent, and avoiding stretching and jamming of the welding rod 510.

[0027] During use, the entire roll of welding rod 510 is neatly wound into the threaded groove 59 of the rubber drum 57, ensuring that the welding rod 510 is completely embedded in the groove, arranged neatly, and without overlapping or loose wires. The end of the welding rod 510 is then removed and passed sequentially through the two through holes 513 on one side of the fixing box 51, the gap between the two arc blocks 511, and the internal channel of the guide tube 42, finally allowing the end of the welding rod 510 to protrude from the bottom of the nozzle 2. The fixing box 51 has a through hole 513 on each of its opposite outer walls, the diameter of which is adapted to the outer diameter of the welding rod 510. The through hole 513 located near the guide tube... One through hole 513 on one side of the guide tube 42 serves as an outlet hole, allowing the welding rod 510 to pass through the fixed box 51 and enter the guide tube 42. The other through hole 513 serves as an inlet hole, allowing the welding rod 510 to enter the fixed box 51. The extension length of the welding rod 510 is controlled within the process standard range. Two insert plates 53 are inserted downwards from the slots 52 at the top of the fixed box 51, so that the bottom ends of the insert plates 53 are simultaneously inserted into the clamping grooves 512 of the arc block 511 and the notches of the circular piece 58. After insertion, the arc block 511 firmly surrounds the outside of the welding rod 510, forming a radial limit on the welding rod 510.Two arc blocks 511 are arranged symmetrically, with a total wrap angle of 240°. The inner arc surface of the arc block 511 only contacts the outer wall of the welding rod 510 wrapped around the rubber drum 57, without directly contacting the surface of the rubber drum 57, thus restricting the left-right and up-down displacement of the welding rod 510. The circular piece 58 is locked by the insert plate 53 and cannot slide on the rotating shaft 56, ensuring that the overall position of the rubber drum 57 and the arc block 511 is fixed. Manually pull the end of the welding rod 510 to check whether the conveying is smooth, without jamming, and without obvious shaking. If there is any displacement, fine-tune the position of the insert plate 53 and the arc block 511. Turn on the main power of the equipment and jog the fixed motor 55 and the drive motor 47 to test whether the rotation direction and speed of the rubber drum 57 and the rubber wheel 45 are consistent. After confirming that the welding rod 510 can be smoothly conveyed forward, the airtightness of the gas pipe 3 is checked. After introducing protective gas, the pipe interfaces are checked for leaks and pressure drops. The robotic arm 1 is operated to perform multi-angle swinging, rotating, and lifting movements to simulate the actual welding posture. The welding rod 510, stabilizing component 5, and feeding component 4 are observed throughout the process to confirm that there is no interference between the components and that the welding rod 510 is not twisted, bent, or detached. After debugging, the formal welding process begins. The multi-degree-of-freedom robotic arm 1 is moved to above the workpiece to be processed. Based on the workpiece weld position and welding process requirements, the pitch, rotation, and deflection angles of the robotic arm 1 are precisely adjusted so that the nozzle 2 is aligned with the weld start position, completing multi-angle posture positioning. This equipment relies on the multi-degree-of-freedom characteristics of the robotic arm 1 to complete... The system can perform various complex welding operations, including vertical welding, horizontal welding, overhead welding, and corner welding. Upon activation of the control system, the drive motor 47 rotates the circular shaft 44 and rubber wheel 45. Active feeding is achieved through the friction between the rubber wheel 45 and the welding rod 510. Simultaneously, the fixed motor 55 drives the rotating shaft 56 and rubber drum 57 to rotate synchronously. The threaded groove 59 assists in the synchronous feeding of the welding rod 510. Because both have the same linear speed, the welding rod 510 is fed at a constant speed and with stable tension throughout the process. Simultaneously, the gas delivery device is activated, and the gas pipe 3 continuously supplies protective gas to the welding arc area, isolating it from air and preventing weld oxidation. After the nozzle 2 ignites the arc, continuous welding of the workpiece weld begins. During the welding process, the through hole 513, arc block 511, and guide tube 42 form... The triple-guided limiting structure ensures that even when the robotic arm 1 continuously changes its welding angle and swing position, the welding rod 510 maintains a straight feeding line with precise landing point. It prevents problems such as twisting, offsetting, or sudden changes in feeding resistance due to equipment displacement. For long welds and irregularly shaped multi-faceted welds, the robotic arm 1 moves slowly according to a preset program and finely adjusts its angle in real time, maintaining the relative position of the nozzle 2 and the weld throughout the process. The stabilizing component 5 and the feeding component 4 move synchronously with the nozzle 2, ensuring that the extension length of the welding rod 510 remains constant. This effectively avoids malfunctions caused by uneven feeding and weld accumulation on the nozzle 2 surface due to bending of the wire feeding hose, ensuring welding continuity. In this embodiment, the fixed motor 55 and the drive motor 47 adopt a master-slave synchronous control architecture. The control system includes: Main controller: A microcontroller with dual PWM outputs and an encoder interface is selected, model TMS320F28335 DSP; Speed ​​detection unit: Each of the two motors is equipped with an incremental encoder to collect speed feedback signals in real time; Drive unit: Two independent PWM speed control circuits drive the fixed motor 55 and the drive motor 47 respectively; Communication bus: The main controller is connected to the two motor drive units via a real-time communication bus to ensure that commands are issued synchronously.

[0028] Example 2: The technical solutions in this example that differ from Example 1 include: adding a wear-resistant and anti-slip rubber pad to the inner wall of the arc block 511; using hard alloy material for the guide tube 42 and chamfering at both ends of the guide tube 42; adding a shock-absorbing pad to the outside of the fixing box 51; and adding a protective shell to the outside of the fixing motor 55 and the drive motor 47.

[0029] In use, the equipment pre-installation, positioning, welding, and finishing processes are consistent with those in Example 1. The added anti-slip rubber pad further increases the friction between the arc block 511 and the welding rod 510, preventing the welding rod 510 from slipping during high-speed feeding. The hard alloy guide tube 42 has stronger wear resistance, making it less prone to wear during long-term feeding of the welding rod 510. The chamfered ends prevent the welding rod 510 from being scratched by the tube opening during installation and feeding. The shock-absorbing pad reduces the vibration generated by the motor and drum operation. The protective shell can prevent welding spatter and dust from entering the motor. This example is suitable for heavy welding conditions with long-term continuous operation and a lot of dust and spatter.

[0030] Example 3: The technical solution that differs from Example 2 in this example includes: the slot 52 is set as multiple sets of equidistantly distributed structures, the insert plate 53 can be inserted into different slots 52, and the sliding position of the circular piece 58 on the rotating shaft 56 can be locked and fixed, thereby adjusting the distance between the two arc blocks 511 to adapt to welding rods 510 of different diameters.

[0031] In use, according to the diameter of the welding rod 510 used on site, slide the circular piece 58 and lock it, adjust the clamping distance of the two sets of arc blocks 511, and at the same time select the corresponding slot 52 to insert the insert plate 53 to ensure that the arc block 511 is always tightly attached to the outer wall of the welding rod 510. The subsequent welding rod 510 insertion, equipment start-up, welding operation, and shutdown operation are the same as in Embodiment 1 and Embodiment 2. This embodiment can be adapted to multiple specifications of welding rods 510, has stronger versatility, and is suitable for production workshops that use multiple types of workpieces and multiple specifications of welding rods 510.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-angle welding robot, including a robotic arm (1), characterized in that: The lower end of the robotic arm (1) is fixedly connected to a nozzle (2), the upper end of the nozzle (2) is provided with an air pipe (3), a feeding component (4) is provided on the surface of the nozzle (2), and a stabilizing component (5) is provided on the surface of the feeding component (4). The stabilizing component (5) includes a fixed box (51), with two slots (52) on the inner wall of the fixed box (51). A plate (53) is inserted into the slot (52), and a fixed plate (54) is fixedly connected to the other end of the plate (53). A fixed motor (55) is fixedly connected to the other side wall of the fixed plate (54). A rotating shaft (56) is fixedly connected to the output end of the fixed motor (55). A rubber cylinder (57) is fixedly sleeved on the surface of the rotating shaft (56). Two circular pieces (58) are slidably sleeved on the surface of the rotating shaft (56). A threaded groove (59) is opened on the surface of the rubber cylinder (57). A welding rod (510) is wound around the surface of the rubber cylinder (57). Two arc blocks (511) are clamped between the two circular pieces (58). A clamping groove (512) is opened on the surface of the arc blocks (511). Two through holes (513) are opened on the outer wall of the fixed box (51).

2. The multi-angle welding robot according to claim 1, characterized in that: The insert plate (53) is inserted into the groove (512), and the arc surface of the arc block (511) is in contact with the surface of the welding rod (510).

3. The multi-angle welding robot according to claim 1, characterized in that: The welding rod (510) extends through the through hole (513) to the outside of the fixing box (51), and the welding rod (510) matches the threaded groove (59).

4. The multi-angle welding robot according to claim 1, characterized in that: The disc (58) has a notch on its surface, which engages with the surface of the insert plate (53).

5. The multi-angle welding robot according to claim 1, characterized in that: The feeding assembly (4) includes a fixed block (41), a guide tube (42) is embedded inside the fixed block (41), two rotating grooves (43) are symmetrically opened inside the fixed block (41), a round shaft (44) is rotatably connected inside the rotating groove (43), a rubber wheel (45) is fixedly sleeved on the surface of the round shaft (44), two arc openings (46) are symmetrically opened on the surface of the guide tube (42), a drive motor (47) is fixedly connected to the outer wall of the fixed block (41), the output end of the drive motor (47) is fixedly connected to the round shaft (44), and the upper surface of the fixed block (41) is fixedly connected to the lower surface of the fixed box (51).

6. The multi-angle welding robot according to claim 5, characterized in that: The rubber wheel (45) extends into the guide tube (42) through the arc opening (46), and a welding rod (510) is inserted into the inside of the guide tube (42). The surface of the rubber wheel (45) is in contact with the surface of the welding rod (510).

7. The multi-angle welding robot according to claim 5, characterized in that: The circumference of the outer wall of the rubber wheel (45) is the same as the circumference of the outer wall of the rubber drum (57).

8. A welding method using a multi-angle welding robot, wherein the method is implemented using the multi-angle welding robot according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Wrap the welding rod (510) around the threaded groove (59) of the rubber drum (57), pass it through the through hole (513) and guide tube (42) of the fixed box (51) in sequence, and finally extend it to the discharge end of the nozzle (2) to complete the welding rod installation. S2. Insert the insert plate (53) into the slot (52) and clamping slot (512) to complete the positioning and clamping of the arc block (511) and the round piece (58), so that the arc block (511) is close to the outer wall of the welding rod (510) to complete the welding rod limiting. S3. Control the robotic arm (1) to adjust to the welding position and welding angle, and start the drive motor (47) and the fixed motor (55) simultaneously. The rubber wheel (45) and the rubber drum (57) rotate synchronously, and the welding rod (510) is fed at a uniform speed. The gas pipe (3) is filled with protective gas, and the nozzle (2) is used to ignite the arc and carry out the welding operation. S4. After the single-segment weld is completed, first turn off the welding arc and shielding gas, then stop the drive motor (47) and the fixed motor (55) in sequence, reset the robotic arm (1), clean the residual welding material on the surface of the nozzle (2), and wait for the next operation.

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