A welding robot and a welding method

Abstract

The application relates to the technical field of intelligent welding, in particular to a welding manipulator and a welding method, which comprise a manipulator body, a welding torch, a protective gas chamber, a motor, a mixed flow assembly, a mixed flow wheel, a flow control assembly and a booster plate. The welding torch is installed on the manipulator body, the protective gas chamber is arranged on the outer side of the circumference of the welding torch, the protective gas chamber is divided into a mixing cavity and a gas outlet cavity, the upper end of the mixing cavity is provided with an air inlet, and the lower end of the mixing cavity is annularly arranged with gas outlets which are communicated with the gas outlet cavity. A displacement sensor and a motor are installed on the protective gas chamber, the mixed flow assembly is arranged below the motor, the mixed flow wheel is installed in the mixed flow assembly, and the motor adjusts the rotating speed of the mixed flow wheel through the mixed flow assembly. The flow control assembly is arranged on the outer side of the circumference of the mixed flow assembly, the booster plate is annularly arranged below the flow control assembly, and the mixed flow assembly adjusts the sliding distance of the booster plate through the flow control assembly. The application realizes the unification of the welding distance and the protective gas flow through rotary motion, guarantees the stability of a molten pool and improves the welding quality.

Description

Technical Field

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

[0002] Welding robots, also known as welding manipulators, are industrial robots that automate welding operations through a multi-axis linkage control system. The mainstream models are six-axis designs with high repeatability and positioning accuracy. They can control the welding torch trajectory through teaching or offline programming and are often used in intelligent welding systems to achieve efficient welding.

[0003] The welding robot mainly consists of a robot and welding equipment. The welding device is fixedly installed at the end of the robot and moves with the robot to perform welding at different workstations. The welding device mainly consists of a welding torch, a wire feeding mechanism, and a welding power source. The welding torch is connected to the welding power source. At the same time, the welding torch is equipped with a wire feeding mechanism. The welding power source provides the energy required for welding, and the wire feeding mechanism is responsible for stably feeding the welding wire to the welding torch. Finally, the welding torch directly performs the welding operation.

[0004] When welding carbon steel, stainless steel, and low alloy steel, a mixture of 80% argon and 20% carbon dioxide is often used as a shielding gas. However, when introducing the shielding gas for welding protection, the flow rate of the shielding gas needs to be adjusted according to the welding distance. If the flow rate of the shielding gas is insufficient, the molten pool will be directly exposed to the air, resulting in porosity at the weld. If the flow rate of the shielding gas is too high, the molten pool will be blown away, leading to increased spatter.

[0005] In view of this, we propose a welding robot and a welding method. Summary of the Invention

[0006] The purpose of this invention is to provide a welding robot and a welding method to solve the problem of poor welding quality caused by inconsistent shielding gas and welding distance mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A welding robot includes: a robot body, a welding torch, a shielding gas chamber, a motor, a mixing assembly, a mixing wheel, a flow control assembly, and a pressure plate. The welding torch is fixedly mounted on the robot body. The robot body is a multi-free robot capable of multi-angle movement, thereby driving the welding torch to move synchronously to achieve multi-angle welding. A shielding gas chamber is provided on the outer circumference of the welding torch. The shielding gas chamber is divided into a mixing chamber and an exhaust chamber. An air inlet is provided at the upper end of the mixing chamber. The mixing chamber has argon and carbon dioxide inlets. The lower end of the mixing chamber has an annular array of outlets connected to the outlet chamber. The outlets are located near the welding torch and are staggered from the inlets. The protective gas chamber has two inlets: an argon inlet and a carbon dioxide inlet. Both inlets are connected to a gas cylinder via a hose. Argon and carbon dioxide from the gas cylinder are then introduced into the mixing chamber for mixing. After mixing, the gas is discharged from the outlet into the outlet chamber and then discharged from the outlet chamber to protect the welding process and ensure welding quality. A displacement sensor and a motor are installed on the protective gas chamber. The displacement sensor detects the radial distance of the weld. A mixing assembly is located below the motor and is situated within the mixing chamber. A mixing wheel is installed within the mixing assembly. The motor adjusts its own speed based on the displacement sensor's detection results, which in turn adjusts the speed of the mixing wheel via the mixing assembly. The motor's rotation speed is controlled based on the data detected by the displacement sensor. The motor's rotation, in turn, drives the mixing wheel to rotate via the mixing assembly. The mixing wheel mixes the argon and carbon dioxide in the mixing chamber, ensuring the uniformity of the components within the protective gas and thus guaranteeing the welding arc. Stability is ensured, thereby guaranteeing welding quality. A flow control component is provided on the outer circumference of the mixing assembly, and a pressure booster plate is arranged in a ring below the flow control component. The mixing assembly adjusts the sliding distance of the pressure booster plate according to the motor speed and the flow control component. While the mixing assembly drives the mixing wheel to rotate, it also drives the pressure booster plate to slide along the center direction, thereby changing the inner diameter of the mixing chamber and thus its volume. This increases the pressure of the protective gas inside the mixing chamber, thereby increasing the flow rate of the protective gas and improving its flow rate. This achieves a balance between welding distance and protective gas flow rate, ensuring welding quality.

[0008] Preferably, the mixing assembly includes a drive wheel, a driven wheel, a centrifugal spring, a centrifugal plate, and a push rod. The drive wheel is fixedly connected to a motor and rotatably mounted inside the mixing chamber. The drive wheel is fixedly connected to the motor and rotates synchronously with the motor. A driven wheel is provided on one side of the drive wheel. The driven wheel is divided into a meshing section and a driving section. The meshing section of the driven wheel meshes with the drive wheel and rotates synchronously with the drive wheel, thereby driving the entire driven wheel to rotate. The lower end of the driving section is fixedly connected to the mixing wheel, and a centrifugal spring is fixedly installed on the driving section. A centrifugal plate is fixedly installed on the centrifugal spring. When the driven wheel rotates, it generates centrifugal force, which is transmitted to the centrifugal plate through the centrifugal spring, thereby driving the centrifugal plate to slide along the outer circumference. A push rod is provided on the outer circumference of the centrifugal plate. The push rod is slidably connected to the mixing chamber and has a push groove. When the centrifugal plate slides, it pushes the push rod that is in contact with it to slide synchronously. The push rod drives the flow control assembly to work through the push groove.

[0009] Preferably, the push rod is provided with a slider, and the mixing chamber is provided with a groove; the push rod is slidably installed on the top of the mixing chamber through the cooperation of the slider and the groove. The slider of the push rod is L-shaped, T-shaped, or other shapes, so that the slider can be fixed in the groove in the vertical direction, thereby ensuring that the push rod remains fixed in the vertical direction. At the same time, the groove restricts the slider to ensure the stability of the push rod sliding in the horizontal direction.

[0010] Preferably, the mixing wheel has a ring array of mixing blades, and the mixing blades have a spiral structure; the spiral blades of the mixing blades can significantly improve the gas mixing efficiency by forcing the fluid to be divided, sheared, rotated and radially mixed.

[0011] Preferably, the multiple mixing blades are integrally formed into an inverted frustum structure. The upper end of the inverted frustum structure is tangent to the air inlet, and the lower end of the inverted frustum structure is tangent to the air outlet. The inverted frustum structure conforms to the vertical distribution of the gas during rotation, such as the funnel-shaped structure of a typhoon. By conforming to the shape of the airflow rotation, the cutting and mixing effect of the mixing wheel on the protective gas is improved. The tangency of the upper end of the inverted frustum structure with the air inlet facilitates the guidance of the gas into the mixing blades for cutting and mixing, and the gas flows out towards the air outlet along the guide of the surface of the inverted frustum structure.

[0012] Preferably, the flow control assembly includes an active plate, a fixed plate, a limiting shaft, and a return spring. The active plate is rotatably connected to the inner wall of the mixing chamber via the return spring, and the active plate reciprocates with the mixing chamber via the return spring. The active plate is located outside the circumference of the push rod. The active plate has a push groove that cooperates with the push rod. The active plate has a circular array of driving grooves. A fixed plate is provided above the active plate. When the push rod slides horizontally under the action of centrifugal force, the push rod pushes the active plate to rotate through the push groove. The fixed plate is fixedly connected to the top of the mixing chamber. The fixed plate has a limiting straight groove corresponding to the driving groove. A limiting shaft is slidably installed in the driving groove and the limiting straight groove. The lower end of the limiting shaft is fixedly installed with the pressure plate. When the active wheel rotates, it pushes the limiting shaft to slide through the driving groove. The limiting shaft keeps sliding in a straight line along the center direction under the action of the limiting straight groove of the fixed plate, and then slides synchronously with the pressure plate fixedly connected to its lower end, thereby changing the inner diameter of the mixing chamber, thereby changing the protective gas pressure and increasing the protective gas flow rate.

[0013] Preferably, the annular array inside the mixing chamber has compensation blocks, which are staggered with the pressure boosting plate. The compensation blocks are used to compensate for the gaps in the pressure boosting plate, so that the pressure boosting plate and the compensation blocks form a complete circle, avoiding intermittent gas leakage that could affect the change in the pressure of the protective gas and the flow rate of the protective gas.

[0014] Preferably, the pressure boosting plate is provided with a pressure boosting convex surface, which corresponds to the air outlet. The pressure boosting convex surface is used to enhance the extrusion force of the pressure boosting plate on the protective gas, thereby increasing the pressure on the protective gas. Furthermore, the pressure boosting convex surface corresponds to the air outlet, which facilitates the rapid discharge of the mixed protective gas from the air outlet and ensures the flow rate of the protective gas.

[0015] Preferably, the curvature of the pressurizing convex surface corresponds to the inverted frustum structure, and the pressurizing convex surface has a linear array of guide grooves. The curvature of the pressurizing convex surface corresponds to the inverted frustum structure, thereby making the gap between the pressurizing convex surface and the inverted frustum structure equal, thus ensuring the uniformity of the force on the protective gas between the two. At the same time, it ensures the uniformity of the mixing of the protective gas flow by the mixing wheel in the vertical height, and ensures the uniformity of the mixing of each component of the protective gas.

[0016] A welding method comprising the following steps: S1. The displacement sensor detects the welding distance and then adjusts the motor speed through the control system. The displacement sensor detects the radial distance from the spray gun to the welding surface and converts the detected data into an electrical signal, which is then sent to the control system. The control system controls the motor speed based on the radial distance. S2. The motor drives the mixing wheel to rotate through the mixing assembly to mix argon and carbon dioxide; The motor determines its own speed based on the welding distance, and then adjusts the speed of the mixing wheel through the mixing component. The rotation of the mixing wheel evenly mixes the argon and carbon dioxide in the mixing chamber, thereby ensuring that the internal composition of the blown protective gas is uniform and ensuring welding quality. S3. The mixing component drives the pressure plate to slide and change the inner diameter of the mixing chamber to adjust the flow pressure through the flow control component. The mixing wheel adjusts its own speed according to the motor speed, and then adjusts the sliding distance of the pressure plate through the flow control component, thereby changing the volume of the mixing chamber, changing the pressure of the protective gas in the mixing chamber, and thus changing the flow rate of the protective gas, achieving the unification of the protective gas flow rate and welding distance.

[0017] Compared with the prior art, the beneficial effects of the present invention are: A welding robot and welding method are disclosed. The present invention achieves the unification of welding distance and shielding gas flow rate through the cooperation of a mixing component and a flow control component, thereby ensuring the stability of the weld pool and improving welding quality.

[0018] A welding robot and welding method are disclosed. The present invention achieves the mixing of various components of the shielding gas through a mixing component, thereby ensuring the uniformity of the shielding gas components, thus ensuring the stability of the welding arc and improving the welding quality.

[0019] A welding robot and welding method are disclosed. The present invention ensures the efficiency of shielding gas delivery through a flow control component, thereby ensuring the stability of shielding gas flow and thus ensuring welding stability and improving welding quality. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the welding robot of the present invention; Figure 2 This is a half-section schematic diagram of the welding torch of the present invention; Figure 3 For the present invention Figure 2 A magnified view of point A; Figure 4 This is a schematic diagram of the mixing component and the flow control component of the present invention. Figure 5 This is a half-sectional schematic diagram of the mixing chamber of the present invention; Figure 6 This is a half-sectional schematic diagram of the mixing component of the present invention; Figure 7 For the present invention Figure 6 A magnified view of point B; Figure 8 This is a schematic diagram of the overall mixing wheel of the present invention; Figure 9 This is a half-sectional schematic diagram of the flow control component of the present invention; Figure 10 This is an exploded view of the flow control component of the present invention; Figure 11 This is a horizontal cross-sectional view of the flow control component of the present invention; Figure 12 For the present invention Figure 11 A magnified view of point C; Figure 13 For the present invention Figure 11 A magnified view of point D; Figure 14 This is a vertical sectional view of the mixing cavity of the present invention; Figure 15 For the present invention Figure 14 A magnified view of point E.

[0021] In the picture: 1. The robotic arm itself; 2. Welding torch; 3. Protective gas chamber; 31. Mixing chamber; 311. Air inlet; 312. Air outlet; 313. Slide groove; 314. Compensation block; 32. Air outlet chamber; 33. Displacement sensor; 4. Electric motor; 5. Mixing assembly; 51. Drive wheel; 52. Driven wheel; 521. Meshing section; 522. Drive section; 53. Centrifugal spring; 54. Centrifugal plate; 55. Push rod; 551. Push groove; 552. Slider; 6. Mixing impeller; 61. Mixing blade; 62. Spiral structure; 63. Inverted frustum structure; 7. Flow control assembly; 71. Active plate; 711. Drive slant; 72. Fixed plate; 721. Limiting straight groove; 73. Limiting shaft; 74. Return spring; 8. Pressure booster plate; 81. Pressure booster convex surface; 82. Flow guide groove. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The welding robot mainly consists of a robot and welding equipment. The welding device is fixedly installed at the end of the robot and moves with the robot to perform welding at different workstations. The welding device mainly consists of a welding torch, a wire feeding mechanism, and a welding power source. The welding torch is connected to the welding power source. At the same time, the welding torch is equipped with a wire feeding mechanism. The welding power source provides the energy required for welding, and the wire feeding mechanism is responsible for stably feeding the welding wire to the welding torch. Finally, the welding torch directly performs the welding operation.

[0024] The welding control system uses a Siemens S7-1200 PLC as the core control unit, constructing a closed-loop control architecture encompassing signal acquisition, logic operation, execution drive, status feedback, and visual monitoring. This enables automated cyclical operations of workpiece feeding, positioning, welding, and resetting at three workstations. Its core principle is as follows: After power-on, the PLC prioritizes initialization, resetting all output devices and control parameters such as position offset and welding count. When the operator triggers the system start button, the PLC acquires start, stop, reset, and workstation detection photoelectric sensor signals via the DI module. After internal timing logic and position offset compensation calculations, the signals are sequentially driven by the DO module to the conveyor belt, clamping cylinder, and each axis motor of the welding robot. When welding carbon steel, stainless steel, and low-alloy steel, a mixture of 80% argon and 20% carbon dioxide is often used as the shielding gas. However, when introducing the shielding gas for welding protection, the flow rate of the shielding gas needs to be adjusted according to the welding distance. If the shielding gas flow rate is insufficient, the molten pool will be directly exposed to the air, resulting in porosity at the weld. If the shielding gas flow rate is too high, the molten pool will be blown away, leading to increased spatter. At the same time, it is necessary to ensure the uniformity of the argon and carbon dioxide mixture. If the shielding gas composition is uneven, the stability of the arc will decrease, resulting in a reduction in weld quality.

[0025] The present invention provides a technical solution: like Figures 1 to 15 As shown, a welding robot and welding method include: like Figures 1 to 15As shown, a welding robot includes: a robot body 1, a welding torch 2, a shielding gas chamber 3, a motor 4, a mixing assembly 5, a mixing wheel 6, a flow control assembly 7, and a pressure plate 8. The welding torch 2 is fixedly mounted on the robot body 1. A shielding gas chamber 3 is located on the outer circumference of the welding torch 2. The shielding gas chamber 3 is divided into a mixing chamber 31 and an outlet chamber 32. An inlet 311 is provided at the upper end of the mixing chamber 31, which is further divided into an argon inlet 311 and a carbon dioxide inlet 311. An outlet 312, communicating with the outlet chamber 32, is arranged in a ring at the lower end of the mixing chamber 31. The outlet 312 is located near the welding torch. On one side, the air outlet 312 and the air inlet 311 are staggered. A displacement sensor 33 and a motor 4 are installed on the protective gas chamber 3. A mixing assembly 5 is provided below the motor 4. The mixing assembly 5 is located in the mixing chamber 31. A mixing wheel 6 is installed in the mixing assembly 5. The motor 4 adjusts its own speed according to the detection result of the displacement sensor 33, and then adjusts the speed of the mixing wheel 6 through the mixing assembly 5. A flow control assembly 7 is provided on the outer circumference of the mixing assembly 5. A pressure boosting plate 8 is arranged in a ring below the flow control assembly 7. The mixing assembly 5 adjusts the sliding distance of the pressure boosting plate 8 according to the speed of the motor 4, and then adjusts the sliding distance of the pressure boosting plate 8 through the flow control assembly 7. Specifically, a welding torch 2 is fixedly mounted on the robot body 1. The robot body 1 is a multi-degree-of-freedom robot capable of multi-angle movement, thereby driving the welding torch 2 to move synchronously to achieve multi-angle welding. The robot body 1 is a standard six-degree-of-freedom robot, which drives the welding torch 2 to weld workpieces of different shapes, improving welding efficiency. A protective gas chamber 3 is provided on the outer circumference of the welding torch 2. The protective gas chamber 3 is divided into a mixing chamber 31 and an exhaust chamber 32. An air inlet 311 is opened at the upper end of the mixing chamber 31, which is divided into an argon air inlet 311 and a carbon dioxide air inlet 311. An exhaust port 312 communicating with the exhaust chamber 32 is arranged in a ring at the lower end of the mixing chamber 31. The exhaust port 312 is located on the side close to the welding torch 2. The gas inlet 312 and the gas inlet 311 are staggered. The gas inlet 311 of the protective gas chamber 3 is divided into an argon gas inlet 311 and a carbon dioxide gas inlet 311. Both gas inlets 311 are connected to the gas tank through a hose, so that the argon and carbon dioxide in the gas tank are introduced into the mixing chamber 31 for mixing. After mixing, the gas is discharged from the outlet 312 into the outlet chamber and then discharged from the outlet chamber to protect the welding and ensure the welding quality. The gas inlet 311 and the gas tank are connected through a hose, so that the hose can adapt to the multi-free movement of the robot body 1 and ensure the stability of the connection between the gas inlet 311 and the gas tank. The staggered arrangement of the gas inlet 311 and the outlet 312 extends the gas flow path, thereby ensuring the residence time of the gas in the mixing chamber 31 and ensuring the uniform mixing of the gas. A displacement sensor 33 and a motor 4 are installed on the protective gas chamber 3. The displacement sensor 33 is used to detect the welding radial distance, i.e., the distance between the nozzle of the welding torch 2 and the weld. The displacement sensor 33 converts the detected data into an electrical signal and sends it to the control system of the robot. The control system is a prior art program for programming the welding data and welding path of the welding robot. A mixing assembly 5 is located below the motor 4, inside the mixing chamber 31. A mixing wheel 6 is installed inside the mixing assembly 5. The motor 4 adjusts its own speed according to the detection result of the displacement sensor 33, and then adjusts the speed of the mixing wheel 6 through the mixing assembly 5. The motor 4 controls its rotation speed according to the data detected by the displacement sensor 33. The control system determines the speed of the motor 4 according to the welding distance, and then converts the control signal into an electrical signal and sends it to the motor 4 to control its rotation. The rotation of the motor 4 drives the mixing wheel 6 to rotate through the mixing assembly 5. The mixing wheel 6 mixes the argon and carbon dioxide in the mixing chamber 31 to ensure the uniformity of the components in the protective gas, thereby ensuring the stability of the welding arc and thus ensuring the welding quality. The mixing assembly 5 is circular. A flow control component 7 is provided on the outer periphery, and a pressure boosting plate 8 is arranged in a ring below the flow control component 7. The mixing component 5 adjusts the sliding distance of the pressure boosting plate 8 according to the rotation speed of the motor 4 and through the flow control component 7. While the mixing component 5 drives the mixing wheel 6 to rotate, the mixing component 5 drives the pressure boosting plate 8 to slide along the center direction through the flow control component 7, thereby changing the inner diameter of the mixing chamber 31, thereby changing the volume of the mixing chamber 31, increasing the pressure of the protective gas inside the mixing chamber 31, thereby increasing the flow velocity of the protective gas, and thus increasing the flow rate of the protective gas. This achieves the unification of welding distance and protective gas flow rate, ensuring welding quality. The rotation speed of the motor 4 is controlled by the welding distance, and thus the motor 4 controls the synchronous movement of the mixing component 5. The mixing component 5 transmits the movement speed to the pressure boosting plate through the flow control component 7 to control the sliding distance of the pressure boosting plate, thereby achieving the unification of welding distance and protective gas flow rate, and also achieving the unification of protective gas mixing efficiency and protective gas flow rate. When the flow rate of the protective gas increases, the rotation speed of the mixing wheel 6 increases, which increases the mixing efficiency of the protective gas, thereby ensuring the unification of protective gas composition and flow rate.

[0026] In this embodiment, the mixing assembly 5 includes a drive wheel 51, a driven wheel 52, a centrifugal spring 53, a centrifugal plate 54, and a push rod 55. The drive wheel 51 is fixedly connected to the motor 4 and is rotatably mounted in the mixing chamber 31. A driven wheel 52 is provided on one side of the drive wheel 51. The driven wheel 52 is divided into an engagement section 521 and a drive section 522. The lower end of the drive section 522 is fixedly connected to the mixing wheel 6, and a centrifugal spring 53 is fixedly mounted on the drive section 522. A centrifugal plate 54 is fixedly mounted on the centrifugal spring 53. A push rod 55 is provided on the outer circumference of the centrifugal plate 54. The push rod 55 is slidably connected to the mixing chamber 31, and a push groove 551 is provided on the push rod 55. Specifically, the drive wheel 51 is fixedly connected to the motor 4. The drive wheel 51 is rotatably installed in the mixing chamber 31 and rotates synchronously with the motor 4. The motor 4 is fixedly installed on the protective gas chamber 3. The shaft of the motor 4 extends through the mixing chamber 31 and is fixedly installed with the drive wheel 51. The drive wheel 51 can be rotatably installed in the mixing chamber 31 via bearings or other means. A driven wheel 52 is provided on one side of the drive wheel 51. The driven wheel 52 is divided into a meshing section 521 and a driving section 522. The meshing section 521 of the driven wheel 52 meshes with the drive wheel 51. The lower end of the driving section 522 is fixedly connected to the mixing wheel 6 and rotates synchronously with the drive wheel 51, thereby driving the entire driven wheel 52 to rotate. In turn, the driven wheel 52 drives the mixing wheel 6 to rotate synchronously to mix the protective gas, ensuring the uniformity of the protective gas components. A centrifugal spring 53 is fixedly installed on the driving section 522. A centrifugal plate 54 is fixedly installed on the centrifugal spring 53. When wheel 52 rotates, it generates centrifugal force, which is transmitted to centrifugal plate 54 through centrifugal spring 53, thereby driving centrifugal plate 54 to slide along the outer circumference. A push rod 55 is provided on the outer circumference of centrifugal plate 54. The push rod 55 is slidably connected to mixing chamber 31. The push rod 55 is coated with molybdenum disulfide or graphite wear-resistant coating to store oil and reduce friction, thereby reducing the friction between push rod 55 and centrifugal plate 54. At the same time, lubricating oil is sprayed on push rod 55 to form an oil film, which further reduces the friction between the two. Push rod 55 is provided with push groove 551. When centrifugal plate 54 slides, it pushes push rod 55, which is in contact with it, to slide synchronously. Push rod 55 drives flow control component 7 through push groove 551. The magnitude of centrifugal force is related to the rotation speed of driven wheel 52. The rotation speed of driven wheel 52 is controlled by drive wheel 51. Drive wheel 51 is controlled by motor 4. Motor 4 changes its own speed according to welding distance, thereby realizing the unification of the sliding distance of centrifugal plate 54 and welding distance.

[0027] In this embodiment, the push rod 55 is provided with a slider 552, and the mixing chamber 31 is provided with a groove 313; Specifically, the push rod 55 is slidably mounted on the top of the mixing chamber 31 through the cooperation of the slider 552 and the groove 313. The slider 552 of the push rod 55 has an L-shaped structure, a T-shaped structure, or other shapes, so that the slider 552 can be fixed in the groove 313 in the vertical direction, thereby ensuring that the push rod 55 remains fixed in the vertical direction. At the same time, the groove 313 restricts the slider 552 to ensure the stability of the push rod 55 sliding in the horizontal direction.

[0028] In this embodiment, the mixing wheel 6 has a ring array of mixing blades 61, and the mixing blades 61 have a spiral structure 62. Specifically, the spiral blades of the mixing blade 61 can significantly improve gas mixing efficiency by forcing the fluid to divide, shear, rotate and radially mix. The spiral structure 62 forces the gas to rotate while flowing axially, breaking the laminar boundary layer, enhancing the radial mixing capability, and enabling different component gases to mix rapidly.

[0029] In this embodiment, the multiple mixing blades 61 are integrally formed into an inverted frustum structure 63. The upper end of the inverted frustum structure 63 is tangent to the air inlet 311, and the lower end of the inverted frustum structure 63 is tangent to the air outlet 312. Specifically, the inverted frustum-shaped structure 63 conforms to the vertical distribution of the gas during rotation, such as the funnel-shaped structure of a typhoon during rotation. By conforming to the shape of the airflow rotation, it improves the cutting and mixing effect of the mixing wheel 6 on the protective gas. The upper end of the inverted frustum-shaped structure 63 is tangent to the air inlet 311, which facilitates the guidance of the gas into the mixing blades 61 for cutting and mixing. The gas then flows along the guide on the surface of the inverted frustum-shaped structure 63 toward the air outlet 312, and is discharged from the air outlet 312 which is tangent to the lower end of the mixing wheel 6.

[0030] In this embodiment, the flow control assembly 7 includes an active plate 71, a fixed plate 72, a limiting shaft 73, and a return spring 74. The active plate 71 is rotatably connected to the inner wall of the mixing chamber 31 via the return spring 74, and the active plate 71 is located outside the circumference of the push rod 55. The active plate 71 has a push groove 551 that cooperates with the push rod 55. The active plate 71 has a circular array of driving inclined grooves 711, and the fixed plate 72 is provided above the active plate 71. The fixed plate 72 is fixedly connected to the top of the mixing chamber 31, and the fixed plate 72 has a limiting straight groove 721 corresponding to the driving inclined groove 711. The limiting shaft 73 is slidably installed in the driving inclined groove 711 and the limiting straight groove 721. The lower end of the limiting shaft 73 is fixedly installed with the pressure plate 8. Specifically, the active plate 71 is rotatably connected to the inner wall of the mixing chamber 31 via a return spring 74. The active plate 71 reciprocates with the mixing chamber 31 via the return spring 74. The active plate 71 is located outside the circumference of the push rod 55. The active plate 71 has a push groove 551 that cooperates with the push rod 55. The active plate 71 has a circular array of driving inclined grooves 711. A fixed plate 72 is provided above the active plate 71. When the push rod 55 slides horizontally under the action of centrifugal force, the push rod 55 pushes the active plate 71 to rotate through the push groove 551. The fixed plate 72 is fixedly connected to the top of the mixing chamber 31. The fixed plate 72 can be fixedly installed at the top of the mixing chamber 31 by snap-fit, adhesive, or welding. The fixed plate 72 has a limiting straight groove 721 corresponding to the driving inclined groove 711. A limiting shaft 73 is slidably installed in the driving inclined groove 711 and the limiting straight groove 721. The lower end of the limiting shaft 73 is connected to the driving inclined groove 711 and the limiting straight groove 721. The pressure plate 8 is fixedly installed. When the drive wheel rotates, it pushes the limiting shaft 73 to slide through the drive inclined groove 711. Under the action of the limiting straight groove 721 of the fixed plate 72, the limiting shaft 73 slides in a straight line along the center direction, and then slides synchronously with the pressure plate 8 fixedly connected to its lower end, thereby changing the inner diameter of the mixing chamber 31, thereby changing the protective gas pressure and increasing the protective gas flow rate. By reducing the inner diameter of the mixing chamber 31 through the pressure plate 8, the pressure on the protective gas increases, thereby increasing the flow velocity of the protective gas at the pressure plate 8. Since the pressure plate 8 is located at the gas outlet, the gas flows out from the gas outlet 312 immediately after being pressurized by the pressure plate 8. That is, the volumetric flow rate of the protective gas flowing out from the gas outlet 312 per unit time increases, thereby increasing the flow rate of the protective gas at this time compared to the volumetric flow rate of the protective gas before the pressure plate 8 slides.

[0031] In this embodiment, the mixing chamber 31 has a ring array of compensation blocks 314, and the compensation blocks 314 are staggered with the pressure boosting plate 8; Specifically, the pressure plate 8 is equipped with a sealing ring (not shown in the figure) to ensure airtightness, so that the pressure plate 8 and the compensation block 314 form a piston structure. The pressure plate 8 is equivalent to a piston, and the space between the two Xiangling compensation blocks 314 is equivalent to a piston chamber. The pressure plate 8 and the compensation block 314 form a circle with good airtightness, avoiding large gaps that could lead to air pressure leakage, affecting the change of protective gas pressure and the flow rate of protective gas.

[0032] In this embodiment, the pressure boosting plate 8 is provided with a pressure boosting convex surface 81, which corresponds to the air outlet 312; Specifically, the pressure-boosting convex surface 81 is used to enhance the extrusion pressure of the pressure plate 8 on the protective gas, thereby increasing the pressure on the protective gas. Furthermore, the pressure-boosting convex surface 81 corresponds to the outlet 312, which facilitates the rapid discharge of the mixed protective gas from the outlet 312, ensuring the flow rate of the protective gas.

[0033] In this embodiment, the curvature of the pressurizing convex surface 81 corresponds to the inverted frustum structure 63, and the pressurizing convex surface 81 has a linear array of guide grooves 82. Specifically, the curvature of the pressurizing convex surface 81 corresponds to the inverted frustum structure 63, thereby making the gap between the pressurizing convex surface 81 and the inverted frustum structure 63 equal, thus ensuring the uniformity of the force on the protective gas in the mixing chamber 31. Furthermore, by ensuring the uniformity of the force on the protective gas flow in the vertical direction, the uniformity of the mixing of the protective gas in the vertical direction is guaranteed, ensuring the uniformity of the mixing of each component of the protective gas. At the same time, the guide groove 82 guides the protective gas, thereby enhancing the rotation effect of the protective gas and improving the uniformity of the mixing of the protective gas.

[0034] A welding method comprising the following steps: S1, Displacement sensor 33 detects the welding distance and then adjusts the speed of motor 4 through the control system; S2, Motor 4 drives the mixing wheel 6 to rotate and mix argon and carbon dioxide through mixing component 5; S3. The mixing component 5 drives the pressure plate 8 to slide and change the inner diameter of the mixing chamber to adjust the flow pressure through the flow control component 7. Specifically, displacement sensor 33 detects the radial distance from the spray gun to the welding surface and converts the detected data into an electrical signal, which is then sent to the control system. The control system controls the rotation speed of motor 4 based on the radial distance. Motor 4 determines its own rotation speed based on the welding distance and adjusts the rotation speed of mixing wheel 6 through mixing component 5. The rotation of mixing wheel 6 uniformly mixes argon and carbon dioxide in mixing chamber 31, thereby ensuring uniform composition of the blown protective gas and guaranteeing welding quality. Mixing wheel 6 adjusts its own rotation speed based on the rotation speed of motor 4 and adjusts the sliding distance of pressure plate 8 through flow control component 7, thereby changing the volume of mixing chamber, changing the pressure of protective gas in mixing chamber 31, and thus changing the flow rate of protective gas, achieving a balance between protective gas flow rate and welding distance.

[0035] In use, the welding robot and welding method of the present invention first move the welding torch 2 to the weld position using the robot body 1. Then, the welding distance is measured by the displacement sensor 33 and sent to the control system to control the rotation speed of the motor 4. Simultaneously, argon and carbon dioxide are injected into the protective gas chamber 3 through the air inlet 311. When the motor 4 rotates, it drives the drive wheel 51 to rotate synchronously. The drive wheel 51 engages with the meshing section 521 of the driven wheel 52, thereby driving the driven wheel 52 to rotate as a whole. The rotation of the driven wheel 52 then drives the mixing wheel 6 to rotate synchronously. The mixing wheel 6 mixes the... The protective gas in cavity 31 is mixed to ensure the uniformity of each component. When the driven wheel 52 rotates, it generates centrifugal force, which is transmitted to the centrifugal plate 54 through the centrifugal spring 53. This centrifugal force drives the centrifugal plate 54 to slide along the outer circumference, thereby pushing the push rod 55 to slide. The push rod 55 pushes the active plate 71 to rotate through the push groove 551. The active plate 71 pushes the limiting shaft 73 through the driving inclined groove 711. The limiting shaft 73 slides along the center direction under the action of the limiting straight groove 721 of the fixed plate 72, thereby driving the pressure plate 8 to slide synchronously. The pressure plate 8 changes the inner diameter of the mixing cavity 31, thereby changing the flow rate of the protective gas.

[0036] 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 preferred examples and are not intended to limit 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 the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A welding robot, characterized in that, include: The robot body (1), welding torch (2), protective gas chamber (3), motor (4), mixing assembly (5), mixing wheel (6), flow control assembly (7) and pressure plate (8); A welding torch (2) is fixedly installed on the main body (1) of the robotic arm. A protective gas chamber (3) is provided on the outer circumference of the welding torch (2). The protective gas chamber (3) is divided into a mixing chamber (31) and an exhaust chamber (32). An air inlet (311) is provided at the upper end of the mixing chamber (31). The air inlet (311) is divided into an argon air inlet (311) and a carbon dioxide air inlet (311). An exhaust port (312) communicating with the exhaust chamber (32) is arranged in a ring at the lower end of the mixing chamber (31). The exhaust port (312) is located on the side close to the welding torch (2). The exhaust port (312) and the air inlet (311) are arranged in a staggered manner. A displacement sensor (33) and a motor (4) are installed on the protective gas chamber (3). A mixing assembly (5) is provided below the motor (4). The mixing assembly (5) is located in the mixing chamber (31). A mixing wheel (6) is installed in the mixing assembly (5). The motor (4) adjusts its own speed according to the detection result of the displacement sensor (33), and then adjusts the speed of the mixing wheel (6) through the mixing assembly (5). A flow control assembly (7) is provided on the outer circumference of the mixing assembly (5). A pressure plate (8) is arranged in a ring below the flow control assembly (7). The mixing assembly (5) adjusts the sliding distance of the pressure plate (8) according to the speed of the motor (4) and then adjusts the sliding distance of the pressure plate (8) through the flow control assembly (7).

2. The welding robot according to claim 1, characterized in that: The mixing assembly (5) includes a drive wheel (51), a driven wheel (52), a centrifugal spring (53), a centrifugal plate (54), and a push rod (55); The drive wheel (51) is fixedly connected to the motor (4), and the drive wheel (51) is rotatably installed in the mixing chamber (31). A driven wheel (52) is provided on one side of the drive wheel (51). The driven wheel (52) is divided into a meshing section (521) and a driving section (522). The lower end of the driving section (522) is fixedly connected to the mixing wheel (6), and a centrifugal spring (53) is fixedly installed on the driving section (522). A centrifugal plate (54) is fixedly installed on the centrifugal spring (53); A push rod (55) is provided on the outer circumference of the centrifugal plate (54); The push rod (55) is slidably connected to the mixing chamber (31), and a push groove (551) is provided on the push rod (55).

3. The welding robot according to claim 2, characterized in that: The push rod (55) is provided with a slider (552), and the mixing chamber (31) is provided with a groove (313).

4. The welding robot according to claim 2, characterized in that: The mixing wheel (6) has a ring array of mixing blades (61), and the mixing blades (61) have a spiral structure (62).

5. The welding robot according to claim 4, characterized in that: The multiple mixing blades (61) are integrally formed into an inverted frustum structure (63), the upper end of which is tangent to the air inlet (311), and the lower end of which is tangent to the air outlet (312).

6. The welding robot according to claim 5, characterized in that: The flow control assembly (7) includes an active plate (71), a fixed plate (72), a limiting shaft (73), and a return spring (74). The active plate (71) is rotatably connected to the inner wall of the mixing chamber (31) via a return spring (74). The active plate (71) is located on the outer side of the push rod (55). The active plate (71) has a push groove (551) that cooperates with the push rod (55). The active plate (71) has a driving inclined groove (711) arranged in a ring. A fixing plate (72) is provided above the active plate (71). The fixing plate (72) is fixedly connected to the top of the mixing chamber (31). The fixing plate (72) is provided with a limiting straight groove (721) corresponding to the driving inclined groove (711). A limiting shaft (73) is slidably installed in the driving inclined groove (711) and the limiting straight groove (721). The lower end of the limiting shaft (73) is fixedly installed with the pressure plate (8).

7. The welding robot according to claim 6, characterized in that: The mixing chamber (31) has a ring array of compensation blocks (314), which are staggered with the pressure plate (8).

8. The welding robot according to claim 7, characterized in that: The pressure plate (8) is provided with a pressure-boosting convex surface (81), which corresponds to the air outlet (312).

9. The welding robot according to claim 8, characterized in that: The curvature of the boosting convex surface (81) corresponds to the inverted frustum structure (63), and the boosting convex surface (81) has a linear array of guide grooves (82).

10. A welding method, used by the welding robot according to any one of claims 1-9, characterized in that, Includes the following steps: S1, Displacement sensor (33) detects welding distance and then adjusts motor (4) speed through control system; S2, The motor (4) drives the mixing wheel (6) to rotate and mix argon and carbon dioxide through the mixing assembly (5); S3. The mixing component (5) drives the booster plate (8) to slide and change the inner diameter of the mixing chamber to adjust the flow pressure through the flow control component (7).

Images