A robot intelligent welding device for automobile parts

Abstract

This invention discloses a robotic intelligent welding device for automotive parts, comprising a steering assembly, a spray assembly, and an airflow assembly. A positioning recorder divides the welding trajectory into multiple welding zones and controls workpiece zone switching based on upper limit temperature, recovery temperature, and continuous welding duration. An electrically controlled valve on the liquid supply line opens and closes according to the current weld point and cooling nozzle position, ensuring that water mist avoids the arc and shielding gas's effective range. A third gear drives the cooling nozzle to sweep across the area via an eccentric shaft and drives a sliding rod to reciprocate. A trigger gap is provided between the pressure plate and the air bladder, allowing the spray to first act on the target cooling area. Subsequently, the air bladder outputs a pulsed airflow, which disperses the water mist through a vibrating plate, rotating blades, and vents within the air chamber. This device can reduce fixture thermal deformation and positioning reference drift, and minimize the impact of water mist on the welding process.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and in particular to a robotic intelligent welding equipment for automotive parts. Background Technology

[0002] Automotive parts are the various units that make up the whole automotive parts processing and the products that serve automotive parts processing. Currently, automotive parts processing generally uses arc welding robots for welding operations.

[0003] Current intelligent welding equipment accumulates heat on the fixture chassis during prolonged welding, easily causing thermal stress deformation. This leads to improper deformation and surface scratches on the clamped parts. Conventional point-spraying only cools the sprayed welding area, leaving unsprayed areas of the chassis continuously heated, resulting in large temperature differences and localized high-temperature creep. Repeated thermal expansion and contraction cycles cause irreversible shifts in the positioning reference, leading to misalignment of the welded parts. Therefore, this invention proposes a robotic intelligent welding device for automotive parts. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robotic intelligent welding device for automotive parts.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robotic intelligent welding equipment for automotive parts includes a fixed base, a protective working wall mounted thereon, and a robotic welding machine, comprising a steering assembly, a spray assembly, and an airflow assembly. The steering assembly includes an electric drive box, a partition plate, a fixed column connected to the drive end of the electric drive box, and a rotating base mounted on the fixed column. A fixed plate is provided between the opposing rotating bases, and an accessory clamp is provided on the fixed plate. The spray assembly includes a first gear fixed coaxially and a second gear rotating on the first gear shaft, a third gear and a fourth gear meshing with the first gear and the second gear respectively, a double-headed motor driving the fourth gear, a slide rod, a U-shaped groove plate connecting the slide rod, and a slider box connected to the third gear via an eccentric shaft and slidingly engaged with the U-shaped groove plate. The slider box is provided with cooling nozzles. The airflow assembly includes a pressure plate disposed at the end of the slide bar, an air bladder, an air chamber communicating with the air bladder, and a vibrating thin plate elastically disposed within the air chamber; When the third gear rotates, the slider box drives the cooling nozzle to sweep and causes the slide bar to move back and forth; there is a trigger gap between the pressure plate and the air bladder, so that after the cooling nozzle passes through the accessory clamp or fixing plate, the pressure plate compresses the air bladder again, and the pulse airflow acts on the corresponding area through the air chamber.

[0006] Preferably, the fixed base is equipped with a positioning recorder, which includes a visual positioning unit, a temperature detection unit, a timing unit, and a control unit; the dual-head motor is a servo motor with rotation feedback function; the liquid supply pipeline of the cooling nozzle is equipped with an electrically controlled valve; and the control unit is communicatively connected to the robot welding machine, the electric drive box, the dual-head motor, and the electrically controlled valve.

[0007] Preferably, the control unit divides the welding trajectory into multiple welding zones and sets an upper limit temperature and a recovery temperature below the upper limit temperature. When the temperature of the current welding zone reaches the upper limit temperature or the continuous welding time reaches a set value, the robotic welding machine stops igniting the arc after completing the current welding segment. The control unit determines the next welding zone from the candidate welding zones whose temperature is not higher than the recovery temperature. If there are no candidate welding zones, spraying and air supply are maintained until the temperature of at least one candidate welding zone drops to the recovery temperature.

[0008] Preferably, the visual positioning unit determines a spray avoidance zone containing the arc area and the protective gas action area based on the current weld point; the control unit determines the position of the cooling nozzle based on the rotation angle feedback of the dual-head motor, and opens the electric control valve only when the spray direction of the cooling nozzle is towards the accessory fixture, fixing plate or completed welding area outside the spray avoidance zone, and determines the part of the accessory fixture, fixing plate and completed welding area located outside the spray avoidance zone as the target cooling area.

[0009] Preferably, the trigger gap corresponds to the first stroke of the slide bar; when the slide bar is in the first stroke, the electronically controlled valve is open and the pressure plate separates from the air bladder; when the slide bar enters the second stroke, the electronically controlled valve is closed and the pressure plate compresses the air bladder, so that the pulse airflow reaches the target cooling area after the spray stops.

[0010] Preferably, the partition plate is disposed between the two fixed columns; one side of the partition plate is provided with two support rods and two side plates, and the two sliding rods respectively pass through the corresponding support rods and side plates and slide with them; one side of the inflatable airbag is connected to the fixed column, and the other side faces the pressure plate.

[0011] Preferably, four air chambers are provided on both sides of the partition plate, and adjacent air chambers are connected by a ventilation pipe; each air chamber has a horizontal air hole on one side and an air outlet on the air outlet side, and several horizontal columns are provided in the air chamber near the air outlet, and each horizontal column is rotatably equipped with a rotating blade.

[0012] Preferably, the inflatable airbag is connected to one of the air chambers via an air inlet pipe and to the outside via an air intake pipe; a one-way valve is provided in the air inlet pipe and the air intake pipe respectively, the one-way valve in the air intake pipe allows outside air to enter the inflatable airbag, and the one-way valve in the air inlet pipe allows air in the inflatable airbag to enter the air chamber.

[0013] Preferably, the spray assembly is provided on both sides of the partition plate; the first gear and the second gear constitute a coaxial compound gear, and the two drive ends of the dual-head motor are respectively provided with the fourth gear, and the two fourth gears respectively mesh with the second gear on the corresponding side.

[0014] Preferably, the vibrating plate is provided with ventilation mesh, a vibration gap is left between the edge of the vibrating plate and the inner wall of the air chamber, and adjacent vibrating plates are elastically supported by springs.

[0015] The present invention has the following beneficial effects: 1. By establishing different switching conditions through upper limit temperature and recovery temperature, the switching only occurs when the temperature of the candidate welding area drops to the recovery temperature after the current welding area reaches the stop condition. This can reduce repeated rotations caused by fluctuations in the detection value at the critical position and reduce the impact of continuous heating of a single area on the positioning reference.

[0016] 2. The control unit controls the electric control valve according to the current welding point and the position of the cooling nozzle, and supplies liquid only to the accessory fixtures, fixing plates and completed welding areas outside the spray avoidance zone, thereby expanding the cooling range of the fixtures while reducing the water mist entering the arc and shielding gas action area.

[0017] 3. The trigger gap causes the cooling nozzle to spray onto the target cooling area first, and the pressure plate compresses the air bladder during the later stroke of the slide bar; the pulse airflow acts on the formed liquid film and water mist after the spraying stops, which can reduce the premature blowing of droplets during the spraying stage and inhibit the local droplet aggregation.

[0018] 4. The sweeping of the cooling nozzle, the reciprocating movement of the slide bar, and the compression of the air bladder are completed sequentially by the same gear transmission path. The vibrating thin plate and rotating blades in the air chamber divert and guide the pulse airflow, eliminating the need for a continuously operating independent air supply device, which helps to maintain the consistency of the spraying and air supply sequence in each motion cycle. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main structure of a robotic intelligent welding equipment for automotive parts proposed in this invention; Figure 2 This is a side view of the intelligent robotic welding equipment for automotive parts proposed in this invention. Figure 3 This is a schematic diagram of the internal structure of the working protective wall in this invention; Figure 4 This is an overall structural diagram of the welding area in this invention; Figure 5 This is a schematic diagram of one side of the partition plate in this invention; Figure 6 This is a side view of one side of the partition plate in this invention. Figure 7 This is a schematic diagram of one side of the ring spray assembly in this invention; Figure 8 This is a schematic diagram of the structure of the other side of the ring spray assembly in this invention; Figure 9 This is a front view of the ring spray assembly in this invention. Figure 10 This is a schematic diagram of the gear structure of the ring spray assembly in this invention; Figure 11 This is a schematic diagram of the air chamber structure in this invention; Figure 12 This is a schematic diagram of the internal structure of the air chamber in this invention.

[0020] In the diagram: 1 Fixed base, 2 Working protective wall, 3 Rear coolant tank, 4 Robot welding machine, 5 Positioning recorder, 6 Electric drive box, 7 Fixed column, 8 Partition plate, 9 Rotating base, 10 Fixed plate, 11 Accessory fixture, 12 First gear, 13 Second gear, 14 Third gear, 15 Support rod, 16 Slide rod, 17 U-shaped groove plate, 18 Sliding block box, 19 Cooling nozzle, 20 External interface, 21 Dual-head motor, 22 Fourth gear, 23 Side plate, 24 Pressure plate, 25 Inflating airbag, 26 Air chamber, 27 Horizontal air hole, 28 Vibrating thin plate, 29 Spring, 30 Horizontal column, 31 Rotating blade, 32 Air outlet, 33 Vent pipe, 34 Air inlet pipe, 35 Suction pipe. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] Example 1: Reference Figures 1-6A robotic intelligent welding equipment for automotive parts includes a welding assembly, a steering assembly, a spraying assembly, and an airflow assembly. The welding assembly includes a fixed base 1, a working protective wall 2 set on top of the fixed base 1 and a robotic welding machine 4, and a rear coolant tank 3 set on the rear side of the working protective wall 2; the rear coolant tank 3 is connected to the cooling nozzle 19 through a flexible liquid supply pipeline, and an electrically controlled valve is set on the flexible liquid supply pipeline, which is not shown in the figure. The steering assembly includes an electric drive box 6 disposed on both sides of the fixed base 1, a fixed column 7 disposed inside the two electric drive boxes 6, a partition plate 8 disposed between the two fixed columns 7, and a rotating base 9 connected to the drive end of the electric drive box 6. The spray assembly is provided on both sides of the partition plate 8, including a first gear 12 and a second gear 13, a third gear 14 and a fourth gear 22, a slide bar 16, a U-shaped groove plate 17, a slider box 18 and a cooling nozzle 19, which are coaxially fixed. The airflow assembly includes a pressure plate 24, an air bladder 25, an air chamber 26, and a vibrating thin plate 28; a trigger gap is provided between the pressure plate 24 and the movable side of the air bladder 25, and the air bladder 25 exhausts air into the air chamber 26 through the air inlet pipe 34. Four air chambers 26 are respectively provided on both sides of the partition plate 8. A positioning recorder 5 is installed on the fixed base 1. The positioning recorder 5 includes a visual positioning unit, a temperature detection unit, a timing unit, and a control unit. The dual-head motor 21 is a servo motor with rotation feedback function. The control unit is connected to the robot welding machine 4, the electric drive box 6, the dual-head motor 21, and the electric control valve respectively. Two fixed columns 7 are respectively rotatably mounted on the upper and lower parts of opposite sides, and each rotatable base 9 is connected to the drive end of the corresponding electric drive box 6; a fixed plate 10 is provided between the two rotatable bases 9, and an accessory clamp 11 is provided on the fixed plate 10. In this embodiment, the rear coolant tank 3 supplies coolant to the flexible supply pipeline through a conventional pumping device. The flexible supply pipeline is designed to accommodate bending as it moves with the slider box 18. The electronically controlled valve controls the supply period of the cooling nozzle 19 without changing the continuous supply pressure of the rear coolant tank 3. Furthermore, the control unit divides the workpiece into multiple welding zones according to the welding trajectory of the robot welding machine 4, and records the temperature and continuous welding time for each welding zone; the upper limit temperature is used to determine whether to stop the continuous operation of the current welding zone, and the recovery temperature is lower than the upper limit temperature to determine whether the corresponding welding zone has the conditions to re-enter the working position; Furthermore, when the temperature of the current welding zone reaches the upper limit temperature or the continuous welding time reaches the set value, the robot welding machine 4 stops igniting the arc after completing the current welding segment; the control unit prioritizes selecting candidate welding zones whose temperature is not higher than the recovery temperature, and controls the electric drive box 6 to drive the rotating base 9 to rotate, so that the selected welding zone enters the working position; if all candidate welding zones are higher than the recovery temperature, the cooling nozzle 19 and the airflow assembly are kept running, and the switching is performed after at least one candidate welding zone drops to the recovery temperature.

[0023] Example 2: Reference Figures 5-10 Compared to Embodiment 1, in this embodiment, the first gear 12 and the second gear 13 are coaxially fixed and rotatably mounted on the partition plate 8 via a rotating shaft; the third gear 14 is rotatably mounted on the partition plate 8 via a support shaft and meshes with the first gear 12. Two support rods 15 and two side plates 23 are provided on one side of the partition plate 8, and two sliding rods 16 pass through the corresponding support rods 15 and side plates 23 respectively and slide with them. A U-shaped groove plate 17 is provided between the two sliding rods 16.

[0024] The eccentric position of the third gear 14 is rotatably connected to the slider box 18 via an eccentric shaft. The slider box 18 is located in the through slot of the U-shaped groove plate 17 and slides with it. The slider box 18 is provided with multiple cooling nozzles 19 and an external interface 20 communicating with the cooling nozzles 19. The two drive ends of the dual-head motor 21 are respectively provided with fourth gears 22, and the two fourth gears 22 mesh with the second gears 13 on the corresponding sides. The rotation angle fed back by the dual-head motor 21 is used to determine the position of the slider box 18 in the sweeping trajectory.

[0025] In this embodiment, the dual-head motor 21 drives the fourth gear 22 to rotate, the fourth gear 22 drives the second gear 13 and the first gear 12 to rotate, and the first gear 12 drives the third gear 14 to rotate. The slider box 18 moves eccentrically with the third gear 14 and slides in the through groove of the U-shaped groove plate 17, causing the U-shaped groove plate 17 and the slide rod 16 to reciprocate along the support rod 15 and the side plate 23; the trigger gap between the pressure plate 24 and the air bladder 25 corresponds to the first part of the stroke of the slide rod 16.

[0026] Furthermore, the vision positioning unit determines the spray avoidance zone based on the current weld point of the robotic welding machine 4. This zone covers the main effective range of the electric arc and shielding gas. The control unit determines the spray direction of the cooling nozzle 19 by combining the rotation angle of the dual-head motor 21. When the spray direction is towards the accessory fixture 11, the fixing plate 10, or the completed welding area outside the spray avoidance zone, the electric control valve is opened; when the spray direction may enter the spray avoidance zone, the electric control valve is closed.

[0027] Example 3: Reference Figure 7 , Figure 8 , Figure 11 and Figure 12 Compared to Embodiment 1 and Embodiment 2, in this embodiment, pressure plates 24 are provided at the ends of both slide rods 16, and an air bladder 25 is provided between the fixed column 7 and the pressure plate 24. One side of the air bladder 25 is connected to the fixed column 7, and the other movable side faces the pressure plate 24. The two maintain a trigger gap when the slide rod 16 is in the first stroke, and contact each other after the slide rod 16 enters the second stroke.

[0028] Four air chambers 26 are respectively arranged on both sides of the partition plate 8, and adjacent air chambers 26 are connected by a vent pipe 33. A horizontal air hole 27 is provided on one side of the air chamber 26, and an air outlet 32 ​​is provided on the air outlet side. Several horizontal columns 30 are arranged inside the air chamber 26 near the air outlet 32, and a rotating blade 31 is rotatably installed on each horizontal column 30. Several vibrating thin plates 28 are arranged at intervals along the airflow direction, and adjacent vibrating thin plates 28 are elastically supported by springs 29. A vibration gap is left between the edge of the vibrating thin plate 28 and the inner wall of the air chamber 26.

[0029] The inflatable airbag 25 is connected to one of the air chambers 26 via an air inlet pipe 34 and to the outside via an air intake pipe 35. One-way valves are installed in both the air inlet pipe 34 and the air intake pipe 35. The one-way valve in the air intake pipe 35 allows outside air to enter the inflatable airbag 25, while the one-way valve in the air inlet pipe 34 allows air from inside the inflatable airbag 25 to enter the air chamber 26.

[0030] During one stroke cycle, when the slide bar 16 is in the initial stroke, the control unit opens the electronic control valve, and the cooling nozzle 19 sprays water onto the target cooling area. The pressure plate 24 has not yet contacted the air bladder 25. After the slide bar 16 enters the later stroke, the control unit closes the electronic control valve, and the pressure plate 24 compresses the air bladder 25 and discharges air into the air chamber 26. When the slide bar 16 returns, the pressure plate 24 leaves the air bladder 25, and the air bladder 25 is replenished with outside air through the suction pipe 35.

[0031] Furthermore, after the pulsed airflow enters the air chamber 26, it passes through the horizontal air hole 27 and acts on the vibrating plate 28. Under the impact of the airflow and the reset action of the spring 29, the vibrating plate 28 undergoes periodic oscillation. After the airflow passes through the ventilation mesh, it is divided into multiple streams and drives the rotating blade 31 to rotate. Finally, it is guided to the target cooling area by the vent 32.

[0032] Furthermore, the airflow directed from the vent 32 acts on the target cooling area after the spray stops, causing the droplets adhering to the surfaces of the accessory clamp 11 and the fixing plate 10 to spread out and causing the suspended water mist to move away from the local collection point. This airflow does not serve as a welding shielding gas, the electrically controlled valves in the spray avoidance zone remain closed, and the air outlet direction of the air chamber 26 also avoids the current welding point.

[0033] Furthermore, the rotation of the third gear 14 sequentially forms the sweeping motion of the cooling nozzle 19, the initial and subsequent strokes of the slide bar 16, and the compression of the air bladder 25. Through angular feedback, the opening and closing of the electronically controlled valve window, and the trigger gap, the equipment first completes the liquid supply to the target cooling area in each motion cycle, and then outputs pulsed airflow, thereby reducing local heat accumulation in the fixture, water mist deviation from the target position, and localized droplet aggregation.

[0034] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic intelligent welding equipment for automotive parts, comprising a fixed base (1), a protective working wall (2) disposed thereon, and a robotic welding machine (4), characterized in that, Includes steering components, spray components, and airflow components; The steering assembly includes an electric drive box (6), a partition plate (8), a fixed column (7) connected to the drive end of the electric drive box (6), and a rotating base (9) disposed on the fixed column (7). A fixed plate (10) is provided between the rotating bases (9) opposite each other, and an accessory clamp (11) is provided on the fixed plate (10). The spray assembly includes a first gear (12) fixed coaxially and a second gear (13) rotating on the shaft of the first gear (12), a third gear (14) and a fourth gear (22) meshing with the first gear (12) and the second gear (13) respectively, a double-headed motor (21) driving the fourth gear (22), a slide rod (16), a U-shaped groove plate (17) connecting the slide rod (16), and a slider box (18) connected to the third gear (14) via an eccentric shaft and slidingly engaged with the U-shaped groove plate (17). The slider box (18) is provided with a cooling nozzle (19). The airflow assembly includes a pressure plate (24) disposed at the end of the slide bar (16), an air bladder (25), an air chamber (26) communicating with the air bladder (25), and a vibrating thin plate (28) elastically disposed in the air chamber (26). When the third gear (14) rotates, the slider box (18) drives the cooling nozzle (19) to sweep and causes the slide bar (16) to move back and forth; there is a trigger gap between the pressure plate (24) and the air bladder (25), so that after the cooling nozzle (19) passes through the accessory clamp (11) or the fixing plate (10), the pressure plate (24) compresses the air bladder (25), and the pulse airflow acts on the corresponding area through the air chamber (26).

2. The intelligent robotic welding equipment for automotive parts according to claim 1, characterized in that, The fixed base (1) is equipped with a positioning recorder (5), which includes a visual positioning unit, a temperature detection unit, a timing unit and a control unit; the dual-head motor (21) is a servo motor with rotation feedback function; the liquid supply pipeline of the cooling nozzle (19) is equipped with an electric control valve; the control unit is communicatively connected to the robot welding machine (4), the electric drive box (6), the dual-head motor (21) and the electric control valve respectively.

3. The intelligent robotic welding equipment for automotive parts according to claim 2, characterized in that, The control unit divides the welding trajectory into multiple welding zones and sets an upper limit temperature and a recovery temperature below the upper limit temperature. When the temperature of the current welding zone reaches the upper limit temperature or the continuous welding time reaches the set value, the robot welding machine (4) stops igniting the arc after completing the current welding segment. The control unit determines the next welding zone from the candidate welding zones whose temperature is not higher than the recovery temperature. When there are no candidate welding zones, spraying and air supply are maintained until the temperature of at least one candidate welding zone drops to the recovery temperature.

4. The intelligent robotic welding equipment for automotive parts according to claim 2, characterized in that, The visual positioning unit determines the spray avoidance zone, which includes the arc area and the protective gas action area, based on the current weld point; the control unit determines the position of the cooling nozzle (19) based on the rotation angle feedback of the dual-head motor (21), and opens the electric control valve only when the spray direction of the cooling nozzle (19) is towards the accessory fixture (11), the fixing plate (10) or the completed welding area outside the spray avoidance zone, and determines the part of the accessory fixture (11), the fixing plate (10) and the completed welding area located outside the spray avoidance zone as the target cooling area.

5. The intelligent robotic welding equipment for automotive parts according to claim 4, characterized in that, The trigger gap corresponds to the first stroke of the slide bar (16); when the slide bar (16) is in the first stroke, the electronic control valve is opened and the pressure plate (24) separates from the air bladder (25); when the slide bar (16) enters the second stroke, the electronic control valve is closed and the pressure plate (24) compresses the air bladder (25), so that the pulse airflow reaches the target cooling area after the spray stops.

6. The intelligent robotic welding equipment for automotive parts according to claim 4, characterized in that, The partition plate (8) is disposed between the two fixed columns (7); the partition plate (8) has two support rods (15) and two side plates (23) on one side, and the two sliding rods (16) pass through the corresponding support rods (15) and side plates (23) respectively and slide with them; one side of the inflatable airbag (25) is connected to the fixed column (7), and the other side faces the pressure plate (24).

7. The intelligent robotic welding equipment for automotive parts according to claim 4, characterized in that, The partition plate (8) has four air chambers (26) on each side, and the adjacent air chambers (26) are connected by a ventilation pipe (33). Each air chamber (26) has a horizontal air hole (27) on one side and an air outlet (32) on the air outlet side. Several horizontal columns (30) are provided in the air chamber (26) near the air outlet (32), and each horizontal column (30) is rotatably provided with a rotating blade (31).

8. The intelligent robotic welding equipment for automotive parts according to claim 7, characterized in that, The inflatable airbag (25) is connected to one of the air chambers (26) through an air inlet pipe (34) and is connected to the outside through an air intake pipe (35). One-way valves are provided in the air inlet pipe (34) and the air intake pipe (35). The one-way valve in the air intake pipe (35) allows outside air to enter the inflatable airbag (25), and the one-way valve in the air inlet pipe (34) allows air in the inflatable airbag (25) to enter the air chamber (26).

9. The intelligent robotic welding equipment for automotive parts according to claim 1, characterized in that, The spray assembly is respectively arranged on both sides of the partition plate (8); the first gear (12) and the second gear (13) constitute a coaxial compound gear, and the two drive ends of the dual-head motor (21) are respectively provided with the fourth gear (22), and the two fourth gears (22) mesh with the second gear (13) on the corresponding side respectively.

10. The intelligent robotic welding equipment for automotive parts according to claim 8, characterized in that, The vibrating plate (28) is provided with ventilation mesh holes. A vibration gap is left between the edge of the vibrating plate (28) and the inner wall of the air chamber (26). Adjacent vibrating plates (28) are elastically supported by springs (29).

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