A welding robot for mechanical parts

Abstract

This invention discloses a welding robot for machining mechanical parts, belonging to the field of welding robot technology. The welding robot includes a welding head for laser welding two sets of square tubes and a U-shaped frame for mounting and connecting the welding head. This invention relies on the mechanical follow-up cooperation between the arc-shaped push plate at the corner of the U-shaped frame and the telescopic component. In the straight, thin-walled welding area of ​​the square tube, the conventional welding spacing and small oscillation parameters can be maintained, effectively avoiding overheating, burn-through, and welding deformation defects caused by excessive heat input in the thin-walled area. When the welding head moves to the thickened corner area of ​​the square tube, it can automatically reduce the welding spacing and increase the oscillation amplitude, specifically adapting to the welding requirements of the increased corner wall thickness. This allows for the input of more laser energy to the thicker corner base material and also increases the heated area of ​​the molten pool, enabling heat to fully penetrate into the thick-walled corner base material, ensuring the penetration depth and full fusion of the weld at the corner during the welding process.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to a welding robot for machining mechanical parts. Background Technology

[0002] Square tube components are commonly used basic profiles in mechanical parts. Often, two sets of rectangular square tubes need to be joined together and then laser welded. During welding, the wall thickness at the corners of the rectangular square tube is greater than the wall thickness at the straight sections (see the instruction manual appendix). Figure 13 The base material has a larger heat capacity at the corner, and the difference in wall thickness between the straight section and the corner will cause a large difference in the heating conditions of the weld, which brings great difficulty to laser welding.

[0003] When existing laser welding robots perform welding operations on the circumferential seam of square pipes, they usually use a laser welding head to move circumferentially along the circumferential weld seam, while controlling the beam to make a fixed amplitude reciprocating oscillation, relying on the oscillation of the beam to improve the metallurgical conditions of the molten pool.

[0004] However, the swing amplitude and the defocus distance between the welding head and the workpiece weld of this type of equipment are mostly preset to fixed values. When the welding path passes through the thick wall part of the square tube corner, the swing amplitude and welding distance of the straight section welding are still used, which easily leads to defects such as insufficient penetration at the corner and insufficient weld fusion.

[0005] If the overall swing amplitude is increased and the welding spacing is reduced, the heat input in the straight and thin-walled part of the square tube will be too large, which will lead to overheating, weld burn-through and increased welding deformation. Therefore, we propose a welding robot for machining mechanical parts. Summary of the Invention

[0006] The purpose of this invention is to provide a welding robot for machining mechanical parts, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a welding robot for machining mechanical parts, comprising a welding head for laser welding two sets of square tubes and a U-shaped frame for mounting and connecting the welding head, wherein the two sets of square tubes to be welded are centrally located inside the U-shaped frame, and the U-shaped frame is provided with clamping components for clamping the two sets of square tubes, and the corners of the square tubes and the U-shaped frame are correspondingly arranged after clamping, and fixing plates for assisting the mounting and fixing of the U-shaped frame are fixed on the four periphery of the U-shaped frame, and further comprising:

[0008] A groove is formed on one side of the groove frame. A mounting base is provided on one side of the welding head. A sliding component for assisting sliding connection and a moving component for assisting movement are provided between the mounting base and the inner wall of the groove. Through the cooperation of the moving component and the sliding component, the mounting base and the welding head can move circumferentially around the welding joint of the square tube.

[0009] A sliding connection assembly is disposed between the mounting base and the welding head to assist in the sliding connection of the welding head. A transmission assembly and a drive assembly are disposed between the mounting base and the sliding connection assembly to assist in the swing transmission of the welding head. Through the cooperation of the transmission assembly and the drive assembly, the welding head moves circumferentially around the welding joint of the two sets of square tubes and swings laterally between the weld seams.

[0010] Additionally, a telescopic component for assisting telescopic connection is provided between the sliding connection component and the mounting base. A pushing component for pushing the telescopic component is provided at one corner of the U-shaped frame. During the circumferential movement of the welding head around the welding joint of the two sets of square tubes, the telescopic component sequentially abuts against the pushing components at each corner. During the abutting process, the welding head moves towards the welding joint, reducing the welding gap. Furthermore, during the movement, the amplitude of the reciprocating swing of the welding head is increased by the change in the transmission state between the transmission component and the drive component.

[0011] Preferably, the sliding connection assembly includes a sliding frame, a sliding seat is slidably connected to the sliding frame, one end of the sliding seat is fixed to the welding head, a top plate is fixedly connected to the sliding frame by multiple sets of fixing rods, and the telescopic assembly is disposed between the top plate and the mounting base.

[0012] Preferably, the transmission assembly includes a transmission plate disposed between the slide and the top plate, a first connecting block fixed on the top plate, one end of the transmission plate being rotatably connected to the first connecting block via a pin, and a linkage assembly for auxiliary linkage being disposed between the other end of the transmission plate and the slide, the transmission plate having a transmission groove, a transmission pin being slidably connected to the transmission groove, and the drive assembly being used to drive the transmission pin to rotate.

[0013] Preferably, the linkage assembly includes a linkage seat disposed between the slide and the transmission plate. Multiple sets of T-shaped rods are slidably connected on the slide. One end of each set of T-shaped rods is fixed to the linkage seat. A second connecting block is fixed on the linkage seat. The other end of the transmission plate is rotatably connected to the second connecting block by a pin.

[0014] Preferably, the drive assembly includes a drive disk disposed on one side of the mounting base, one end of the transmission pin is fixed to the drive disk in an eccentric state, and a mounting motor for driving the drive disk to rotate is mounted on the mounting base.

[0015] Preferably, the telescopic assembly includes multiple sets of telescopic rods slidably connected to the mounting base. One end of each set of telescopic rods is fixed to the top plate. A fixing ring is fixed to the outside of the telescopic rod. A mounting spring is sleeved on the outside of the telescopic rod. The two ends of the mounting spring abut against the fixing ring and the mounting base, respectively. The top plate abuts against the mounting base due to the elastic force of the mounting spring.

[0016] Preferably, the pushing assembly includes an arc-shaped push plate fixed at one corner of the U-shaped frame. The side of the arc-shaped push plate is provided with an inclined surface for abutting and transmitting power with the end of the telescopic rod. The end of the telescopic rod is rotatably connected to a ball bearing through a spherical groove for rolling contact when the end of the telescopic rod abuts and transmits power with the inclined surface and the inner side of the arc-shaped push plate.

[0017] Preferably, the sliding assembly includes a spiral slide rail formed on the inner wall of the spiral groove. The outline of the spiral slide rail and the spiral frame are matched with the shape of the square tube. A connecting frame is fixed on the mounting base. A slider is slidably connected to the spiral slide rail. The connecting frame and the slider are connected and fixed by multiple sets of fixing pins.

[0018] Preferably, the moving component includes a gear rotatably connected to the connecting frame, a toothed belt fixed to the inner side of the groove, the toothed belt meshing with the gear, and a drive motor for driving the gear mounted on the connecting frame.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. This invention abandons the traditional laser welding robot operation method of using fixed welding spacing and fixed swing amplitude throughout the process. Relying on the mechanical follow-up of the arc-shaped push plate at the corner of the U-shaped frame and the telescopic component, the welding area of ​​the square tube with straight thin wall can maintain the conventional welding spacing and small swing parameters, effectively avoiding overheating, weld penetration and welding deformation defects caused by excessive heat input in the thin wall area. When the welding head moves to the thickened corner area of ​​the square tube, it can automatically reduce the welding spacing and increase the swing amplitude, which is specifically adapted to the welding needs of the increased corner wall thickness. It can input more laser energy into the thicker corner base material and increase the heat-receiving area of ​​the molten pool. The heat can fully penetrate into the interior of the thick corner base material, ensuring the penetration depth and full fusion of the weld at the corner during the welding process.

[0021] 2. This invention utilizes the displacement of the top plate to change the lever arm ratio of the transmission plate. Under the premise that the eccentric stroke of the transmission pin remains unchanged, the purely mechanical structure automatically amplifies the swing amplitude of the welding head. It does not require complex electrical equipment such as sensors and controllers. The structure is simple and has a low failure rate. It can still stably achieve adaptive adjustment of the swing amplitude under harsh welding conditions, and is suitable for the mass production of raw square tube welding in industry.

[0022] 3. Throughout the welding process, the invention utilizes the continuous cooperation between the drive and transmission components to maintain the welding head in a lateral reciprocating oscillation state. This creates a continuous stirring effect on the molten pool, promoting the rapid upward emission of metallurgical gases and slag generated during welding. This effectively reduces porosity and slag inclusions within the weld. Especially in thick-walled corner areas, the significant oscillation amplitude further expands the stirring range of the molten pool, improving the poor fluidity of the molten pool and the difficulty in gas emission in thick-walled areas. This optimizes the weld metallographic structure and enhances the weld's density and mechanical properties. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall external structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the spiral groove structure on one side of the spiral frame of the present invention;

[0025] Figure 3 This is a schematic diagram of the sliding component and the moving component of the present invention;

[0026] Figure 4 This is a schematic diagram showing the positional relationship between the mounting base and the welding head of the present invention;

[0027] Figure 5 This is a schematic diagram of the sliding connection component and driving component of the present invention;

[0028] Figure 6 This is a schematic diagram of the telescopic component and transmission component of the present invention;

[0029] Figure 7 This is a schematic diagram of the sliding connection assembly, transmission assembly, and linkage assembly of the present invention;

[0030] Figure 8 This is a schematic diagram of the mounting base structure of the present invention;

[0031] Figure 9 This is a schematic diagram of the pushing component structure of the present invention;

[0032] Figure 10 This is a schematic diagram showing the state of the present invention when welding is performed at different positions on a square tube;

[0033] Figure 11 This is a schematic diagram showing different states of the present invention during swinging motion;

[0034] Figure 12 This is a schematic diagram illustrating the transmission changes of the pushing component before and after the present invention.

[0035] Figure 13 This is a schematic diagram showing the thickness at the corner of the square tube.

[0036] In the diagram: 101-U-shaped frame; 102-Welding head; 103-Fixing plate; 2-U-shaped groove; 3-Mounting seat; 401-Sliding frame; 402-Sliding seat; 403-Top plate; 404-Fixing rod; 501-Transmission plate; 502-First connecting block; 503-Transmission groove; 504-Transmission pin; 601-T-shaped rod; 602-Linkage seat; 603-Second connecting block; 701-Drive disc; 702-Motor mounting; 801-Telescopic rod; 802-Fixing ring; 803-Mounting spring; 901-Connecting frame; 902-U-shaped slide rail; 903-Slider; 904-Fixing pin; 1001-Gear; 1002-U-shaped toothed belt; 1003-Drive motor; 1101-Arc-shaped push plate; 1102-Inclined surface. Detailed Implementation

[0037] 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.

[0038] Example 1

[0039] Please see Figures 1-13 The figure shows a welding robot for machining mechanical parts, including a welding head 102 for laser welding two sets of square tubes and a U-shaped frame 101 for mounting and connecting the welding head 102. The two sets of square tubes to be welded are centrally located inside the U-shaped frame 101. The U-shaped frame 101 is provided with clamping components for clamping the two sets of square tubes, and the corners of the square tubes and the U-shaped frame 101 are correspondingly arranged after clamping. The four sides of the U-shaped frame 101 are fixed with fixing plates 103 for assisting in the installation and fixing of the U-shaped frame 101.

[0040] In this application, the principle of clamping and positioning of the square tube by the clamping component, the welding operation and welding principle of the welding head 102 are known technologies, and will not be described in detail here.

[0041] In addition, the welding head 102 and the components on the welding head 102 are made of lightweight materials, which facilitates more efficient and stable movement after being subjected to force.

[0042] Also includes:

[0043] The groove 2 is opened on one side of the groove frame 101. The mounting seat 3 is provided on one side of the welding head 102. A sliding component for assisting sliding connection and a moving component for assisting movement are provided between the mounting seat 3 and the inner wall of the groove 2. Through the cooperation of the moving component and the sliding component, the mounting seat 3 and the welding head 102 can move circumferentially around the welding point of the square tube.

[0044] A sliding connection assembly is disposed between the mounting base 3 and the welding head 102 to assist in the sliding connection of the welding head 102. A transmission assembly and a drive assembly are disposed between the mounting base 3 and the sliding connection assembly to assist in the swing transmission of the welding head 102. Through the cooperation of the transmission assembly and the drive assembly, the welding head 102 moves circumferentially around the welding joint of the two sets of square tubes and swings laterally between the weld seams.

[0045] In addition, a telescopic component for assisting telescopic connection is provided between the sliding connection component and the mounting base 3. A pushing component for pushing the telescopic component is provided at one side corner of the U-shaped frame 101. During the circumferential movement of the welding head 102 around the welding joint of the two sets of square tubes, the telescopic component is driven to abut against the pushing components at each side corner in sequence. During the abutment process, the welding head 102 moves toward the welding joint, reducing the welding gap. In addition, during the movement, the amplitude of the reciprocating swing of the welding head 102 is increased by the change in the transmission state between the transmission component and the drive component.

[0046] By cooperating with each other, the sliding connection component, transmission component, drive component, telescopic component and pushing component can reduce the welding spacing and increase the swing amplitude of the welding head 102 when welding at the corner of the opposite tube. This can not only input more laser energy into the thicker corner base material, but also increase the heat-receiving area of ​​the molten pool. The heat can fully penetrate into the interior of the thick-walled corner base material, ensuring the penetration depth and full fusion of the weld at the corner during the welding process.

[0047] Preferably, the sliding connection assembly includes a slide frame 401, a slide seat 402 is slidably connected to the slide frame 401, one end of the slide seat 402 is fixed to the welding head 102, a top plate 403 is fixedly connected to the slide frame 401 by multiple sets of fixing rods 404, and a telescopic assembly is disposed between the top plate 403 and the mounting base 3.

[0048] The sliding connection component and the telescopic component facilitate the sliding and telescopic connection of the welding head 102.

[0049] Preferably, the transmission assembly includes a transmission plate 501 disposed between the slide 402 and the top plate 403. A first connecting block 502 is fixed on the top plate 403. One end of the transmission plate 501 is rotatably connected to the first connecting block 502 via a pin. A linkage assembly for auxiliary linkage is disposed between the other end of the transmission plate 501 and the slide 402. A transmission groove 503 is formed on the transmission plate 501, and a transmission pin 504 is slidably connected to the transmission groove 503. A drive assembly is used to drive the transmission pin 504 to rotate. The linkage assembly includes a transmission plate 501 disposed between the slide 402 and the top plate 403. The linkage seat 602 between the plates 501 has multiple sets of T-shaped rods 601 slidably connected on the slide 402. One end of each set of T-shaped rods 601 is fixed to the linkage seat 602. A second connecting block 603 is fixed on the linkage seat 602. The other end of the transmission plate 501 is rotatably connected to the second connecting block 603 by a pin. The drive assembly includes a drive disk 701 disposed on one side of the mounting base 3. One end of the transmission pin 504 is fixed to the drive disk 701 in an eccentric state. A mounting motor 702 for driving the rotation of the drive disk 701 is mounted on the mounting base 3.

[0050] The motor 702 continuously drives the drive plate 701 to rotate, and the transmission pin 504, eccentrically fixed to the drive plate 701, performs a circular motion accordingly. During the movement of the transmission pin 504, the transmission pin 504 is slidably fitted inside the transmission groove 503 of the transmission plate 501. The upper end of the transmission plate 501 is hinged to the first connecting block 502 of the top plate 403. Therefore, during the movement of the transmission pin 504, through the interaction between the transmission pin 504 and the transmission groove 503 on the transmission plate 501, the transmission plate 501 uses the first connecting block 502 as a swing fulcrum to achieve reciprocating swing. During the swing of the transmission plate 501, the transmission plate 501... The lower end is hinged to the linkage seat 602 via the second connecting block 603. The linkage seat 602 forms a sliding linkage with the slide seat 402 through the T-shaped rod 601. The reciprocating swing of the transmission plate 501, in conjunction with the connection of the second connecting block 603, the linkage seat 602 and the T-shaped rod 601, drives the slide seat 402 to slide laterally back and forth along the slide frame 401. During the movement of the slide seat 402, the welding head 102 fixed to the slide seat 402 is finally driven to swing laterally back and forth on both sides of the weld. Through the reciprocating motion during the welding process, the range of the molten pool affected by the laser is widened, the metallurgical state of the weld is improved, and it is beneficial to eliminate porosity and make the weld fusion more complete.

[0051] In addition, the motor 702 is a conventional drive component, and its working principle and control method are known technologies in this application, so they will not be described in detail here.

[0052] Preferably, the telescopic assembly includes multiple sets of telescopic rods 801 slidably connected to the mounting base 3. One end of each set of telescopic rods 801 is fixed to the top plate 403. A fixing ring 802 is fixed to the outside of the telescopic rod 801. A mounting spring 803 is sleeved on the outside of the telescopic rod 801. The two ends of the mounting spring 803 are respectively abutted against the fixing ring 802 and the mounting base 3. The top plate 403 abuts against the mounting base 3 due to the elastic force of the mounting spring 803. The pushing assembly includes an arc-shaped push plate 1101 fixed to one side corner of the U-shaped frame 101. The side of the arc-shaped push plate 1101 is provided with an inclined surface 1102 for abutting against the end of the telescopic rod 801.

[0053] During the welding process, when the mounting base 3, carrying the entire swing mechanism and the welding head 102, moves circumferentially along the loop groove 2 and reaches the corner position of the loop frame 101 and the square tube, the end of the telescopic rod 801 abuts against the inclined surface 1102 of the arc-shaped push plate 1101 fixed at the corner of the frame. As the mechanism continues to move forward, the inclined surface 1102 applies a pushing force to the telescopic rod 801, overcoming the elastic force of the mounting spring 803, and pushing the telescopic rod 801 to extend away from the mounting base 3. During the movement, the telescopic rod 801 reduces the welding gap between the welding head 102 and the corner weld. At the same time, through transmission, the swing stroke of the lower end of the transmission plate 501 is amplified. After being transmitted through the linkage seat 602 and the T-shaped rod 601, the slide seat 402 drives the welding head 102 to automatically increase the lateral reciprocating swing amplitude.

[0054] The end of the telescopic rod 801 is rotatably connected to a ball through a spherical groove, which is used for rolling contact when the end of the telescopic rod 801 abuts against the inclined surface 1102 and the inner side of the arc-shaped push plate 1101 during transmission; the rolling action of the ball inside the spherical groove facilitates relative sliding contact when the end of the telescopic rod 801 contacts the inclined surface 1102 and the inner side of the arc-shaped push plate 1101 during transmission.

[0055] Preferably, the sliding component includes a spiral slide rail 902 formed on the inner wall of the spiral groove 2. The outlines of the spiral slide rail 902 and the spiral frame 101 are matched with the shape of the square tube. A connecting frame 901 is fixed on the mounting base 3. A slider 903 is slidably connected to the spiral slide rail 902. The connecting frame 901 and the slider 903 are connected and fixed by multiple sets of fixing pins 904. The moving component includes a gear 1001 rotatably connected to the connecting frame 901. A spiral toothed belt 1002 is fixed on the inner side of the spiral groove 2. The spiral toothed belt 1002 and the gear 1001 are meshed with each other. A drive motor 1003 for driving the gear 1001 is installed on the connecting frame 901.

[0056] In addition, the corners of the spiral slide rail 902 are rounded. When the slider 903 slides on the rounded section of the spiral slide rail 902, it can slide smoothly through a ball bearing. The specific connection method and the specific smoothing method between the spiral slide rail 902 and the slider 903 are known technologies in this application and will not be described in detail here.

[0057] During the operation, the drive motor 1003 on the connecting frame 901 is started. The drive motor 1003 drives the gear 1001 to rotate. The gear 1001 meshes with the toothed belt 1002 inside the groove 2. Under the action of meshing transmission, the slider 903 slides along the groove 902 for guidance, which drives the connecting frame 901 and the mounting base 3 to move circumferentially along the trajectory of the groove 2. This causes the welding head 102 connected to the mounting base 3 to move circumferentially around the outer periphery of the annular weld formed by the two sets of square tubes. While the welding head 102 is moving circumferentially, it outputs laser and gradually completes the laser welding operation along the entire annular weld.

[0058] In addition, the working principle and control method of the drive motor 1003 are common drive components, and will not be described in detail here.

[0059] In this solution, a welding robot for machining mechanical parts includes the following steps:

[0060] Before welding, the two sets of rectangular tubes to be welded are placed inside the U-shaped frame 101. The clamping components on the U-shaped frame 101 are used to clamp and position the tubes, ensuring that the corners of the tubes correspond to the corners of the U-shaped frame 101 (see...). Figure 1 and Figure 2 (state)

[0061] During the formal welding process, the drive motor 1003 on the connecting frame 901 is started. The drive motor 1003 drives the gear 1001 to rotate. The gear 1001 meshes with the toothed belt 1002 inside the groove 2. Under the action of meshing transmission, the slider 903 slides along the groove 902 for guidance, which drives the connecting frame 901 and the mounting base 3 to move circumferentially along the trajectory of the groove 2. This causes the welding head 102 connected to the mounting base 3 to move circumferentially around the annular weld seam formed by the two sets of square tubes. While the welding head 102 is moving circumferentially, it outputs laser and gradually completes the laser welding operation along the entire annular seam.

[0062] During the entire process of welding head 102 following mounting base 3 to perform circumferential welding around the square tube weld, mounting motor 702 continuously drives drive disk 701 to rotate, and transmission pin 504, eccentrically fixed on drive disk 701, performs circumferential motion accordingly. During the movement of transmission pin 504, transmission pin 504 is slidably assembled inside transmission groove 503 of transmission plate 501. The upper end of transmission plate 501 is hinged to the first connecting block 502 of top plate 403. Therefore, during the movement of transmission pin 504, through transmission pin 504 and transmission plate 501... The interaction between the transmission groove 503 and the transmission plate 501 causes the transmission plate 501 to swing back and forth with the first connecting block 502 as the fulcrum. During the swinging process of the transmission plate 501, the lower end of the transmission plate 501 is hinged to the linkage seat 602 through the second connecting block 603. The linkage seat 602 forms a sliding linkage with the slide block 402 through the T-shaped rod 601. The reciprocating swing of the transmission plate 501, in conjunction with the connection of the second connecting block 603, the linkage seat 602 and the T-shaped rod 601, drives the slide block 402 to slide laterally back and forth along the slide frame 401 (see...). Figure 11 During the movement of the slide 402, the welding head 102, which is fixed to the slide 402, eventually moves laterally back and forth on both sides of the weld. Through the back and forth motion during the welding process, the range of the molten pool affected by the laser is widened, the metallurgical state of the weld is improved, and it is beneficial to eliminate porosity and make the weld fusion more complete.

[0063] During the welding process, when the mounting base 3, carrying the entire swing mechanism and welding head 102, moves circumferentially along the loop groove 2 and reaches the corner of the loop frame 101 and the square tube, the end of the telescopic rod 801 abuts against the inclined surface 1102 of the arc-shaped push plate 1101 fixed at the corner of the frame. As the mechanism continues to move forward, the inclined surface 1102 applies a pushing force to the telescopic rod 801, overcoming the elastic force of the mounting spring 803, and pushing the telescopic rod 801 to extend away from the mounting base 3. During the movement of the telescopic rod 801, the telescopic rod 801 simultaneously drives the top plate 403, the fixed rod 404, the sliding frame 401, the sliding seat 402, and the welding head 102 to move towards the weld seam of the square tube, thereby directly reducing the welding distance between the welding head 102 and the corner weld seam (see...). Figure 10(In the state of the top plate 403, the first connecting block 502 and the entire transmission plate 501 move synchronously towards the weld side, while the rotation center positions of the drive plate 701 and the transmission pin 504 on the mounting base 3 remain fixed. This causes the upper hinge fulcrum (first connecting block 502) of the transmission plate 501 to shift relative to the rotation center of the eccentric transmission pin 504, shortening the distance between the first connecting block 502 and the rotation center of the drive plate 701. Analyzing this using the lever transmission principle, the eccentric stroke of the eccentric transmission pin 504 on the drive plate 701 remains unchanged. After the fulcrum (first connecting block 502) moves closer to the power input side (the side of the transmission pin 504), it is equivalent to shortening the length of the lever's power arm. The resistance side stroke of the lever is thus amplified. That is, under the premise that the transmission pin 504 performs the same eccentric circular motion, the swing stroke of the lower end of the transmission plate 501 is amplified (see...). Figure 12 After being transmitted through the linkage seat 602 and T-shaped rod 601, the sliding seat 402 drives the welding head 102 to automatically increase its lateral reciprocating swing amplitude. Therefore, when welding at the edge of the opposite pipe, the transmission reduces the welding distance while increasing the swing amplitude during the welding process. On the one hand, after the welding distance between the welding head 102 and the workpiece is reduced, the defocusing amount of the laser beam decreases, the spot diameter shrinks, and the laser energy density per unit area is increased, allowing more laser energy to be input into the thicker corner base material. On the other hand, after the swing amplitude of the welding head 102 is increased, the laser spot sweeps laterally across... The range of heat is widened, and the heat can cover the weld joint area on both sides of the thickened corner position, so that the thick corner base material can obtain a larger heat treatment area. The heat-receiving area of ​​the molten pool is increased, and the heat can fully penetrate into the interior of the thick-walled base material at the corner, ensuring the penetration depth and full fusion of the weld at the corner during the welding process. When moving to other conventional welding positions, the elastic force of the spring 803 installed on the telescopic component can reset the welding head 102 and restore it to the conventional transmission state, avoiding the problem of overheating, weld penetration and welding deformation in other positions of the square tube during welding due to maintaining low-gap welding and large-amplitude swing.

[0064] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0065] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A welding robot for machining mechanical parts, comprising: A welding head (102) for laser welding two sets of square tubes and a U-shaped frame (101) for mounting and connecting the welding head (102). The two sets of square tubes to be welded are centrally located inside the U-shaped frame (101). The U-shaped frame (101) is provided with clamping components for clamping the two sets of square tubes. After clamping, the square tubes and the corners of the U-shaped frame (101) are correspondingly arranged. The four sides of the U-shaped frame (101) are fixed with fixing plates (103) for assisting in the mounting and fixing of the U-shaped frame (101). Its characteristic is that it further includes: A groove (2) is provided on one side of the groove frame (101). A mounting seat (3) is provided on one side of the welding head (102). A sliding component for assisting sliding connection and a moving component for assisting movement are provided between the mounting seat (3) and the inner wall of the groove (2). Through the cooperation of the moving component and the sliding component, the mounting seat (3) and the welding head (102) can move circumferentially around the welding point of the square tube. A sliding connection assembly is disposed between the mounting base (3) and the welding head (102) to assist in the sliding connection of the welding head (102). A transmission assembly and a drive assembly are disposed between the mounting base (3) and the sliding connection assembly to assist in the swing transmission of the welding head (102). Through the cooperation of the transmission assembly and the drive assembly, the welding head (102) moves circumferentially around the welding joint of the two sets of square tubes and swings laterally between the weld seams. In addition, a telescopic component for assisting telescopic connection is provided between the sliding connection component and the mounting base (3). A pushing component for pushing the telescopic component is provided at one side corner of the U-shaped frame (101). During the circumferential movement of the welding head (102) around the welding joint of the two sets of square tubes, the telescopic component is driven to abut against the pushing component at each side corner in sequence. During the abutment process, the welding head (102) moves toward the welding joint, reducing the welding gap. In addition, during the movement, the amplitude of the reciprocating swing of the welding head (102) is increased by the change in the transmission state between the transmission component and the drive component.

2. The welding robot for machining mechanical parts according to claim 1, characterized in that: The sliding connection assembly includes a sliding frame (401), on which a sliding seat (402) is slidably connected. One end of the sliding seat (402) is fixed to the welding head (102). A top plate (403) is fixedly connected to the sliding frame (401) by multiple sets of fixing rods (404). The telescopic assembly is disposed between the top plate (403) and the mounting base (3).

3. The welding robot for machining mechanical parts according to claim 2, characterized in that: The transmission assembly includes a transmission plate (501) disposed between the slide (402) and the top plate (403). A first connecting block (502) is fixed on the top plate (403). One end of the transmission plate (501) is rotatably connected to the first connecting block (502) via a pin. A linkage assembly for auxiliary linkage is disposed between the other end of the transmission plate (501) and the slide (402). A transmission groove (503) is provided on the transmission plate (501). A transmission pin (504) is slidably connected on the transmission groove (503). The drive assembly is used to drive the transmission pin (504) to rotate.

4. The welding robot for machining mechanical parts according to claim 3, characterized in that: The linkage assembly includes a linkage seat (602) disposed between the slide (402) and the transmission plate (501). Multiple sets of T-shaped rods (601) are slidably connected on the slide (402). One end of each set of T-shaped rods (601) is fixed to the linkage seat (602). A second connecting block (603) is fixed on the linkage seat (602). The other end of the transmission plate (501) is rotatably connected to the second connecting block (603) by a pin.

5. A welding robot for machining mechanical parts according to claim 4, characterized in that: The drive assembly includes a drive disk (701) disposed on one side of the mounting base (3), one end of the transmission pin (504) is fixed to the drive disk (701) in an eccentric state, and a mounting motor (702) for driving the drive disk (701) to rotate is mounted on the mounting base (3).

6. The welding robot for machining mechanical parts according to claim 5, characterized in that: The telescopic assembly includes multiple sets of telescopic rods (801) slidably connected to the mounting base (3). One end of each set of telescopic rods (801) is fixed to the top plate (403). A fixing ring (802) is fixed to the outside of the telescopic rod (801). A mounting spring (803) is sleeved on the outside of the telescopic rod (801). The two ends of the mounting spring (803) are respectively abutted against the fixing ring (802) and the mounting base (3). The top plate (403) abuts against the mounting base (3) due to the elastic force of the mounting spring (803).

7. A welding robot for machining mechanical parts according to claim 5, characterized in that: The pushing assembly includes an arc-shaped push plate (1101) fixed at one corner of the U-shaped frame (101). The side of the arc-shaped push plate (1101) is provided with an inclined surface (1102) for abutting and driving with the end of the telescopic rod (801). The end of the telescopic rod (801) is rotatably connected to a ball through a spherical groove for rolling contact when the end of the telescopic rod (801) abuts and drives with the inclined surface (1102) and the inner side of the arc-shaped push plate (1101).

8. The welding robot for machining mechanical parts according to claim 1, characterized in that: The sliding assembly includes a spiral slide rail (902) opened on the inner wall of the spiral groove (2). The outline of the spiral slide rail (902) and the spiral frame (101) are matched with the shape of the square tube. A connecting frame (901) is fixed on the mounting base (3). A slider (903) is slidably connected on the spiral slide rail (902). The connecting frame (901) and the slider (903) are connected and fixed by multiple sets of fixing pins (904).

9. A welding robot for machining mechanical parts according to claim 8, characterized in that: The moving component includes a gear (1001) rotatably connected to a connecting frame (901), a toothed belt (1002) fixed inside the groove (2), the toothed belt (1002) meshing with the gear (1001), and a drive motor (1003) for driving the gear (1001) mounted on the connecting frame (901).

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