A welding gun disc automatic replacement assembly of a welding robot and a replacement method thereof

Abstract

The application discloses a welding gun disc automatic replacement assembly of a welding robot and a replacement method thereof, and relates to the field of special matching equipment for welding processes. The welding gun disc automatic replacement assembly comprises a fixed column, a rotating column which rotates around the axis of the fixed column is rotationally connected to the top end of the fixed column, a welding gun frame is connected to the rotating column through a horizontal rotating shaft, the welding gun frame has two work stations for storing welding gun discs along the length direction of the welding gun frame and can be inclined around the horizontal rotating shaft, a pressing block is arranged at the bottom end of the welding gun frame, a positioning groove is arranged on the outer wall of the fixed column and corresponds to the movement track of the pressing block, the pressing block is clamped into the positioning groove to form circumferential positioning when the welding gun frame is rotated into position, a gravity self-locking mechanism is arranged at the work station, and a cooling connecting pipe mechanism is arranged on one side of the welding gun frame. The welding gun disc automatic replacement assembly does not need to be additionally configured with driving elements and manually intervened, realizes the automatic replacement of welding gun discs in a fast, accurate and reliable manner, and enables the residual heat of the old welding gun disc just replaced to be continuously cooled.

Description

Technical Field

[0001] This invention relates to the field of specialized equipment for welding processes, specifically an automatic welding gun disc changing component for a welding robot and its changing method. Background Technology

[0002] With the development of industrial robot welding automation, in order to adapt to multi-variety mixed production lines, thick plate multi-layer multi-pass welding, and welding gun online maintenance, welding robot workstations are usually equipped with multiple welding guns of different specifications or purposes, and welding gun holders are set up next to the workstation to realize the automatic replacement of welding gun discs between the welding robot arm end and the welding gun holder.

[0003] Existing two-station rotary welding gun holders generally include a fixed column, a support frame that can rotate around a vertical axis and is mounted on the fixed column, and a welding gun holder body mounted on the support frame. Two stations are arranged opposite each other along the circumference of the welding gun holder body. One station is empty and the other station holds a new welding gun disc to be replaced. When replacing, the welding robot arm moves the old welding gun disc to the empty station and releases it. Then the welding gun holder body rotates 180 degrees so that the station holding the new welding gun disc is positioned to be aligned with the flange at the end of the welding robot arm. The welding robot arm then takes the new welding gun disc and returns it to the welding station.

[0004] However, the aforementioned two-station rotary welding gun holder has at least the following technical problems in actual use: First, the welding gun holder body relies on a motor to drive its rotation around a fixed column. Due to limitations such as the backlash of the rotary transmission mechanism, repeatability, and the workpiece's own weight, after the welding gun holder body rotates 180 degrees, circumferential and radial offsets easily occur between the new welding gun disc and the flange at the end of the welding robot arm. This makes it difficult to accurately align the welding current contacts, shielding gas connectors, wire feed tube interfaces, etc., on the welding gun disc with the end of the robot arm. If forced alignment is achieved by relying on the repeatability of the welding robot arm itself, long-term use will result in… Firstly, wear on the contact tip, failure of the seals, and wire scraping due to misalignment of the wire feed tube reduce the reliability of torch changing and the service life of the equipment. Secondly, for welding torch discs using water cooling circulation, the old welding torch discs and their internal cooling water channels, which have just been removed from the welding station, still retain a high level of residual heat. If they are left to cool naturally on the welding torch holder, the high temperature will accelerate the aging of the seals, insulation components, and welding torch neck on the torch disc, shortening the service life of the welding torch disc. If the operator manually connects the cooling water pipes during the torch changing interval, it will interrupt the automatic replacement process of the welding torch disc and increase manual intervention, which contradicts the requirement of continuous unmanned production of welding robots.

[0005] Therefore, it is necessary to improve the existing two-station rotary welding gun holder to solve the technical problems of inaccurate positioning of the welding gun disc after the welding gun holder rotates into place, and the continuous cooling of residual heat from the newly replaced old welding gun disc. Summary of the Invention

[0006] Based on this, the purpose of the present invention is to provide an automatic welding gun disc replacement component and replacement method for a welding robot, so as to solve the technical problems of inaccurate positioning of the welding gun disc after the existing welding gun holder rotates into place, and the continuous cooling of residual heat of the newly replaced old welding gun disc.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an automatic welding gun disc changing component for a welding robot, comprising a fixed column, a rotating column rotatably connected to the top of the fixed column and rotating around its axis, a welding gun holder connected to the rotating column via a horizontal rotating shaft, the welding gun holder having two positions for storing welding gun discs along its length and being tiltable around the horizontal rotating shaft, a pressure block provided at the bottom of the welding gun holder, a positioning groove provided on the outer wall of the fixed column corresponding to the movement trajectory of the pressure block, the pressure block engaging with the positioning groove to form circumferential positioning when the welding gun holder rotates to its position, a gravity self-locking mechanism provided at each position, the gravity self-locking mechanism locking the welding gun disc in the position under the action of gravity, a cooling pipe connecting mechanism provided on one side of the welding gun holder, the cooling pipe connecting mechanism including a rotating arm with a straight plug connector, the rotating arm rotating when the welding gun holder tilts, causing the straight plug connector to engage with the lowered welding gun disc.

[0008] By adopting the above technical solution, the locking of the old welding gun disc, the reconnection of the cooling water pipeline, the rotation positioning of the gun frame, and the docking and unlocking of the new welding gun disc are all completed by the linkage of self-weight, counterweight off-center loading and mechanical inclined plane. No additional drive components or manual intervention are required, which realizes the rapid, accurate and reliable automatic replacement of the welding gun disc, and allows the residual heat of the old welding gun disc that has just been replaced to be continuously cooled.

[0009] The invention is further configured such that the pressure block includes a flat-bottomed pressure block and a conical-bottomed pressure block spaced 180 degrees apart in the circumferential direction, and the positioning groove includes a flat-bottomed receiving groove and a conical locking groove that respectively cooperate with the flat-bottomed pressure block and the conical-bottomed pressure block. The flat-bottomed receiving groove and the conical locking groove are located at the same position in the circumferential direction. Under normal conditions, the flat-bottomed pressure block is received in the flat-bottomed receiving groove, and when the welding gun frame rotates 180 degrees, the conical-bottomed pressure block is locked into the conical locking groove.

[0010] Preferably, when the conical bottom pressure block is inserted into the conical groove, the circumferential deflection and radial offset are automatically eliminated by the conical surface engagement.

[0011] The invention is further configured such that the outer wall of the fixed column is provided with a guide ramp that rises along the movement trajectory of the cone-shaped pressure block. During the rotation of the rotating column, the cone-shaped pressure block moves from low to high along the guide ramp, gradually straightening the tilted welding gun frame until the cone-shaped pressure block is engaged in the cone-shaped slot.

[0012] Preferably, the guide ramp extends in an arc shape along the outer wall of the fixed column, and the top of the arc-shaped guide portion of the guide ramp is higher than the conical groove.

[0013] The invention is further configured to include a positioning post and a limiting waist hole that cooperates with the positioning post. The positioning post is disposed on the side wall of the flat bottom pressure block, and the limiting waist hole is disposed on one side of the guide slope. Under normal conditions, the positioning post is inserted into the limiting waist hole to restrict the welding gun frame from rotating around the axis of the fixed post. When the welding gun frame is tilted, the positioning post is disengaged from the limiting waist hole.

[0014] Preferably, the fitting clearance between the positioning post and the limiting waist hole is less than the allowable mating deviation between the welding gun disc and the robotic arm flange, so as to ensure the circumferential positional accuracy of the welding gun frame before rotation.

[0015] The present invention is further configured such that the gravity self-locking mechanism includes a pressure column, a pressure tongue, and a horizontally arranged slide groove. The pressure column moves downward under the gravity of the welding gun disc and pushes the inclined surface of the pressure tongue. The pressure tongue slides along the slide groove and clamps the side wall of the welding gun disc. A reset spring is provided between the pressure column and the slide groove.

[0016] Preferably, when the welding gun disc is lifted, the reset spring pushes the pressure column upward, and the pressure tongue retracts into the slide groove to release the clamping.

[0017] The present invention is further configured such that the cooling pipe connection mechanism includes a mounting frame, a connecting pipe, a tongue, and a self-locking connector box; the rotating arm is hinged to the mounting frame; the connecting pipe is a flexible cooling water pipe and is connected to the cooling water source via the fixed column; the tongue is disposed on the rotating arm; and the self-locking connector box is disposed on the top surface of the welding gun holder; when the rotating arm rotates and falls down, the straight connector is inserted into the cooling water interface of the welding gun disc, and the tongue is inserted into the self-locking connector box to lock the rotating arm.

[0018] Preferably, the end of the tongue is provided with a barb, and the self-locking connector box is provided with an elastic latch that cooperates with the barb. The tongue is automatically locked after being inserted and unlocked when pressed.

[0019] The invention is further configured such that a counterweight is provided on one side of the vacant workstation of the welding gun holder. After the old welding gun disc is lowered, the weight on this side is greater than that on the other side under the combined action of the counterweight and the old welding gun disc, causing the welding gun holder to tilt around the horizontal axis to the side of the old welding gun disc.

[0020] Preferably, the welding gun holder is tilted to that side only after the old welding gun disc is in place, and remains horizontal under normal conditions.

[0021] The invention is further configured such that the workstation includes a U-shaped mounting port for locking the cylindrical surface of the top of the welding gun disc, a clearance port for avoiding the welding gun disc pipeline on one side of the mounting port, a through port for passing through the cooling water pipeline on the fixed column, a support frame extending from the top of the rotating column, a horizontal rotating shaft of the welding gun frame being set at the top of the support frame, and the support frame raising the welding gun frame and leaving space for it to tilt.

[0022] Preferably, the two ends of the horizontal rotating shaft are supported on the top of the support frame, and the height between the two sides of the support frame is greater than the height required for the welding gun holder end to be raised.

[0023] An automatic welding torch disc changing method for a welding robot, the process comprising the following steps:

[0024] Step 1: The welding robotic arm carries the old welding gun disc into the empty workstation of the welding gun holder and releases it. The gravity self-locking mechanism locks the old welding gun disc in the workstation under the gravity of the old welding gun disc.

[0025] Step 2: The welding gun holder tilts towards the old welding gun disc, and the rotating arm of the cooling pipe mechanism rotates to connect the straight plug connector with the cooling water interface of the old welding gun disc.

[0026] Step 3: The rotating column drives the welding gun holder to rotate around the axis of the fixed column. The pressure block moves along the outer wall of the fixed column and is engaged in the positioning groove when it rotates to the correct position. The welding gun holder rotates 180 degrees and returns to horizontal, so that the new welding gun disc reaches the replacement station.

[0027] Step 4: After the welding robotic arm docks with the new welding gun disc, it is first vertically lifted to reset the gravity self-locking mechanism, and then the new welding gun disc is moved horizontally and separated from the workstation to complete the automatic replacement of the welding gun disc.

[0028] The invention is further configured such that when the welding gun holder is tilted, the rotating arm rotates and falls down due to its own gravity, the straight connector is inserted into the cooling water interface of the old welding gun disc, and the tongue is simultaneously inserted into the self-locking connector box to lock the rotating arm. The cooling water circulates through the connecting pipe in the fixed column to remove the residual heat of the old welding gun disc. During the rotation of the rotating column, the cone bottom pressure block moves from low to high along the guide slope and straightens the welding gun holder. When it rotates 180 degrees, the cone bottom pressure block is locked into the cone-shaped slot to complete the circumferential positioning.

[0029] Preferably, after the cone-shaped bottom pressure block is inserted into the cone-shaped groove, the welding robot arm docks with the new welding gun disc. After docking, the cooling water is connected to the new welding gun disc via a straight connector, and the water channel on the side of the old welding gun disc is automatically closed when the rotating arm is raised.

[0030] In summary, the present invention has the following main beneficial effects:

[0031] 1. This invention features a two-position welding gun holder that can tilt around a horizontal axis and rotate circumferentially with the rotating column at the top of the fixed column. A positioning structure consisting of a flat-bottomed pressure block, a conical-bottomed pressure block, a flat-bottomed receiving groove, and a conical slot is provided between the bottom of the welding gun holder and the outer wall of the fixed column. Combined with a gravity self-locking mechanism at the mounting port and a gravity tilting rotating arm with a straight insertion connector, the locking of the old welding gun disc, the reconnection of the cooling water pipeline, the rotation positioning of the gun holder, and the docking and unlocking of the new welding gun disc are all completed by the linkage of self-weight, counterweight off-center loading, and mechanical inclined plane. No additional drive components or manual intervention are required, which realizes the rapid, accurate, and reliable automatic replacement of the welding gun disc and allows the residual heat of the newly replaced old welding gun disc to be continuously cooled.

[0032] 2. This invention utilizes a mating structure where the conical bottom pressure block climbs along the guide slope and finally engages with the conical slot, enabling the welding gun holder to automatically complete circumferential positioning after rotating 180 degrees with the rotating column. This eliminates the offset caused by the backlash and repeated positioning error of the rotary transmission mechanism, ensuring precise alignment between the new welding gun disc and the welding robot arm connecting flange, and improving the reliability of the connection between the welding current contact, the protective gas connector, and the wire feed tube interface.

[0033] 3. This invention features a rotating arm that can rotate around the mounting frame on one side of the welding gun holder. The rotating arm is equipped with connecting pipes, a straight connector, and a tongue. When the old welding gun disc is lowered and the welding gun holder is tilted to that side, the rotating arm rotates and falls down due to its own weight. The straight connector automatically plugs into the cooling water interface of the old welding gun disc, and the tongue simultaneously inserts into the self-locking connector box to lock the rotating arm. This quickly completes the alternation of cooling water circulation, promptly removing the residual heat from the old welding gun disc and its internal water channels, and preventing the sealing rings and insulation components from aging prematurely due to high temperatures.

[0034] 4. This invention features a gravity self-locking mechanism consisting of a pressure column, a pressure tongue, and a sliding groove at the mounting port. After the old welding gun disc enters the mounting port horizontally and is released, its own weight presses down the pressure column. The pressure column pushes the pressure tongue through the inclined surface to press against the cylindrical surface of the welding gun disc, thus locking the welding gun disc without the need for a motor or cylinder. When removing the gun, the welding robot arm first lifts vertically to reset the pressure column, and then moves horizontally to push the pressure tongue back into the sliding groove. Locking and unlocking are both completed automatically with the gun replacement action.

[0035] 5. This invention provides a counterweight plate on one side of the empty mounting port and a positioning post that mates with the limiting waist hole on the side wall of the flat bottom pressure block. Under normal conditions, the positioning post is inserted into the limiting waist hole, the flat bottom pressure block falls into the flat bottom receiving groove, and the welding gun frame remains horizontal and circumferentially locked. After the old welding gun disc is lowered, this side tilts in the set direction under the action of the counterweight plate and the gun disc's own weight, and the positioning post automatically disengages from the limiting waist hole, which is the rotation of the rotating post. The tilting direction is determined and the action does not require control. Attached Figure Description

[0036] Figure 1A perspective view of the welding tray replacement state according to the present invention;

[0037] Figure 2 A perspective view of the welding gun disc in a different state, as presented in this invention.

[0038] Figure 3 For the present invention Figure 2 Enlarged view of A in the middle;

[0039] Figure 4 This is a perspective view of the welding gun disc and welding robotic arm in their disassembled state according to the present invention;

[0040] Figure 5 This is a schematic cross-sectional view of the connection between the welding gun holder and the fixed column of the present invention;

[0041] Figure 6 For the present invention Figure 5 Enlarged view of B in the middle;

[0042] Figure 7 This is a schematic diagram of the welding robotic arm of the present invention releasing the old welding gun disc on the left side of the figure.

[0043] Figure 8 For the present invention Figure 7 Enlarged view of C;

[0044] Figure 9 This is a schematic diagram of the welding robotic arm of the present invention releasing the old welding gun disc on the right side of the figure.

[0045] Figure 10 For the present invention Figure 9 Enlarged view of D;

[0046] Figure 11 The welding robot arm of the present invention releases and leaves the old welding gun disc on the left side of the figure. The welding gun holder tilts because one side of the old welding gun disc is heavier. The rotating arm rotates and falls down to achieve a rapid connection of the cooling circulating water pipe.

[0047] Figure 12 For the present invention Figure 11 Enlarged view of E in the middle;

[0048] Figure 13 This is a perspective view of the state in which the cone-bottom pressure block slides along the guide ramp and is about to be inserted into the cone-shaped slot after the old welding gun disc of the present invention has been placed in place and the welding gun holder and rotating column are rotated and adjusted.

[0049] Figure 14 For the present invention Figure 13 Enlarged view of F in the middle;

[0050] Figure 15A perspective view of the state after the old welding gun disc of the present invention is placed in place, the welding gun holder and the rotating column are rotated and adjusted by 180 degrees, so that the cone bottom pressure block is inserted into the cone-shaped slot.

[0051] Figure 16 For the present invention Figure 15 Enlarged view of G in the middle;

[0052] Figure 17 This is a perspective view of the snap-fit ​​interface position of the welding gun holder of the present invention, with the pressure column not pressed down.

[0053] Figure 18 For the present invention Figure 17 Enlarged view of H in the middle;

[0054] Figure 19 This is a perspective view of the welding gun holder's locking interface position from another angle of the present invention, showing the pressure column not being pressed down.

[0055] Figure 20 For the present invention Figure 19 Enlarged view of I in the middle.

[0056] Explanation of reference numerals in the attached figures:

[0057] 1. Fixed column; 2. Welding gun holder; 201. Mounting port; 202. Clearance port; 203. Pipe through port; 204. Flat bottom pressure block; 205. Conical bottom pressure block; 206. Positioning column; 207. Slide groove; 3. Rotating column; 301. Support frame; 4. Guide ramp; 401. Flat bottom receiving groove; 402. Conical groove; 403. Limiting slot; 5. Mounting bracket; 6. Rotating arm; 601. Connecting pipeline; 602. Tongue; 603. Straight plug connector; 7. Self-locking plug box; 8. Counterweight plate; 9. Pressure tongue; 10. Pressure column; 11. Welding gun disc; 12. Welding robotic arm. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0059] The embodiments of the present invention will now be described.

[0060] First embodiment: An automatic welding torch disc changing assembly for a welding robot, please refer to [link / reference]. Figures 1-20The welding gun holder includes a fixed column 1, a rotating column 3 rotatably connected to the top of the fixed column 1 and rotating around its axis, a welding gun holder 2 connected to the rotating column 3 via a horizontal rotating shaft, the welding gun holder 2 having two positions for storing welding gun discs 11 along its length and being tiltable around the horizontal rotating shaft, a pressure block at the bottom of the welding gun holder 2, a positioning groove on the outer wall of the fixed column 1 corresponding to the movement trajectory of the pressure block, the pressure block being engaged in the positioning groove to form circumferential positioning when the welding gun holder 2 rotates into position, a gravity self-locking mechanism being provided at the position, the gravity self-locking mechanism locking the welding gun disc 11 in position under the gravity of the welding gun disc 11, a cooling pipe connection mechanism being provided on one side of the welding gun holder 2, the cooling pipe connection mechanism including a rotating arm 6 with a straight plug 603, the rotating arm 6 rotating when the welding gun holder 2 tilts, causing the straight plug 603 to engage with the lowered welding gun disc 11.

[0061] For details regarding the above embodiments, please refer to [link / reference]. Figures 2-16 The pressure block includes a flat-bottomed pressure block 204 and a conical-bottomed pressure block 205 spaced 180 degrees apart in the circumferential direction. The positioning groove includes a flat-bottomed receiving groove 401 and a conical slot 402 that respectively cooperate with the flat-bottomed pressure block 204 and the conical-bottomed pressure block 205. The flat-bottomed receiving groove 401 and the conical slot 402 are located at the same position in the circumferential direction. Under normal conditions, the flat-bottomed pressure block 204 is accommodated in the flat-bottomed receiving groove 401. When the welding gun holder 2 rotates 180 degrees, the conical-bottomed pressure block 205 is inserted into the conical slot 402. The groove wall of the conical slot 402 gradually narrows from the groove opening to the groove bottom and forms a conical surface that matches the conical surface of the conical-bottomed pressure block 205. When the conical-bottomed pressure block 205 is inserted into the conical slot 402, the circumferential deflection and radial offset are automatically eliminated through the conical surface cooperation.

[0062] Specifically, the outer wall of the fixed column 1 is also provided with a guide ramp 4 that rises along the movement trajectory of the cone bottom pressure block 205. During the rotation of the rotating column 3, the cone bottom pressure block 205 moves from low to high along the guide ramp 4, gradually straightening the tilted welding gun frame 2 until the cone bottom pressure block 205 is inserted into the conical slot 402. The guide ramp 4 extends in an arc along the outer wall of the fixed column 1. The top of the arc-shaped guide part of the guide ramp 4 is higher than the conical slot 402. The slope surface of the guide ramp 4 is hardened. When the rotating column 3 rotates at a constant speed, the guide ramp 4 gradually reduces the tilt angle of the welding gun frame 2 to zero, and then causes the welding gun frame 2 to rise until the cone bottom pressure block 205 is aligned with the conical slot 402, and then the welding gun frame 2 can quickly return to a horizontal state.

[0063] For details regarding the above embodiments, please refer to [link / reference]. Figures 2-16It also includes a positioning post 206 and a limiting waist hole 403 that cooperates with the positioning post 206. The positioning post 206 is set on the side wall of the flat bottom pressure block 204, and the limiting waist hole 403 is set on one side of the guide slope 4. Under normal conditions, the positioning post 206 is inserted into the limiting waist hole 403 to restrict the welding gun frame 2 from rotating around the axis of the fixed post 1. When the welding gun frame 2 tilts, the positioning post 206 disengages from the limiting waist hole 403. The bottom end of the positioning post 206 is hemispherical or conical. The limiting waist hole 403 extends along the upward direction of the welding gun frame 2 and has a flared end near the guide slope 4. When the positioning post 206 falls with the welding gun frame 2, it automatically slides into the limiting waist hole 403 along the flared end. The fit gap between the positioning post 206 and the limiting waist hole 403 is less than the allowable docking deviation between the welding gun disc 11 and the robotic arm flange to ensure the circumferential position accuracy of the welding gun frame 2 before rotation.

[0064] Specifically, a counterweight 8 is provided on one side of the vacant workstation of the welding gun holder 2. After the old welding gun disc 11 is put down, the weight of this side is greater than that of the other side under the combined action of the counterweight 8 and the old welding gun disc 11, causing the welding gun holder 2 to tilt around the horizontal axis to the side of the old welding gun disc 11. The counterweight 8 is fixed to the end of the vacant workstation of the welding gun holder 2 by bolt stacking. After the old welding gun disc 11 is put into this side, the total weight of this side is greater than that of the side where the new welding gun disc 11 is placed. When this side is vacant, its weight is less than that of the other side, so that the welding gun holder 2 only tilts to this side after the old welding gun disc 11 is in place, and remains horizontal under normal conditions.

[0065] Furthermore, the workstation includes a U-shaped mounting port 201 for securing the top cylindrical surface of the welding gun disc 11. One side of the mounting port 201 has a clearance port 202 for avoiding the piping of the welding gun disc 11. The fixing column 1 has a through-hole 203 for passing through cooling water pipes. A support frame 301 extends from the top of the rotating column 3. The horizontal rotation axis of the welding gun holder 2 is located at the top of the support frame 301. The support frame 301 elevates the welding gun holder 2 and provides space for its tilting. The width of the U-shaped opening of the mounting port 201 is equal to that of the welding gun disc 11. The top cylindrical surface has a clearance fit and an inlet chamfer at the opening end. The clearance opening 202 extends along the thickness direction of the welding gun holder 2 and is located on one side of the mounting opening 201. The pipe opening 203 is provided with a protective sleeve. The connecting pipe 601 passes through the pipe opening 203 and is connected to the cooling water source in the fixed column 1 through the protective sleeve. The support frame 301 has a portal structure. The two ends of the horizontal rotating shaft are supported on the top of the support frame 301. The height between the two sides of the support frame 301 is greater than the height required for the end of the welding gun holder 2 to be raised.

[0066] Second embodiment: An automatic welding torch disc changing component for a welding robot, please refer to [link / reference]. Figures 1-20Based on the first embodiment, the difference from the first embodiment is that the gravity self-locking mechanism includes a pressure column 10, a pressure tongue 9, and a horizontally arranged slide groove 207. Under the action of gravity of the welding gun disc 11, the pressure column 10 will move downward and push the inclined surface of the pressure tongue 9. The pressure tongue 9 slides along the slide groove 207 and clamps the side wall of the welding gun disc 11. A reset spring is provided between the pressure column 10 and the slide groove 207. The side of the pressure tongue 9 facing the welding gun disc 11 has an arc-shaped clamping surface adapted to the cylindrical surface of the welding gun disc 11. Anti-slip teeth are machined on the clamping surface. The top of the pressure column 10 extends out of the bottom surface of the mounting opening 201 and is higher than the bottom surface of the mounting opening 201 when not under pressure. The lower part of the pressure column 10 has a pushing inclined surface that cooperates with the inclined surface of the pressure tongue 9. The reset spring is sleeved outside the pressure column 10. When the welding gun disc 11 is lifted, the reset spring pushes the pressure column 10 to rise, and the pressure tongue 9 retracts into the slide groove 207 to release the clamping.

[0067] Third embodiment: An automatic welding torch disc changing component for a welding robot, please refer to [link / reference]. Figures 1-20 Based on the second embodiment, the difference lies in that the cooling pipe connection mechanism further includes a mounting frame 5, a connecting pipe 601, a tongue 602, and a self-locking connector box 7. The rotating arm 6 is hinged to the mounting frame 5. The connecting pipe 601 is a flexible cooling water pipe and is connected to the cooling water source via a fixed column 1. The tongue 602 is located on the rotating arm 6, and the self-locking connector box 7 is located on the top surface of the welding gun holder 2. When the rotating arm 6 rotates and falls down, the straight connector 603 is inserted into the cooling water interface of the welding gun disc 11, and the tongue 602 is inserted into the self-locking connector. The junction box 7 locks the rotating arm 6. The straight plug connector 603 is a quick-connect connector with a self-sealing valve. When the straight plug connector 603 is plugged into the cooling water interface of the welding gun disc 11, the self-sealing valves at both ends open synchronously and close automatically when disconnected. A limiting block is provided between the rotating arm 6 and the mounting bracket 5 to limit the downward angle of the rotating arm 6, so that the straight plug connector 603 and the cooling water interface of the welding gun disc 11 are coaxial. The end of the tongue 602 is provided with a barb. The self-locking junction box 7 is provided with an elastic latch that cooperates with the barb. The tongue 602 automatically locks after being inserted and unlocks when pressed.

[0068] An automatic welding torch disc changing method for a welding robot, the process comprising the following steps:

[0069] Step 1: The welding robotic arm carries the old welding gun disc into the empty workstation of the welding gun holder and releases it. The gravity self-locking mechanism locks the old welding gun disc in the workstation under the gravity of the old welding gun disc.

[0070] Step 2: The welding gun holder is tilted towards the old welding gun disc, and the rotating arm of the cooling pipe mechanism rotates to connect the straight plug connector with the cooling water interface of the old welding gun disc.

[0071] Step 3: The rotating column drives the welding gun holder to rotate around the axis of the fixed column. The pressure block moves along the outer wall of the fixed column and gets into the positioning groove when it rotates to the correct position. The welding gun holder rotates 180 degrees and returns to horizontal, so that the new welding gun disc reaches the replacement station.

[0072] Step 4: After the welding robot arm docks with the new welding gun disc, it is first lifted vertically to reset the gravity self-locking mechanism, and then the new welding gun disc is moved horizontally and separated from the workstation to complete the automatic replacement of the welding gun disc.

[0073] Furthermore, when the welding gun holder tilts, the rotating arm rotates and falls down under its own weight. The straight connector is plugged into the cooling water interface of the old welding gun disc, and the tongue is simultaneously inserted into the self-locking connector box to lock the rotating arm. The cooling water circulates through the connecting pipe in the fixed column to remove the residual heat of the old welding gun disc. During the rotation of the rotating column, the cone bottom pressure block moves from low to high along the guide slope and straightens the welding gun holder. When it rotates 180 degrees, the cone bottom pressure block is locked into the cone-shaped groove, completing the circumferential positioning. After the rotating arm falls down and is locked, cooling water is first introduced into the old welding gun disc through the connecting pipe to confirm that the water path is unobstructed. Then the rotating column is started to rotate. After the cone bottom pressure block is locked into the cone-shaped groove, the welding robot arm docks with the new welding gun disc. After docking, the cooling water is switched to the new welding gun disc through the straight connector. The water path on the side of the old welding gun disc is automatically closed when the rotating arm is raised.

[0074] In practical operation: When in use, the welding gun holder 2 is normally in a horizontal state, the flat bottom pressure block 204 is accommodated in the flat bottom receiving groove 401 at the top of the guide slope 4, the positioning post 206 fixed to the side wall of the flat bottom pressure block 204 is inserted into the limiting waist hole 403 to restrict the circumferential rotation of the welding gun holder 2 around the axis of the fixed post 1, the mounting port 201 on the side with the counterweight plate 8 is in an empty state, and the other mounting port 201 contains a new welding gun disc 11 to be replaced;

[0075] When the welding robotic arm 12 needs to replace the welding gun disc 11, the welding robotic arm 12 moves the old welding gun disc 11 horizontally, so that the cylindrical surface at the top of the old welding gun disc 11 enters the U-shaped clamping port 201. The clearance port 202 provides clearance space for the pipes connected to the welding gun disc 11. Then the welding robotic arm 12 releases the old welding gun disc 11. The old welding gun disc 11 is pressed down by its own weight, and the pressure column 10 pushes the inclined surface of the pressure tongue 9, so that the pressure tongue 9 slides along the horizontally set slide groove 207 and clamps the side wall of the welding gun disc 11, locking the old welding gun disc 11 in the clamping port 201 to prevent it from shaking.

[0076] After the old welding gun disc 11 is locked, the mounting port 201 on the side with the counterweight plate 8 has a greater weight than the other side under the combined action of the counterweight plate 8 and the old welding gun disc 11. The welding gun frame 2 tilts to the side of the old welding gun disc 11 around the horizontal axis connected to the top of the rotating column 3 in the middle. The positioning column 206 then disengages from the limiting waist hole 403. At the same time, the rotating arm 6 installed on the mounting frame 5 rotates and falls down under its own weight. The straight plug 603 on the rotating arm 6 is inserted into the cooling water interface of the old welding gun disc 11. The flexible connecting pipe 601 is connected to the cooling water source in the fixed column 1 through the through-pipe port 203. The cooling water begins to circulate. The plug tongue 602 is simultaneously inserted into the self-locking plug box 7 fixed on the top surface of the welding gun frame 2 to lock the rotating arm 6 and ensure stable circulation of cooling water.

[0077] Subsequently, the drive mechanism inside the fixed column 1 drives the rotating column 3 to rotate. The rotating column 3 drives the welding gun frame 2 to rotate around the axis of the fixed column 1 via the support frame 301. During the rotation, the conical bottom pressure block 205 at the bottom of the welding gun frame 2 moves from low to high along the guide ramp 4 on the outer wall of the fixed column. The guide ramp 4 gradually straightens the raised welding gun frame 2, and one side of the old welding gun disc 11 is gradually raised. When the welding gun frame 2 rotates 180 degrees, the conical bottom pressure block 205 is inserted into the conical slot 402, the welding gun frame 2 returns to the horizontal state and completes the circumferential rotation positioning, so that the new welding gun disc 11 accurately reaches the replacement station opposite to the connecting flange of the welding robot arm 12 as it rotates.

[0078] After the welding robotic arm 12 is docked with the new welding gun disc 11, it first lifts vertically upward a short distance, so that the pressure column 10 is reset under the action of the spring force, and then drives the new welding gun disc 11 to move horizontally. The side wall of the welding gun disc 11 pushes the pressure tongue 9 back into the slide groove 207, and the welding gun disc 11 is separated from the mounting port 201. The welding robotic arm 12 carries the new welding gun disc 11 back to the welding station, thus completing the automatic replacement of the welding gun disc 11.

[0079] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. An automatic welding torch disc changing assembly for a welding robot, characterized in that, include: A fixed column (1) is rotatably connected to a rotating column (3) that rotates around its axis. A welding gun holder (2) is connected to the rotating column (3) via a horizontal rotating shaft. The welding gun holder (2) has two workstations for storing welding gun discs (11) along its own length and can tilt around the horizontal rotating shaft. A pressure block is provided at the bottom of the welding gun holder (2). A positioning groove is provided on the outer wall of the fixed column (1) corresponding to the movement trajectory of the pressure block. When the welding gun holder (2) rotates into the positioning groove, the pressure block is inserted into the positioning groove to form circumferential positioning. A gravity self-locking mechanism is provided at the workstation. The gravity self-locking mechanism locks the welding gun disc (11) in the workstation under the gravity. A cooling pipe connection mechanism is provided on one side of the welding gun holder (2). The cooling pipe connection mechanism includes a rotating arm (6) with a straight plug connector (603). When the welding gun holder (2) tilts, the rotating arm (6) rotates, so that the straight plug connector (603) connects with the lowered welding gun disc (11).

2. The automatic welding torch disc changing component of the welding robot according to claim 1, characterized in that: The pressure block includes a flat-bottomed pressure block (204) and a conical-bottomed pressure block (205) spaced 180 degrees apart in the circumferential direction. The positioning groove includes a flat-bottomed receiving groove (401) and a conical slot (402) that respectively cooperate with the flat-bottomed pressure block (204) and the conical-bottomed pressure block (205). The flat-bottomed receiving groove (401) and the conical slot (402) are located at the same position in the circumferential direction. Under normal conditions, the flat-bottomed pressure block (204) is received in the flat-bottomed receiving groove (401). When the welding gun holder (2) rotates 180 degrees, the conical-bottomed pressure block (205) is inserted into the conical slot (402).

3. The automatic welding torch disc changing component of the welding robot according to claim 2, characterized in that: The outer wall of the fixed column (1) is also provided with a guide ramp (4) that rises along the movement trajectory of the cone bottom pressure block (205). During the rotation of the rotating column (3), the cone bottom pressure block (205) moves from low to high along the guide ramp (4) to gradually straighten the tilted welding gun frame (2) until the cone bottom pressure block (205) is inserted into the cone-shaped slot (402).

4. The automatic welding torch disc changing component of the welding robot according to claim 2, characterized in that: It also includes a positioning post (206) and a limiting waist hole (403) that cooperates with the positioning post (206). The positioning post (206) is set on the side wall of the flat bottom pressure block (204), and the limiting waist hole (403) is set on one side of the guide ramp (4). Under normal conditions, the positioning post (206) is inserted into the limiting waist hole (403) to restrict the welding gun frame (2) from rotating around the axis of the fixed post (1). When the welding gun frame (2) is tilted, the positioning post (206) disengages from the limiting waist hole (403).

5. The automatic welding torch disc changing component of the welding robot according to claim 1, characterized in that: The gravity self-locking mechanism includes a pressure column (10), a pressure tongue (9), and a horizontally arranged slide groove (207). The pressure column (10) moves downward under the gravity of the welding gun disc (11) and pushes the inclined surface of the pressure tongue (9). The pressure tongue (9) slides along the slide groove (207) and clamps the side wall of the welding gun disc (11). A reset spring is provided between the pressure column (10) and the slide groove (207).

6. The automatic welding torch disc changing component of the welding robot according to claim 1, characterized in that: The cooling pipe connection mechanism also includes a mounting bracket (5), a connecting pipe (601), a tongue (602), and a self-locking plug box (7). The rotating arm (6) is hinged to the mounting bracket (5). The connecting pipe (601) is a flexible cooling water pipe and is connected to the cooling water source through the fixed column (1). The tongue (602) is located on the rotating arm (6), and the self-locking plug box (7) is located on the top surface of the welding gun holder (2). When the rotating arm (6) rotates and falls down, the straight plug (603) is plugged into the cooling water interface of the welding gun disc (11), and the tongue (602) is inserted into the self-locking plug box (7) to lock the rotating arm (6).

7. The automatic welding torch disc changing component of the welding robot according to claim 1, characterized in that: The welding gun holder (2) has a counterweight (8) on one side of the empty workstation. After the old welding gun disc (11) is put down, the weight on this side is greater than that on the other side under the combined action of the counterweight (8) and the old welding gun disc (11), causing the welding gun holder (2) to tilt around the horizontal axis to the side of the old welding gun disc (11).

8. The automatic welding torch disc changing component of the welding robot according to claim 1, characterized in that: The workstation includes a U-shaped mounting port (201) for holding the cylindrical surface at the top of the welding gun disc (11). One side of the mounting port (201) is provided with a clearance port (202) for avoiding the pipeline of the welding gun disc (11). The fixed column (1) is provided with a through port (203) for passing through the cooling water pipeline. The top of the rotating column (3) extends a support frame (301). The horizontal rotation axis of the welding gun holder (2) is set at the top of the support frame (301). The support frame (301) raises the welding gun holder (2) and leaves space for it to tilt.

9. A method for automatically changing the welding torch disc of a welding robot, characterized in that... The process of using the welding gun disc automatic replacement component of the welding robot according to any one of claims 1-8 includes the following steps: Step 1: The welding robotic arm carries the old welding gun disc into the empty workstation of the welding gun holder and releases it. The gravity self-locking mechanism locks the old welding gun disc in the workstation under the gravity of the old welding gun disc. Step 2: The welding gun holder tilts towards the old welding gun disc, and the rotating arm of the cooling pipe mechanism rotates to connect the straight plug connector with the cooling water interface of the old welding gun disc. Step 3: The rotating column drives the welding gun holder to rotate around the axis of the fixed column. The pressure block moves along the outer wall of the fixed column and is engaged in the positioning groove when it rotates to the correct position. The welding gun holder rotates 180 degrees and returns to horizontal, so that the new welding gun disc reaches the replacement station. Step 4: After the welding robotic arm docks with the new welding gun disc, it is first vertically lifted to reset the gravity self-locking mechanism, and then the new welding gun disc is moved horizontally and separated from the workstation to complete the automatic replacement of the welding gun disc.

10. The automatic welding torch disc changing method for a welding robot according to claim 9, characterized in that: When the welding gun holder is tilted, the rotating arm rotates and falls down under its own weight. The straight connector is inserted into the cooling water interface of the old welding gun disc, and the tongue is simultaneously inserted into the self-locking connector box to lock the rotating arm. The cooling water circulates through the connecting pipe in the fixed column to remove the residual heat of the old welding gun disc. During the rotation of the rotating column, the cone bottom pressure block moves from low to high along the guide slope and straightens the welding gun holder. When it rotates 180 degrees, the cone bottom pressure block is locked into the cone-shaped slot, completing the circumferential positioning.

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