Welding manipulator

Abstract

The utility model discloses a welding manipulator, which belongs to the technical field of manipulators, and is characterized in that the welding manipulator comprises a welding table, and the welding table comprises a telescopic rotating mechanism comprising an angle adjusting device and a welding head; the automatic feeding mechanism comprises a conveying belt, an air cylinder and a push plate. A clamping mechanism; the control panel is connected with the telescopic rotating mechanism; a plate; the guide rail is matched with the plate; wherein the welding table is provided with two telescopic rotating mechanisms, the telescopic rotating mechanisms are arranged on the two sides of the welding table respectively, and the welding head is connected with the angle adjusting device. According to the welding manipulator, the two welding heads which are not restrained mutually are arranged, the application range is expanded, automatic feeding can be achieved, and the working efficiency is improved while the labor cost is reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of robots, and in particular, relates to a welding robot. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both human and mechanical machines.

[0003] The existing Chinese patent with publication number CN218800170U discloses an automatic welding manipulator, wherein two symmetrically arranged reciprocating translation mechanisms are fixedly connected to the upper side of the welding table, and the upper ends of the two reciprocating translation mechanisms are fixedly connected to a concave frame shell, a double-rod lifting mechanism is provided in the concave frame shell, and two sliding openings are provided on the opposite side walls of the concave frame shell, the two ends of the double-rod lifting mechanism respectively pass through the two sliding openings and are fixedly connected to two laterally symmetrically arranged telescopic cylinders, and the adjacent ends of the two telescopic cylinders are fixedly connected to two symmetrically arranged welding gun heads.

[0004] Although the above-mentioned automatic welding robot can weld both sides of the plate at the same time and the welding range is expanded after the position of the welding gun head is adjusted, the two welding gun heads of the robot are symmetrically arranged, so that it is only convenient for welding plates with the same processing requirements on both sides. The application range is small, and manual loading is required, which results in high labor costs and low work efficiency. Utility Model Content

[0005] The purpose of this application is to provide a welding robot in response to the above-mentioned technical problems. The robot is provided with two welding heads that are not constrained by each other, thereby expanding the scope of application and being able to automatically load materials, thereby reducing labor costs and improving work efficiency.

[0006] The present application provides a welding manipulator, comprising a welding table, wherein the welding table comprises:

[0007] A telescopic rotating mechanism, including an angle adjustment device and a welding head;

[0008] Automatic feeding mechanism, including conveyor belt, cylinder and push plate;

[0009] Clamping mechanism;

[0010] A control panel connected to the telescopic rotating mechanism;

[0011] Plates;

[0012] A guide rail, which cooperates with the plate;

[0013] Wherein, the welding table is provided with two telescopic rotating mechanisms, which are respectively placed on both sides of the welding table, and the welding head is connected with the angle adjustment device.

[0014] In the present technical scheme, a telescopic rotating mechanism with an angle adjustment device and a welding head is arranged on both sides of the welding table. The welding head is assisted by the telescopic rotating mechanism so that the welding head can be adjusted to any position on the plate, and the welding head can be adjusted to a suitable welding angle through the angle adjustment device to enhance the welding effect of the welding manipulator. The telescopic rotating mechanism on both sides of the welding table is controlled separately by the control panel, so that it can not only weld both sides of the plate at the same time, but also weld plates with different processing requirements on both sides, thereby expanding the scope of application. An automatic feeding mechanism with a conveyor belt, a cylinder and a push plate is also arranged on the welding table. When feeding, the plate is transported to the cylinder through the conveyor belt. When the cylinder detects that the telescopic rotating mechanism is in the standby state, the cylinder pushes the plate from the cylinder to the push plate through telescopic movement, and the push plate pushes the plate to the guide rail and the clamping mechanism. The plate is fixed on the welding table through the cooperation between the clamping mechanism and the guide rail, so that the welding manipulator can automatically feed, thereby reducing labor costs and improving work efficiency.

[0015] Furthermore, the telescopic rotating mechanism comprises:

[0016] A turntable including a first motor;

[0017] a main arm including a second motor;

[0018] The support arm is rotatably connected to the main arm through a hydraulic cylinder;

[0019] The turntable is rotationally connected to the welding table via a first motor, the main arm is rotationally connected to the turntable via a second motor and a hydraulic cylinder, and the angle adjustment device is rotationally connected to the support arm via a hydraulic cylinder.

[0020] In the present technical solution, the turntable is rotatably connected to the welding table through the first motor, so that the telescopic rotating mechanism as a whole can rotate within the range of the welding table, the main arm and the turntable are rotatably connected through the second motor and the hydraulic cylinder, the support arm and the main arm are rotatably connected through the hydraulic cylinder, and the angle adjustment device and the support arm are rotatably connected through the hydraulic cylinder. Since the hydraulic cylinder can move smoothly through high-precision control, the welding head connected to the angle adjustment device can be stably adjusted to the working position, and by adjusting the positional relationship between the various components in the telescopic rotating mechanism, the welding head can be placed at any position on the working surface of the plate to facilitate processing.

[0021] Further, the angle adjustment device comprises:

[0022] A first connecting rod, one end of which is rotatably connected to the hydraulic cylinder, and the other end of which is rotatably connected to the support arm;

[0023] A second connecting rod, one end of which is rotatably connected to the first connecting rod;

[0024] A rotating frame, one end of which is rotatably connected to the support arm, and the other end of which is rotatably connected to the second connecting rod;

[0025] A frameless motor connected to a rotating frame;

[0026] Wherein, the welding head is connected to the frameless motor.

[0027] In the present technical scheme, a first connecting rod, a second connecting rod and a rotating frame are arranged on the angle adjustment device, one end of the rotating frame is rotatably connected to the support arm, and the other end is rotatably connected to the second connecting rod, one end of the second connecting rod is rotatably connected to the first connecting rod, one end of the first connecting rod is rotatably connected to the hydraulic cylinder, and the other end is rotatably connected to the support arm, so that when the hydraulic cylinder performs telescopic movement, the first connecting rod and the second connecting rod are linked to each other, thereby driving the rotating frame to rotate a certain angle on the support arm, and at the same time, a frameless motor is connected to the rotating frame, and the welding head is connected to the frameless motor. The welding head can rotate a certain angle on the rotating frame through the frameless motor. Combined with the above-mentioned technical features, the welding head has a higher degree of freedom when adjusting the angle and can be more flexible when welding.

[0028] Furthermore, the automatic feeding mechanism comprises:

[0029] Baffles;

[0030] A third motor includes a lead screw;

[0031] Wherein, the welding table is provided with an infrared sensor, the infrared sensor is connected to the third motor, and the push plate is matched with the lead screw.

[0032] In the present technical solution, a baffle and a third motor with a screw rod are arranged in the automatic feeding mechanism. When the plate is transported to the cylinder, the baffle can limit the plate to prevent the plate from escaping from the conveyor belt. The push plate cooperates with the screw rod to start the third motor to drive the screw rod to rotate, so that the push plate moves along the screw rod. The push plate pushes the plate onto the guide rail of the welding table. An infrared sensor is also arranged on the welding table. The infrared sensor can move within the welding table so that the infrared sensor can be placed in a suitable position. After the infrared sensor detects the plate, it transmits a signal to the third motor to control the third motor to reverse. The third motor drives the push plate to reset, and the clamping mechanism works at the same time, thereby fixing the plate on the welding table.

[0033] Furthermore, the clamping mechanism comprises:

[0034] a fourth motor connected to the infrared sensor;

[0035] A fastening bolt connected to the fourth motor;

[0036] A clamping plate connected to the fastening bolts;

[0037] The plate is fixed on the welding table through the cooperation between the clamping plate and the guide rail.

[0038] In the present technical solution, a fourth motor connected to the infrared sensor is arranged on the clamping mechanism, and a fastening bolt with a clamping plate is connected to the fourth motor. After the infrared sensor detects the plate, it transmits a signal to the third motor and at the same time transmits a signal to the fourth motor. The rotation of the fourth motor drives the fastening bolt to extend and retract, and the fastening bolt drives the clamping plate to move toward the guide rail, so that the plate can be tightly fitted on the welding table through the cooperation between the clamping plate and the guide rail, so that the welding robot can stably process the plate.

[0039] Furthermore, the welding station also includes:

[0040] Connection block including push button switch;

[0041] Wherein, the connecting block is connected to both telescopic rotating mechanisms.

[0042] In the present technical solution, a connecting block is provided on the welding table, and the connecting block is connected to the two telescopic rotating mechanisms. The two telescopic rotating mechanisms are symmetrical after being reset. At this time, the button switch on the connecting block is started to connect the two telescopic rotating mechanisms to the control panel through the connecting block. The staff makes the two telescopic rotating mechanisms work synchronously through the control panel. When welding plates with the same processing requirements on both sides, the staff's operation workload can be greatly reduced, thereby improving work efficiency.

[0043] The beneficial effects of this application are:

[0044] 1. The welding head can be adjusted to a suitable position and angle through the telescopic rotating mechanism to enhance the welding effect. The telescopic rotating mechanism on both sides of the welding table can be controlled by the control panel to enable welding of plates with different processing requirements on both sides, thereby expanding the scope of application. The plates are transported to the cylinder through the conveyor belt, and the cylinder pushes the plates to the push plate, which then pushes the plates to the guide rail and the clamping mechanism, thereby realizing the function of automatic loading and improving work efficiency.

[0045] 2. The welding head can be placed at any position on the plate by adjusting the positional relationship between the various components in the telescopic rotating mechanism for easy processing. When the hydraulic cylinder performs telescopic movement, the first connecting rod and the second connecting rod are linked to drive the rotating frame to rotate on the support arm. The welding head can rotate on the rotating frame through the frameless motor, so that the welding head has a higher degree of freedom when adjusting the position.

[0046] 3. The plate is limited by the baffle to prevent it from escaping from the conveyor belt. The third motor drives the screw to rotate, so that the push plate moves along the screw and pushes the plate onto the guide rail of the welding table. After the infrared sensor on the welding table detects the plate, it transmits a signal to the third motor and the fourth motor to control the third motor to reverse to drive the push plate to reset. At the same time, the fourth motor rotates to drive the clamping plate to move toward the guide rail, so that the plate is fixed on the welding table through the cooperation between the clamping plate and the guide rail, thereby facilitating processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a structural schematic diagram of a welding manipulator for this application;

[0048] Figure 2 This is a structural schematic diagram of a welding robot from another perspective of the present application;

[0049] Figure 3 for Figure 1 A magnified view of point A;

[0050] Figure 4 for Figure 3 Enlarged view of point B;

[0051] Figure 5 for Figure 2 Enlarged view of point C;

[0052] 1. The reference numerals in the figure are as follows: 100, welding table; 110, guide rail; 120, infrared sensor; 130, connecting block; 131, push button switch; 200, telescopic rotating mechanism; 210, angle adjustment device; 211, first connecting rod; 212, second connecting rod; 213, rotating frame; 214, frameless motor; 220, welding head; 230, turntable; 231, first motor; 240, main arm; 241, second motor; 250, supporting arm; 300, automatic feeding mechanism; 310, conveyor belt; 320, cylinder; 330, push plate; 340, baffle; 350, third motor; 351, screw rod; 400, clamping mechanism; 410, fourth motor; 420, fastening bolt; 430, clamping plate; 500, control panel; 600, plate. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0054] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0055] The following provides a detailed description of the embodiments of the present application through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0056] Embodiment 1:

[0057] like Figure 1-5 As shown, an embodiment of the present application provides a welding robot, including a welding table 100, wherein the welding table 100 includes:

[0058] The telescopic rotating mechanism 200 includes an angle adjustment device 210 and a welding head 220;

[0059] The automatic feeding mechanism 300 includes a conveyor belt 310, a cylinder 320 and a push plate 330;

[0060] Clamping mechanism 400;

[0061] A control panel 500 connected to the telescopic rotating mechanism 200;

[0062] Plate 600;

[0063] The guide rail 110 cooperates with the plate 600;

[0064] The welding platform 100 is provided with two telescopic rotating mechanisms 200 , which are respectively placed on both sides of the welding platform 100 , and the welding head 220 is connected to the angle adjustment device 210 .

[0065] By arranging a telescopic rotating mechanism 200 with an angle adjustment device 210 and a welding head 220 on both sides of the welding table 100, the welding head 220 is assisted by the telescopic rotating mechanism 200, so that the welding head 220 can be adjusted to any position on the plate 600, and the welding head 220 can be adjusted to a suitable welding angle through the angle adjustment device 210 to enhance the welding effect of the welding manipulator. The telescopic rotating mechanism 200 on both sides of the welding table 100 is controlled by the control panel 500 respectively, so that it can not only weld both sides of the plate 600 at the same time, but also weld the plates 600 with different processing requirements on both sides, thereby expanding the application range of the welding table 100. 0 is also provided with an automatic feeding mechanism 300 with a conveyor belt 310, a cylinder 320 and a push plate 330. When feeding, the plate 600 is transported to the cylinder 320 through the conveyor belt 310. When the cylinder 320 detects that the telescopic rotating mechanism 200 is in the standby state, the cylinder 320 pushes the plate 600 from the cylinder 320 to the push plate 330 through telescopic movement. The push plate 330 then pushes the plate 600 to the guide rail 110 and the clamping mechanism 400. The plate 600 is fixed on the welding table 100 through the cooperation between the clamping mechanism 400 and the guide rail 110, so that the welding manipulator can automatically feed, thereby reducing labor costs and improving work efficiency.

[0066] Furthermore, the telescopic rotating mechanism 200 includes:

[0067] The turntable 230 includes a first motor 231;

[0068] The main arm 240 includes a second motor 241;

[0069] The support arm 250 is rotatably connected to the main arm 240 via a hydraulic cylinder;

[0070] The turntable 230 is rotationally connected to the welding table 100 via a first motor 231, the main arm 240 is rotationally connected to the turntable 230 via a second motor 241 and a hydraulic cylinder, and the angle adjustment device 210 is rotationally connected to the support arm 250 via a hydraulic cylinder.

[0071] The turntable 230 is rotationally connected to the welding table 100 through the first motor 231, so that the telescopic rotating mechanism 200 as a whole can rotate within the range of the welding table 100, the main arm 240 and the turntable 230 are rotationally connected through the second motor 241 and the hydraulic cylinder, the support arm 250 and the main arm 240 are rotationally connected through the hydraulic cylinder, and the angle adjustment device 210 and the support arm 250 are rotationally connected through the hydraulic cylinder. Since the hydraulic cylinder can move smoothly through high-precision control, the welding head 220 connected to the angle adjustment device 210 can be stably adjusted to the working position, and by adjusting the positional relationship between the various components in the telescopic rotating mechanism 200, the welding head 220 can be placed at any position on the working surface of the plate 600 for easy processing.

[0072] Further, the angle adjustment device 210 includes:

[0073] A first connecting rod 211, one end of which is rotatably connected to the hydraulic cylinder, and the other end of which is rotatably connected to the support arm 250;

[0074] A second connecting rod 212, one end of which is rotatably connected to the first connecting rod 211;

[0075] A rotating frame 213, one end of which is rotatably connected to the support arm 250, and the other end of which is rotatably connected to the second connecting rod 212;

[0076] A frameless motor 214 connected to the rotating frame 213;

[0077] The welding head 220 is connected to the frameless motor 214 .

[0078] By arranging the first connecting rod 211, the second connecting rod 212 and the rotating frame 213 on the angle adjustment device 210, one end of the rotating frame 213 is rotatably connected to the support arm 250, and the other end is rotatably connected to the second connecting rod 212, one end of the second connecting rod 212 is rotatably connected to the first connecting rod 211, one end of the first connecting rod 211 is rotatably connected to the hydraulic cylinder, and the other end is rotatably connected to the support arm 250, so that when the hydraulic cylinder performs telescopic movement, the first connecting rod 211 and the second connecting rod 212 are linked to each other, thereby driving the rotating frame 213 to rotate a certain angle on the support arm 250, and at the same time, a frameless motor 214 is connected to the rotating frame 213, and the welding head 220 is connected to the frameless motor 214. The welding head 220 can rotate a certain angle on the rotating frame 213 through the frameless motor 214. Combined with the above technical features, the welding head 220 has a higher degree of freedom when adjusting the angle and can be more flexible when welding.

[0079] Embodiment 2:

[0080] like Figure 1-5As shown, the embodiment of the present application provides a welding robot, which, in addition to the technical solutions of the above embodiments, also has the following technical features. The automatic feeding mechanism 300 includes:

[0081] Baffle 340;

[0082] The third motor 350 includes a screw rod 351;

[0083] The welding table 100 is provided with an infrared sensor 120 , the infrared sensor 120 is connected to the third motor 350 , and the push plate 330 is matched with the screw rod 351 .

[0084] By arranging a baffle 340 and a third motor 350 with a screw rod 351 in the automatic feeding mechanism 300, when the plate 600 is transported to the cylinder 320, the baffle 340 can limit the plate 600 to prevent the plate 600 from escaping from the conveyor belt 310, the push plate 330 cooperates with the screw rod 351, and the third motor 350 is started to drive the screw rod 351 to rotate, so that the push plate 330 is displaced along the screw rod 351, and the push plate 330 pushes the plate 600 onto the guide rail 110 of the welding table 100. The welding table 100 is also provided with an infrared sensor 120, and the infrared sensor 120 can be displaced in the welding table 100, so as to place the infrared sensor 120 in a suitable position. After the infrared sensor 120 detects the plate 600, it transmits a signal to the third motor 350 to control the third motor 350 to reverse, and the third motor 350 drives the push plate 330 to reset, and the clamping mechanism 400 works at the same time, thereby fixing the plate 600 on the welding table 100.

[0085] Furthermore, the clamping mechanism 400 includes:

[0086] a fourth motor 410 connected to the infrared sensor 120;

[0087] A fastening bolt 420 connected to the fourth motor 410;

[0088] A clamping plate 430 connected to the fastening bolt 420;

[0089] The plate 600 is fixed on the welding table 100 through the cooperation between the clamping plate 430 and the guide rail 110 .

[0090] By setting a fourth motor 410 connected to the infrared sensor 120 on the clamping mechanism 400, and connecting a fastening bolt 420 with a clamping plate 430 to the fourth motor 410, after the infrared sensor 120 detects the plate 600, it transmits a signal to the fourth motor 410 while transmitting a signal to the third motor 350. The fourth motor 410 rotates to drive the fastening bolt 420 to extend and retract, and the fastening bolt 420 drives the clamping plate 430 to move toward the guide rail 110, so that the plate 600 can be tightly fitted on the welding table 100 through the cooperation between the clamping plate 430 and the guide rail 110, so that the welding robot can stably process the plate 600.

[0091] Furthermore, the welding station 100 further includes:

[0092] A connection block 130 including a button switch 131;

[0093] The connection block 130 is connected to both telescopic rotation mechanisms 200 .

[0094] By setting a connecting block 130 on the welding table 100, the connecting block 130 is connected to the two telescopic rotating mechanisms 200. The two telescopic rotating mechanisms 200 are symmetrical after being reset. At this time, the button switch 131 on the connecting block 130 is started to connect the two telescopic rotating mechanisms 200 and the control panel 500 through the connecting block 130. The staff makes the two telescopic rotating mechanisms 200 work synchronously through the control panel 500. When welding the plate 600 with the same processing requirements on both sides, the staff's operation workload can be greatly reduced, thereby improving work efficiency.

[0095] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0096] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A welding robot, comprising a welding table (100), characterized in that: The welding station (100) comprises: A telescopic rotating mechanism (200) comprising an angle adjustment device (210) and a welding head (220); An automatic feeding mechanism (300) comprises a conveyor belt (310), a cylinder (320) and a push plate (330); A clamping mechanism (400); A control panel (500) connected to the telescopic rotating mechanism (200); Plate (600); A guide rail (110) cooperates with the plate (600); The welding platform (100) is provided with two telescopic rotating mechanisms (200), the telescopic rotating mechanisms (200) are respectively placed on two sides of the welding platform (100), and the welding head (220) is connected to the angle adjustment device (210).

2. A welding robot according to claim 1, characterized in that: The telescopic rotating mechanism (200) comprises: The turntable (230) includes a first motor (231); A main arm (240) includes a second motor (241); A support arm (250) is rotatably connected to the main arm (240) via a hydraulic cylinder; The turntable (230) is rotationally connected to the welding table (100) via a first motor (231), the main arm (240) is rotationally connected to the turntable (230) via a second motor (241) and a hydraulic cylinder, and the angle adjustment device (210) is rotationally connected to the support arm (250) via a hydraulic cylinder.

3. A welding robot according to claim 2, characterized in that: The angle adjustment device (210) comprises: A first connecting rod (211), one end of which is rotatably connected to the hydraulic cylinder, and the other end of which is rotatably connected to the support arm (250); A second connecting rod (212), one end of which is rotatably connected to the first connecting rod (211); A rotating frame (213), one end of which is rotatably connected to the support arm (250), and the other end of which is rotatably connected to the second connecting rod (212); A frameless motor (214) connected to the rotating frame (213); Wherein, the welding head (220) is connected to the frameless motor (214).

4. A welding robot according to claim 3, characterized in that: The automatic feeding mechanism (300) comprises: Baffle (340); A third motor (350) comprising a screw rod (351); The welding table (100) is provided with an infrared sensor (120), the infrared sensor (120) is connected to the third motor (350), and the push plate (330) is matched with the screw rod (351).

5. A welding robot according to claim 4, characterized in that: The clamping mechanism (400) comprises: a fourth motor (410), connected to the infrared sensor (120); A fastening bolt (420) connected to the fourth motor (410); A clamping plate (430) connected to the fastening bolt (420); The plate (600) is fixed on the welding table (100) through the cooperation between the clamping plate (430) and the guide rail (110).

6. A welding robot according to claim 5, characterized in that: The welding station (100) further comprises: A connection block (130) including a push button switch (131); Wherein, the connection block (130) is connected to both telescopic rotation mechanisms (200).

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