Automatic welding torch changing device for welding robot

Abstract

The utility model provides an automatic welding torch changing device for a welding robot, which relates to the field of welding robots, and comprises a driving part, an assembling part and a positioning part, the driving part comprises a guide post, the outer wall of the guide post is connected with a lifting plate in a sliding manner, and the upper end of the guide post is connected with a welding robot execution end; the upper side of the lifting plate is connected with a first air cylinder and a motor, the lower end of the motor is connected with a gear set, the assembling part comprises an inserting rod and an inserting seat, the inserting rod is inserted into the inserting seat, the upper end of the inserting rod is rotationally connected with the lifting plate through a rotating shaft, and meanwhile, the outer side of the inserting seat is connected with a welding torch; a positioning groove is formed in one side of the containing plate, and meanwhile the welding torch is fixed in the positioning groove. The welding torch replacing device of the welding robot solves the problems that an existing welding torch replacing device of the welding robot is still low in replacing efficiency, potential safety hazards exist, and meanwhile using limitation exists.

Description

Technical Field

[0001] The utility model relates to the technical field of welding robots, in particular to an automatic welding torch changing device for a welding robot. Background Art

[0002] A welding robot is an industrial robot that performs welding (including cutting and spraying). It has three or more programmable axes and is used in the field of industrial automation. In order to adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange that can be connected to different tools or end effectors. A welding robot is an industrial robot that has a welding tong or welding gun (welding torch) connected to its end axis flange, so that it can perform welding, cutting or thermal spraying. After searching, the prior art (application number: CN202320794864.X) records "a welding robot welding gun quick replacement device, including a connector fixedly arranged at the end of the execution terminal and a mounting seat fixedly arranged, the connector is an L-shaped structure, and the two sides of the lower part of the connector are respectively fixedly arranged with end blocks 1 and 2, and the ends of the mounting seat are symmetrically provided with plug rods, and the lower part of the connector and the end blocks 1 and 2 are provided with plug holes corresponding to the plug rods. The utility model is provided with a locking piece, and the pressing block is pressed inwardly, and the pressing block pushes the push rod to move into the groove at the lower part of the connector, and pushes the swing rod to rotate, and the swing rod pushes the lock head outward, presses the lock head into the lock groove, and the plug rod is locked and cannot be withdrawn. The pressing block is released, and the push rod, the swing rod and the lock head are reset, and the plug rod can be moved. The locking piece locks the mounting seat and the end block 1 tightly together, and then the welding gun is quickly locked and unlocked, which is convenient for the rapid disassembly and assembly of the welding gun, easy to operate, saves the time of changing the gun, and improves the work efficiency."

[0003] However, although the welding robot welding gun quick replacement device in the prior art achieves the effects of simple operation, saving gun replacement time and improving work efficiency, it still has some shortcomings: the existing welding robot welding gun quick replacement device still requires manual participation, which not only has the safety hazard of high temperature burns from the welding gun, but also still has the defect of low efficiency; after replacing welding torches of different sizes, it is inconvenient to fine-tune the distance and angle between the welding torch and the weldment during the welding process, which has limitations in use. Utility Model Content

[0004] In order to overcome the defects of the prior art, an automatic welding torch changing device for a welding robot is provided to solve the problems of low replacement efficiency, potential safety hazards and usage limitations of the existing welding robot welding torch changing device.

[0005] To achieve the above-mentioned purpose, an automatic welding torch changing device for a welding robot is provided, comprising: a driving part, an assembling part and a positioning part, the driving part comprises a guide column, and the outer wall of the guide column is slidably connected to a lifting plate, and the upper end of the guide column is connected to the welding robot execution end, the upper side of the lifting plate is connected to a first cylinder and a motor, and the lower end of the motor is connected to a gear set, the assembling part comprises an insertion rod and a socket, and the insertion rod is inserted into the socket, and the upper end of the insertion rod is rotatably connected to the lifting plate through a rotating shaft, and the outer side of the socket is connected to a welding torch, the positioning part comprises a placing plate, and a positioning groove is opened on one side of the placing plate, and the welding torch is fixed in the positioning groove.

[0006] Furthermore, the output shaft of the motor rotates and passes through the lifting plate, and the output shaft is connected to one of the gears included in the gear set, and the other gear is sleeved and fixed on the outer wall of the rotating shaft, and the two gears are meshed for transmission.

[0007] Furthermore, a groove cavity is formed on the outer wall of the insertion rod, and a spring and a piston block are arranged in the groove cavity, and the outer end of the piston block is connected to a clamping ball through a connecting rod.

[0008] Furthermore, the spring and the piston block are fixedly connected, and the piston block is located inside the groove cavity when the spring is fully released.

[0009] Furthermore, a vertical slot is provided inside the socket, and the inner slot wall of the slot is provided with two reversely symmetrical card slots. The card slot is an arc-shaped slot structure, and the depth from the inner slot wall to the inside of the slot increases from shallow to deep.

[0010] Furthermore, a fixing plate is connected to a side of the placement plate away from the positioning groove, and the positioning grooves opened inside the placement plate correspond to each other in upper and lower positions, and a photoelectric sensor is installed on the inner wall of the placement plate facing the positioning groove.

[0011] Furthermore, a clamping block is provided inside the positioning groove, and a second cylinder is connected to the outside of the clamping block. Meanwhile, the second cylinder is installed on the outside of the placement plate, and the second cylinder is electrically connected to the photoelectric sensor.

[0012] Furthermore, a limiting block is fixed on the outer wall of the insertion rod, and a slip ring is slidably sleeved, and a flat spring is arranged between the slip ring and the limiting block, and the slip ring maintains elastic contact with the upper end of the socket.

[0013] The beneficial effects of the utility model are:

[0014] 1. When replacing the welding torch, first move the welding torch to the positioning part through the execution end of the welding robot, and then move the welding torch to the positioning slot of the placement plate. At this time, it is sensed by the photoelectric sensor, and then the second cylinder is started to push the clamping block to clamp the welding torch, and then the motor is started to drive the plunger to rotate through the gear set and the rotating shaft, and then the card ball is rotated out of the card slot. During the process, the spring is squeezed and the piston block contracts inward, and then the first cylinder is started again, and the plunger is driven to move upward through the lifting plate. During the process, the card ball slides and contacts with the inner wall of the card slot until the plunger is completely pulled out of the socket, and then the execution end is moved to move the plunger to another positioning part (where the welding torch to be installed is placed), and the first cylinder and the motor are started in turn in the same way, so that the plunger is connected to the socket. At this time, the second cylinder releases the clamping block, so that the connected welding torch can be separated from the positioning slot, and the effect of fully automatic replacement of the welding torch can be achieved, which not only improves the replacement efficiency, but also avoids safety hazards;

[0015] 2. When using welding torches of different sizes, the motor drives the gear set to drive the plug rod to rotate. At this time, under the pressure of the limit block, flat spring and slip ring, the plug rod and the socket rotate synchronously (the plug rod will not rotate independently inside the socket when the welding torch is replaced), which can drive the welding torch to fine-tune the angle. At the same time, the first cylinder, lifting plate and guide column can be used to fine-tune the welding distance in the vertical direction, thereby improving the performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the utility model.

[0017] Figure 2 The figure is a schematic diagram of the cross-sectional structure of the connection between the plug rod and the socket according to an embodiment of the utility model.

[0018] Figure 3 For the utility model embodiment Figure 2 Schematic diagram of the structure at point A in the middle.

[0019] Figure 4 It is a schematic diagram of the cross-sectional structure of a socket in a top view according to an embodiment of the utility model.

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the positioning part of an embodiment of the utility model.

[0021] In the figure: 1. welding robot execution end; 2. driving part; 21. first cylinder; 22. motor; 23. rotating shaft; 24. gear set; 25. guide column; 26. lifting plate; 3. assembly part; 31. plug rod; 311. groove cavity; 312. spring; 313. piston block; 314. connecting rod; 315. card ball; 32. socket; 321. card slot; 322. slot; 4. positioning part; 41. placement plate; 42. positioning slot; 43. photoelectric sensor; 44. second cylinder; 45. clamping block; 5. welding torch. DETAILED DESCRIPTION

[0022] Reference Figures 1 to 5 As shown, the utility model provides an automatic welding torch changing device for a welding robot, comprising: a driving part 2, an assembling part 3 and a positioning part 4.

[0023] Specifically, the driving part 2 includes a guide column 25, and the outer wall of the guide column 25 is slidably connected to a lifting plate 26, and the upper end of the guide column 25 is connected to the welding robot execution end 1, the upper side of the lifting plate 26 is connected to the first cylinder 21 and the motor 22, and the lower end of the motor 22 is connected to the gear set 24, the output shaft of the motor 22 rotates through the lifting plate 26, and the output shaft is connected to one of the gears included in the gear set 24, and the other gear is sleeved and fixed on the outer wall of the rotating shaft 23, and the two gears are meshed for transmission, the assembly part 3 includes an insertion rod 31 and a socket 32, and the insertion rod 31 is inserted into the socket 32, and the upper end of the insertion rod 31 is rotatably connected to the lifting plate 26 through the rotating shaft 23, and the outer side of the socket 32 ​​is connected to the welding torch 5, the positioning part 4 includes a placement plate 41, and a positioning groove 42 is opened on one side of the placement plate 41, and the welding torch 5 is fixed in the positioning groove 42.

[0024] In this embodiment, the driving part 2, the assembling part 3 and the positioning part 4 constitute the main structure of the automatic welding torch changing device for the welding robot involved in this application.

[0025] Among them, the positioning part 4 is an independent device structure, and the positioning part 4 can be set on the opposite side of the welding robot operation area, so that the welding torch 5 can be replaced on this side after the welding machine is rotated a right angle, and welding torches 5 of various specifications and sizes are placed in the positioning part 4, which is convenient for fixation during replacement and convenience of replacement at any time. In addition, a stand can be connected to the bottom of the positioning part 4, so that the welding torch 5 can be neatly positioned and placed.

[0026] Specifically, a limit block is fixed on the outer wall of the insertion rod 31 , and a slip ring is slidably sleeved, and a flat spring is provided between the slip ring and the limit block, and the slip ring maintains elastic contact with the upper end of the socket 32 ​​.

[0027] As a preferred embodiment, when the insertion rod 31 is plugged into the socket 32, the slip ring is squeezed onto the socket 32 ​​by the lower insertion rod 31 and the limit block, so that after the locking ball 315 is inserted into the locking groove 321, the connection stability between the insertion rod 31 and the socket 32 ​​can be enhanced during the overall movement of the welding torch 5.

[0028] It should be noted that, when the welding torch 5 is disassembled, although there is a force between the plug rod 31 and the socket 32 ​​, the socket 32 ​​will not follow the movement when the plug rod 31 rotates because the welding torch 5 is fixed in the positioning groove 42 .

[0029] Specifically, a groove cavity 311 is formed on the outer wall of the insertion rod 31, and a spring 312 and a piston block 313 are provided in the groove cavity 311, and the outer end of the piston block 313 is connected to a locking ball 315 through a connecting rod 314, the spring 312 and the piston block 313 are fixedly connected, and the piston block 313 is located inside the groove cavity 311 when the spring 312 is fully released, and a vertical slot 322 is formed inside the socket 32, and two reversely symmetrical locking grooves 321 are formed on the inner groove wall of the slot 322, and the locking groove 321 is an arc-shaped slot structure, and the depth from the inner groove wall of the slot 322 to the inside is from shallow to deep.

[0030] It should be noted that the stroke of the first cylinder 21 when driving the insertion rod 31 to insert into the socket 32 ​​is set in advance, or is limited by installing a magnetic switch on the socket 32, so that the locking ball 315 stops at a horizontal position located in the locking groove 321.

[0031] Secondly, when the locking ball 315 is located at the locking groove 321, the motor 22 drives the insertion rod 31 to rotate, so that the locking ball 315 enters the maximum groove depth position of the locking groove 321 and is limited.

[0032] In addition, a torque sensor is connected to the outer wall of the rotating shaft 23. When the blocking ball 315 is restrained, the torque change of the rotating shaft 23 is detected by the torque, and the operation of the motor 22 can be stopped.

[0033] As a preferred implementation, by setting the depth of the card slot 321 from shallow to deep, the card ball 315 can smoothly escape from the card slot 321 when the motor 22 rotates in the reverse direction.

[0034] Specifically, a fixing plate is connected to the side of the placement plate 41 away from the positioning groove 42, and the upper and lower positions of the positioning groove 42 opened inside the placement plate 41 correspond. At the same time, a photoelectric sensor 43 is installed on the inner wall of the placement plate 41 facing the positioning groove 42. A clamping block 45 is provided inside the positioning groove 42, and a second cylinder 44 is connected to the outside of the clamping block 45. At the same time, the second cylinder 44 is installed on the outside of the placement plate 41, and the second cylinder 44 is electrically connected to the photoelectric sensor 43.

[0035] As a preferred embodiment, by providing the second cylinder 44 and the clamping block 45, it is convenient to stably clamp the welding torch 5 during the replacement process and after the replacement.

[0036] When in use, first move the welding torch to the positioning part through the execution end of the welding robot, and then move the welding torch to the positioning groove of the placement plate, at which time it is sensed by the photoelectric sensor, and then start the second cylinder to push the clamp to clamp the welding torch, and then start the motor to drive the insertion rod to rotate through the gear set and the rotating shaft, and then rotate the card ball out of the card groove. During the process, the spring is squeezed and the piston block contracts inward, and then start the first cylinder again, and drive the insertion rod to move upward through the lifting plate. During the process, the card ball slides and contacts with the inner wall of the card groove until the insertion rod is completely pulled out of the socket, and then move the execution end to move the insertion rod to another positioning part (where the welding torch to be installed is placed), and similarly start the first cylinder and the motor in turn to connect the insertion rod to the socket. At this time, the second cylinder releases the clamp so that the connected welding torch can be separated from the positioning groove.

[0037] The automatic welding torch changing device for a welding robot of the utility model can effectively solve the problems of low replacement efficiency, potential safety hazards and usage limitations of the existing welding robot welding torch changing devices. It realizes the process of fully automated replacement of the welding torch of the welding robot on the basis of the existing technology of the automatic welding torch changing device for a welding robot, which not only improves the replacement efficiency and safety, but also increases the performance of distance and angle fine-tuning.

Claims

1. An automatic torch changing device for a welding robot, comprising: The driving part (2), the assembling part (3) and the positioning part (4) are characterized in that: the driving part (2) includes a guide column (25), and the outer wall of the guide column (25) is slidably connected to a lifting plate (26), and the upper end of the guide column (25) is connected to the welding robot execution end (1), the upper side of the lifting plate (26) is connected to a first cylinder (21) and a motor (22), and the lower end of the motor (22) is connected to a gear set (24), the assembling part (3) includes an insertion rod (31) and a socket (32), and the insertion rod (31) is inserted into the socket (32), and the upper end of the insertion rod (31) is rotatably connected to the lifting plate (26) through a rotating shaft (23), and the outer side of the socket (32) is connected to a welding torch (5), and the positioning part (4) includes a placement plate (41), and a positioning groove (42) is opened on one side of the placement plate (41), and the welding torch (5) is fixed in the positioning groove (42).

2. The automatic torch changing device for a welding robot according to claim 1, characterized in that: The output shaft of the motor (22) rotates and passes through the lifting plate (26), and the output shaft is connected to one of the gears included in the gear set (24), and the other gear is sleeved and fixed on the outer wall of the rotating shaft (23), and the two gears are meshed for transmission.

3. The automatic torch changing device for a welding robot according to claim 1, characterized in that: The outer wall of the insertion rod (31) is provided with a groove cavity (311), and a spring (312) and a piston block (313) are arranged in the groove cavity (311), and the outer end of the piston block (313) is connected to a locking ball (315) via a connecting rod (314).

4. The automatic torch changing device for a welding robot according to claim 3, characterized in that: The spring (312) and the piston block (313) are fixedly connected, and the piston block (313) is located inside the groove cavity (311) when the spring (312) is fully released.

5. The automatic torch changing device for a welding robot according to claim 1, characterized in that: The socket (32) is provided with a vertical slot (322) inside, and the inner slot wall of the slot (322) is provided with two reversely symmetrical card slots (321), and the card slots (321) are arc-shaped slot structures, and the depth of the slots (321) from the inner slot wall of the slot (322) is gradually increased from shallow to deep.

6. The automatic torch changing device for a welding robot according to claim 1, characterized in that: A fixing plate is connected to the side of the placement plate (41) away from the positioning groove (42), and the positioning groove (42) opened inside the placement plate (41) corresponds to each other in upper and lower positions. A photoelectric sensor (43) is installed on the inner wall of the placement plate (41) facing the positioning groove (42).

7. The automatic torch changing device for a welding robot according to claim 1, characterized in that: A clamping block (45) is provided inside the positioning groove (42), and a second cylinder (44) is connected to the outside of the clamping block (45). The second cylinder (44) is installed on the outside of the placement plate (41), and the second cylinder (44) is electrically connected to the photoelectric sensor (43).

8. The automatic torch changing device for a welding robot according to claim 1, characterized in that: A limit block is fixed on the outer wall of the insertion rod (31), and a slip ring is slidably sleeved, and a flat spring is arranged between the slip ring and the limit block, while the slip ring maintains elastic contact with the upper end of the socket (32).

Images