Combined industrial welding robot

Abstract

The utility model relates to the field of welding robots, and discloses a combined industrial welding robot which comprises a control part, a welding part and a control part, the welding gun is mounted on the control part and is used for welding a workpiece; the assembling sleeve is assembled on the welding gun; the detection part is mounted on the welding gun and used for controlling the distance between the welding gun and the welding workpiece; the adjusting part is arranged to move on the assembling sleeve and is used for driving the detection part to move; and the driving unit is mounted on the welding gun and is used for driving the adjusting part to move. According to the utility model, the assembling sleeve can be flexibly sleeved outside the welding gun, so that the assembling sleeve can be conveniently combined with different types of welding guns for use, the distance between the detection part and the gun head of the welding gun can be flexibly adjusted according to actual requirements, and the accurate adjustment of the welding distance can be realized; the error path of the welding gun can be rapidly corrected, and errors and mistakes in the welding process are effectively avoided.

Description

Technical Field

[0001] The utility model relates to the field of welding robots, in particular to a combined industrialized welding robot. Background Art

[0002] Industrial welding robots are multi-purpose, reprogrammable, automatically controlled manipulators used primarily for welding (including cutting and spraying). They have three or more programmable axes that can accurately perform welding tasks and sense the position and shape of the workpiece through sensors. Commonly used sensors include visual sensors, force sensors, and position sensors, which help robots identify the position and shape of welded joints, sense changes in force and pressure during welding, and determine the position and posture of welding guns.

[0003] Current industrial welding robots are not suitable for using position sensors for position sensing when welding all workpieces. When welding non-metallic workpieces or workpieces with large changes in size or shape, using only position sensors cannot accurately determine the position of the welding head from the welded workpiece, nor can it automatically adjust the welding distance at any time. During the welding process, it is also impossible to monitor the welding position on the workpiece, and when the welding position does not match the preset position, it cannot be adjusted in time. Utility Model Content

[0004] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0005] A combined industrial welding robot, comprising:

[0006] Control Department;

[0007] A welding gun, installed in the control part, is used for welding the workpiece;

[0008] Assembly kit, assembled on the welding gun;

[0009] A detection unit, mounted on the welding gun, for controlling the distance between the welding gun and the welding workpiece;

[0010] An adjusting part, which is arranged to move on the assembly set and is used to drive the detecting part to move;

[0011] The driving unit is installed on the welding gun and is used to drive the adjusting part to move.

[0012] The detection unit comprises:

[0013] A rotating seat, mounted at the bottom of the detection part;

[0014] A tracking unit, mounted at the bottom of the rotating seat, for tracking the weld of the workpiece;

[0015] The second detection unit is installed on the top of the detection part and is used to monitor the rotation angle of the rotating seat when the rotating seat rotates.

[0016] A rotation groove is provided at the bottom of the detection part, and the rotation seat is connected in the rotation groove.

[0017] The assembly kit includes:

[0018] A first detection unit, mounted on the outside of the assembly sleeve, for measuring the distance of the adjustment portion;

[0019] The control unit is installed on the top of the assembly set and is used to control the opening and closing of the drive unit;

[0020] The screw rod is installed on the driving unit and rotates along with the power shaft of the driving unit. The screw rod is threadedly connected with the adjusting part and is used to drive the adjusting part to move.

[0021] An assembly hole is provided at the center of the assembly sleeve, and the assembly hole runs through one end of the assembly sleeve to the other end, and the welding gun is arranged in the assembly hole.

[0022] Both ends of the assembly hole are equipped with assembly rings, and the two assembly rings are tightly fitted to the outside of the welding gun.

[0023] The outer surface of the assembly sleeve is provided with an outer peripheral groove, which extends along the circumferential direction of the assembly sleeve to form a closed annular structure. The adjustment part is arranged in the outer peripheral groove.

[0024] The adjusting portion includes a plurality of connecting arms, which are arranged between the detecting portion and the adjusting portion and are used to drive the detecting portion to move when the adjusting portion moves.

[0025] The control part is provided with a first joint, the first joint is connected with an upper arm, one end of the upper arm is connected with a second joint, the second joint is connected with a forearm tube, one end of the forearm tube is connected with a wrist, and one end of the wrist is connected with a welding gun.

[0026] The utility model provides a combined industrialized welding robot. Compared with the prior art, it has the following beneficial effects:

[0027] 1. The assembly kit can be flexibly mounted on the outside of the welding gun, which enables the convenient combination of the assembly kit and different types of welding guns, which not only enhances the versatility and flexibility of the equipment, but also reduces the cost of use.

[0028] 2. The detection unit adds stability and accuracy to the welding process. It can accurately maintain a constant distance between the welding gun and the workpiece, effectively preventing welding quality problems caused by distance changes and reducing the difficulty of operation.

[0029] 3. The distance between the detection unit and the welding gun head can be flexibly adjusted according to actual needs. By simply operating the adjustment unit, the welding distance can be accurately adjusted to meet different workpieces and welding requirements.

[0030] 4. The tracking unit can accurately monitor the rotation state of the rotating seat. Once an abnormal change in the rotation state is found, the wrong path of the welding gun can be corrected quickly, effectively avoiding errors and mistakes in the welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the three-dimensional structure proposed by the utility model.

[0032] Figure 2 This is a schematic diagram of the main structure proposed by the utility model.

[0033] Figure 3 This is a structural schematic diagram of the assembly unit, the detection unit and the adjustment unit proposed in the utility model.

[0034] Figure 4 This is a structural schematic diagram of the assembly part, the detection part and the adjustment part proposed by the utility model from another perspective.

[0035] Figure 5 This is a structural schematic diagram of the detection unit proposed in the utility model.

[0036] The reference numerals in the figure are:

[0037] 10. Control unit; 11. First joint;

[0038] 20. Upper arm; 21. Second joint;

[0039] 30. Forearm tube;

[0040] 40. Wrist;

[0041] 50. Welding gun;

[0042] 60. Assembly set; 61. Peripheral groove; 62. Assembly ring; 63. First detection unit; 64. Driving unit; 65. Screw rod; 66. Control unit;

[0043] 70. Detection unit; 71. Rotation slot; 72. Rotation seat; 73. Tracking unit; 74. Second detection unit;

[0044] 80. Adjustment unit; 81. Connecting arm. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model is described clearly and completely. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0046] Reference Figure 1-Figure 5 , a combined industrial welding robot, comprising:

[0047] The control part 10 is provided with a first joint 11, the first joint 11 is connected to an upper arm 20, one end of the upper arm 20 is connected to a second joint 21, the second joint 21 is connected to a forearm tube 30, one end of the forearm tube 30 is connected to a wrist 40, one end of the wrist 40 is connected to a welding gun 50; the welding gun 50 is installed on the control part 10 and is used for welding a workpiece.

[0048] The first joint 11 and the second joint 21 are driven by motors, and the flexible movement of the joints is achieved by controlling the rotation of the motors. They can perform translation, rotation and rotation and other actions in three-dimensional space to meet the needs of welding operations. The wrist 40 is the main part of the welding robot to perform welding operations. It connects the joints and the welding gun 50. The movement of the wrist 40 is achieved by driving the joints. By precisely controlling the movement of the joints, the welding gun 50 performs welding operations through the movement of the wrist 40.

[0049] Reference Figure 2 , Figure 3 and Figure 4 An assembly hole is provided at the center position of the assembly sleeve 60, and the assembly hole runs through one end of the assembly sleeve 60 to the other end. The welding gun 50 is arranged in the assembly hole. The assembly sleeve 60 includes: a first detection unit 63 is installed on the outside of the assembly sleeve 60, and is used to measure the distance of the adjustment part 80; a control unit 66 is installed on the top of the assembly sleeve 60, and is used to control the opening and closing of the driving unit 64.

[0050] The assembly sleeve 60 is mounted on the outside of the welding gun 50 through an assembly hole sleeve, which facilitates the combination of the assembly sleeve 60 with different welding guns 50. After being installed on the assembly sleeve 60, the distance between the welding gun 50 tip and the detection part 70 plus the thickness of the detection part 70 itself is the distance maintained by welding.

[0051] Reference Figure 2 , Figure 3 , Figure 4 and Figure 5The detection part 70 is installed on the welding gun 50 and is used to control the distance between the welding gun 50 and the welding workpiece. The detection part 70 includes: a rotating seat 72, which is installed at the bottom of the detection part 70; a rotating groove 71 is opened at the bottom of the detection part 70, and the rotating seat 72 is connected in the rotating groove 71 for tracking the weld seam of the workpiece; a second detection unit 74 is installed on the top of the detection part 70, and is used to monitor the rotation angle of the rotating seat 72 when the rotating seat 72 rotates.

[0052] The welding gun 50 moves along the weld of the workpiece during welding, and drives the tracking unit 73 at the bottom of the detection unit 70 to move in the weld. If the weld of the workpiece does not conform to the preset path, the tracking unit 73 rotates following the change of the weld, and the tracking unit 73 drives the rotating seat 72 to rotate. The second detection unit 74 monitors the rotation state of the rotating seat 72 and sends the data to the control unit 66. When the rotation state is detected to change, the control unit 66 controls the welding gun 50 to stop working and correct the welding path in time.

[0053] The second detection unit 74 uses an angle sensor and may also use a displacement sensor, and the tracking unit 73 uses a stainless steel sheet.

[0054] Reference Figure 3 and Figure 4 The mounting sleeve 60 has an outer peripheral groove 61 formed around its outer surface, and the outer peripheral groove 61 extends along the circumferential direction of the mounting sleeve 60 to form a closed ring structure. The adjusting portion 80 is arranged in the outer peripheral groove 61. The adjusting portion 80 is arranged to move on the mounting sleeve 60 to drive the detecting portion 70 to move. The driving unit 64 is installed on the welding gun 50 to drive the adjusting portion 80 to move. The screw rod 65 is installed on the driving unit 64 and rotates with the power shaft of the driving unit 64. The screw rod 65 is threadedly connected to the adjusting portion 80 to drive the adjusting portion 80 to move.

[0055] The control unit 66 controls the driving unit 64 to turn on, and the driving unit 64 drives the screw rod 65 to rotate. The screw rod 65 can drive the adjusting part 80 to move up and down in the peripheral groove 61. The movement of the adjusting part 80 drives the detecting part 70 to move, thereby adjusting the distance between the detecting part 70 and the gun head of the welding gun 50, that is, adjusting the welding distance. The distance data can be obtained through the first detecting unit 63 and transmitted to the control unit 66. The control unit 66 is closed after reaching the preset distance.

[0056] The control unit 66 adopts a PLC controller, and may also adopt other tools that can control electrical equipment. The first detection unit 63 adopts a position sensor, and may also adopt a displacement sensor or other equipment that can detect the movement of an object.

[0057] Reference Figure 3 and Figure 4The adjusting portion 80 includes a plurality of connecting arms 81 , which are disposed between the detecting portion 70 and the adjusting portion 80 , and are used to drive the detecting portion 70 to move when the adjusting portion 80 moves.

[0058] Reference Figure 3 and Figure 4 Both ends of the assembly hole are equipped with assembly rings 62. The two assembly rings 62 are tightly fitted to the outside of the welding gun 50. The assembly rings 62 are made of rubber strips and have good anti-slip properties.

[0059] During use, the first joint 11 and the second joint 21 realize flexible movement of the joints by controlling the rotation of the motor, and can perform translation, rotation and rotation in three-dimensional space to meet the needs of welding operations. The welding gun 50 performs welding operations through the movement of the wrist 40. The assembly sleeve 60 is arranged on the outside of the welding gun 50 through the assembly hole sleeve, which is convenient for combining the assembly sleeve 60 with different welding guns 50. After being installed on the assembly sleeve 60, the distance between the welding gun 50 head and the detection part 70 plus the thickness of the detection part 70 itself is the welding maintenance distance. The control unit 66 controls the driving unit 64 to start, and the driving unit 64 drives the screw rod 65 to rotate. The screw rod 65 can drive the adjustment part 80 to move up and down in the peripheral groove 61. The movement of 80 drives the detection part 70 to move, thereby adjusting the distance between the detection part 70 and the gun head of the welding gun 50, that is, adjusting the welding distance. The distance data can be obtained through the first detection unit 63 and transmitted to the control unit 66. After reaching the preset distance, the control unit 66 is turned off. The welding gun 50 moves along the weld of the workpiece during welding. The welding gun 50 drives the tracking unit 73 at the bottom of the detection part 70 to move in the weld. If the weld of the workpiece does not conform to the preset path, the tracking unit 73 rotates following the change of the weld. The tracking unit 73 drives the rotating seat 72 to rotate, and the second detection unit 74 monitors the rotation state of the rotating seat 72. When the rotation state is detected to change, the welding gun 50 stops working and corrects the welding path in time.

[0060] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0061] By installing the assembly kit 60 outside the welding gun 50, it is convenient to combine the assembly kit 60 with different welding guns 50 for use, and the detection part 70 can be used to stabilize the distance between the welding gun 50 and the workpiece during welding.

[0062] The detection part 70 is driven to move by the movement of the adjusting part 80, so as to adjust the distance between the detection part 70 and the tip of the welding gun 50, and thus the welding distance can be adjusted.

[0063] The tracking unit 73 monitors the rotation state of the rotating base 72 , and when a change in the rotation state is detected, the wrong path of the welding gun 50 can be corrected.

[0064] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also 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 a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0065] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A combined industrial welding robot, characterized in that: include: Control unit (10); A welding gun (50), mounted on the control unit (10), used for welding a workpiece; An assembly kit (60) assembled on the welding gun (50); A detection unit (70) is mounted on the welding gun (50) and is used to control the distance between the welding gun (50) and a welding workpiece; An adjusting portion (80) is arranged to move on the assembly sleeve (60) and is used to drive the detecting portion (70) to move; A driving unit (64) is mounted on the welding gun (50) and is used to drive the adjusting part (80) to move.

2. A combined industrial welding robot according to claim 1, characterized in that: The detection unit (70) comprises: A rotating seat (72) mounted on the bottom of the detection portion (70); A tracking unit (73) mounted on the bottom of the rotating base (72); The second detection unit (74) is installed on the top of the detection part (70).

3. A combined industrial welding robot according to claim 2, characterized in that: A rotation groove (71) is provided at the bottom of the detection portion (70), and the rotation seat (72) is connected in the rotation groove (71).

4. The combined industrial welding robot according to claim 1, characterized in that: The assembly kit (60) comprises: A first detection unit (63) mounted on the outside of the assembly sleeve (60); A control unit (66) is mounted on the top of the assembly kit (60) and is used to control the opening and closing of the drive unit (64); The screw rod (65) is mounted on the driving unit (64) and rotates along with the power shaft of the driving unit (64); the screw rod (65) is threadedly connected to the adjusting portion (80) and is used to drive the adjusting portion (80) to move.

5. The combined industrial welding robot according to claim 1, characterized in that: An assembly hole is provided at the center of the assembly sleeve (60), the assembly hole extending from one end of the assembly sleeve (60) to the other end, and the welding gun (50) is arranged in the assembly hole.

6. The combined industrial welding robot according to claim 5, characterized in that: Assembly rings (62) are installed at both ends of the assembly hole, and the two assembly rings (62) are tightly fitted to the outside of the welding gun (50).

7. The combined industrial welding robot according to claim 1, characterized in that: The assembly sleeve (60) is provided with an outer peripheral groove (61) around its outer surface, and the outer peripheral groove (61) extends along the circumferential direction of the assembly sleeve (60) to form a closed annular structure, and the adjustment portion (80) is arranged in the outer peripheral groove (61).

8. The combined industrial welding robot according to claim 1, characterized in that: The adjusting portion (80) comprises a plurality of connecting arms (81) which are arranged between the detecting portion (70) and the adjusting portion (80) and are used to drive the detecting portion (70) to move when the adjusting portion (80) moves.

9. The combined industrial welding robot according to claim 1, characterized in that: The control unit (10) is provided with a first joint (11), the first joint (11) is connected to an upper arm (20), one end of the upper arm (20) is connected to a second joint (21), the second joint (21) is connected to a forearm tube (30), one end of the forearm tube (30) is connected to a wrist (40), and one end of the wrist (40) is connected to a welding gun (50).

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