Welding robot

Abstract

A welding robot comprises a stand column, a moving device is fixedly installed at the upper end of the stand column, the lower end of the moving device is connected with a mechanical arm, the tail end of the mechanical arm is connected with a welding gun, and the mechanical arm is driven by the moving device to move in a three-dimensional space; the mechanical arm comprises a plurality of rotatable joints and a plurality of machine arms, and the welding gun can be driven by the multiple joints and the multiple machine arms to move in a three-dimensional space; the side face of the stand column is further connected with a positioner, and the positioner can rotate by 360 degrees on the horizontal plane and the vertical plane. The welding fixture has the advantages of convenience in use, simple structure, accuracy in positioning and welding, high universality and suitability for welding tools with various structures, workpieces and a welding gun can be welded at the optimal working position and angle, the welding precision is guaranteed, the working efficiency is improved, meanwhile, workpieces with various different structures can be welded, and the welding fixture is high in practicability. And one assembly line can adapt to different workpieces, so that the universality of the welding assembly line is ensured, the labor required by processing is reduced, and the production cost is reduced.

Description

Technical Field

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

[0002] Welding, also known as fusion, is a manufacturing process and technology that uses heating, high temperature or high pressure to join metals or other thermoplastic materials such as plastics. In the prior art, welding robots are a common processing equipment, usually composed of a robotic arm and a welding gun. In actual work, they basically use additional assembly tools, or pre-connect in advance using the welding point splicing method, and then use a suitable welding robot for welding. This process includes multiple steps, which prolongs the process time and does not improve the processing efficiency. At the same time, there is also a problem of welding angle limitation. The pre-set process workstation can only produce a certain type of workpiece. When other workpieces need to be produced, the workstation needs to be adjusted in advance, which wastes time and manpower. Summary of the invention

[0003] In order to solve the above problems and overcome the shortcomings of the prior art, the utility model provides a welding robot.

[0004] A welding robot comprises a column, a moving device is fixedly mounted on the upper end of the column, a mechanical arm is connected to the lower end of the moving device, a welding gun is connected to the end of the mechanical arm, and the mechanical arm moves in a three-dimensional space driven by the moving device;

[0005] The robot arm includes a plurality of rotatable joints and a plurality of machine arms, and the welding gun can move in a three-dimensional space driven by the plurality of joints and the plurality of machine arms;

[0006] The side of the column is also connected to a positioner, which can rotate 360 ​​degrees in the horizontal and vertical planes.

[0007] Furthermore, the moving device includes a first guide rail, which is fixedly mounted on the upper end of the column, and a gantry arm is connected to the first guide rail in a transversely movable manner.

[0008] Furthermore, the gantry arm includes a transverse arm and a longitudinal arm, the transverse arm is connected to the first guide rail in a movable manner, a second guide rail is arranged on the side of the transverse arm, and the longitudinal arm includes a movable arm and a movable seat, the movable seat is connected to the second guide rail in a transversely movable manner, and a third guide rail is arranged on the movable arm, and the third guide rail and the movable seat are connected in a vertically movable manner, thereby realizing movement of the X-axis, Y-axis and Z-axis.

[0009] Furthermore, the mechanical arm includes a mounting seat, and the upper end of the mounting seat is fixedly connected to the lower end of the longitudinal arm.

[0010] Furthermore, a first joint is provided at the lower end of the mounting seat, and the first joint can rotate in the Z-axis direction. The lower end of the first joint is connected to a second joint, and the second joint can rotate in the X-axis direction. One side of the second joint is connected to the first arm, and the other end of the first arm is connected to a third joint, and the third joint can rotate in the X-axis direction. One side of the third joint is connected to the second arm, and the other end of the second arm is connected to a fourth joint, and the fourth joint can rotate in the Y-axis direction. The other end of the second joint is connected to the welding gun.

[0011] Furthermore, the positioner includes a base, a vertical turntable is arranged on the upper part of the base, an L-shaped seat is connected to the other side of the vertical turntable, and a horizontal turntable is arranged on the L-shaped seat.

[0012] Furthermore, a fixing device for fixing the workpiece is provided on the horizontal turntable.

[0013] Furthermore, the fixing device includes a limit pin, a fixing column and a fixing hole. The limit pin is fixedly installed at a non-center point on the upper surface of the horizontal turntable. The horizontal turntable is provided with a plurality of fixing holes. The fixing holes are connected with fixing columns in a meshing manner, and the top of the fixing columns is provided with a protruding edge.

[0014] Furthermore, a vertical drive motor is arranged inside the base, and an output shaft of the vertical drive motor is connected to the vertical turntable. A horizontal drive motor is arranged inside the L-shaped seat, and an output shaft of the horizontal drive motor is connected to the horizontal turntable.

[0015] Furthermore, two upright posts are provided, and the two upright posts are respectively located at two ends of the moving device; a gun cleaning station and a wire cutting device are fixedly provided on the sides of the upright posts.

[0016] The beneficial effects of the utility model are:

[0017] The welding robot provided by the utility model has the advantages of being easy to use, simple in structure, accurate in positioning, precise in welding, strong in versatility, and suitable for welding various structural toolings. The workpiece is fixed by a fixing column and a fixing hole, and the position and angle of the workpiece are determined by a limit pin, thereby ensuring the welding accuracy. The mechanical arm can make fine position adjustments through the first joint, the second joint, the third joint, and the fourth joint, thereby ensuring the welding accuracy. The positioner can realize the displacement of two axes through the vertical turntable and the horizontal turntable, which is convenient for adjusting the position of the workpiece. In cooperation with the mechanical arm, the workpiece and the welding gun can be welded at the best working position and angle, thereby ensuring the welding accuracy and improving the work efficiency. At the same time, workpieces of various structures can be welded, and one workstation can adapt to different workpieces, thereby ensuring the versatility of the welding workstation, reducing the labor required for processing, and reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Attached Figure 1It is a main structural schematic diagram of the utility model;

[0019] Attached Figure 2 It is a side view structural schematic diagram of the utility model;

[0020] Attached Figure 3 It is a schematic diagram of the top view structure of the utility model;

[0021] Attached Figure 4 It is an enlarged schematic diagram of the local structure of the horizontal turntable of the utility model;

[0022] In the accompanying drawings: 1. moving device, 2. column, 3. positioner, 4. wire cutting device, 5. mechanical arm, 6. gantry arm, 7. gun cleaning station, 21. diagonal support rod, 31. horizontal turntable, 32. vertical turntable, 33. base, 34. L-shaped seat, 51. first joint, 52. second joint, 53. first machine arm, 54. third joint, 55. second machine arm, 56. fourth joint, 57. welding gun, 311. fixing hole, 312. limit pin. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present invention more clear, the following will be combined with the appendix of the present invention. Figure 1 ~Attached Figure 4 , the utility model is described in more detail.

[0024] The welding robot provided by the utility model comprises a column, a moving device is fixedly installed on the upper end of the column, a mechanical arm is connected to the lower end of the moving device, a welding gun is connected to the end of the mechanical arm, and the mechanical arm moves in a three-dimensional space driven by the moving device; the mechanical arm comprises a plurality of rotatable joints and a plurality of machine arms, and the welding gun can move in the three-dimensional space driven by the plurality of joints and the plurality of machine arms; a positioner is also connected to the side of the column, and the positioner can rotate 360 ​​degrees in the horizontal plane and the vertical plane; the moving device comprises a first guide rail, the first guide rail is fixedly installed on the upper end of the column, and the first guide rail is provided with a traverseable guide rail. The gantry arm is connected to the first guide rail in a movable manner; the gantry arm includes a horizontal arm and a longitudinal arm, the horizontal arm is connected to the first guide rail in a movable manner, a second guide rail is arranged on the side of the horizontal arm, and the longitudinal arm includes a moving arm and a moving seat, the moving seat is connected to the second guide rail in a transversely movable manner, and a third guide rail is arranged on the moving arm, and the third guide rail and the moving seat are connected in a vertically movable manner, so as to realize the movement of the X-axis, Y-axis and Z-axis; the mechanical arm includes a mounting seat, the upper end of the mounting seat is fixedly connected to the lower end of the longitudinal arm; a first joint is arranged at the lower end of the mounting seat, and the first joint can rotate in the Z-axis direction, and the first joint can rotate in the Z-axis direction. The lower end is connected with a second joint, which can rotate in the X-axis direction; one side of the second joint is connected with a first arm; the other end of the first arm is connected with a third joint, which can rotate in the X-axis direction; one side of the third joint is connected with the second arm; the other end of the second arm is connected with a fourth joint, which can rotate in the Y-axis direction; the other end of the second joint is connected with a welding gun; the positioner comprises a base, a vertical turntable is arranged on the upper part of the base, an L-shaped seat is connected to the other side of the vertical turntable, and a horizontal turntable is arranged on the L-shaped seat; a fixing plate for fixing the workpiece is arranged on the horizontal turntable Device; the fixing device includes a limit pin, a fixing column and a fixing hole, the limit pin is fixedly installed at a non-center point on the upper surface of the horizontal turntable, the horizontal turntable is provided with a plurality of fixing holes, the fixing holes are connected with the fixing columns in a meshing manner, and the tops of the fixing columns are provided with protruding edges; a facade drive motor is arranged inside the base, and the output shaft of the facade drive motor is connected to the facade turntable, a horizontal drive motor is arranged inside the L-shaped seat, and the output shaft of the horizontal drive motor is connected to the horizontal turntable, two columns are arranged, and the two columns are respectively located at two ends of the moving device; a gun cleaning station and a wire cutting device are fixedly arranged on the sides of the columns.

[0025] One embodiment of the present invention is as follows:

[0026] The welding robot includes a column 2, two columns 2 are provided, and the two columns 2 are respectively located at the two ends of the moving device 1; a gun cleaning station 7 and a wire cutting device 4 are fixedly provided on the side of the column 2. When the welding gun 57 is used to a certain extent, it is transferred to the gun cleaning station 7 for cleaning, and then transferred to the wire cutting device 4 to cut the welding wire with accumulated welding slag while carrying out the next step of welding work.

[0027] A moving device 1 is fixedly installed on the upper ends of the two columns 2. The moving device 1 includes a base. Both ends of the base are fixedly connected to the columns 2 to form a gate-shaped gantry structure. A first guide rail is arranged on the upper part of the base. A gantry arm 6 is connected to the first guide rail in a manner that can be laterally moved. The gantry arm 6 includes a cross arm and a longitudinal arm. The cross arm is movably connected to the first guide rail, and a driving motor is also provided. The cross arm is driven by the driving motor to move on the first guide rail. A second guide rail is arranged on the side of the cross arm. The longitudinal arm includes a moving arm and a moving seat. The moving seat is connected to the second guide rail in a manner that can be laterally moved. A driving motor is also provided. The moving seat is driven to move on the second guide rail by the driving motor. A third guide rail is arranged on the moving arm. The third guide rail and the moving seat are connected in a manner that can be vertically moved. A driving motor is also provided. The moving arm is driven by the driving motor to move relative to the moving seat, thereby realizing movement of the X-axis, the Y-axis and the Z-axis.

[0028] The lower end of the mobile device 1 is connected to a mechanical arm 5, the end of the mechanical arm 5 is connected to a welding gun 57, and the mechanical arm 5 moves in a three-dimensional space driven by the mobile device 1;

[0029] The robot arm 5 includes a plurality of rotatable joints and a plurality of machine arms, and the welding gun 57 can move in a three-dimensional space driven by the plurality of joints and the plurality of machine arms; the robot arm 5 includes a mounting seat, the upper end of the mounting seat is fixedly connected to the lower end of the movable arm, and the lower end of the mounting seat is provided with a first joint 51, the first joint 51 can rotate in the Z-axis direction, the lower end of the first joint 51 is connected to the second joint 52, the second joint 52 can rotate in the X-axis direction, one side of the second joint 52 is connected to the first machine arm 53, the other end of the first machine arm 53 is connected to the third joint 54, the third joint 54 can rotate in the X-axis direction, one side of the third joint 54 is connected to the second machine arm 55, the other end of the second machine arm 55 is connected to the fourth joint 56, the fourth joint 56 can rotate in the Y-axis direction, and the other end of the second joint 52 is connected to the welding gun 57. Through the first joint 51, the second joint 52, the third joint 54 and the fourth joint 56, the robot arm 5 can perform fine position adjustment, thereby ensuring welding accuracy.

[0030] The side of the column 2 is also connected to a positioner 3, which can rotate 360 ​​degrees on the horizontal and vertical planes.

[0031] The positioner 3 includes a base 33, a vertical turntable 32 is arranged on the upper part of the base 33, an L-shaped seat 34 is connected to the other side of the vertical turntable 32, and a horizontal turntable 31 is arranged on the L-shaped seat 34. A vertical drive motor is arranged inside the base 33, and the output shaft of the vertical drive motor is connected to the vertical turntable 32. A horizontal drive motor is arranged inside the L-shaped seat 34, and the output shaft of the horizontal drive motor is connected to the horizontal turntable 31. Through the vertical turntable 32 and the horizontal turntable 31, the positioner 3 can realize the displacement of two axes, which is convenient for adjusting the position of the workpiece. In cooperation with the mechanical arm 5, the workpiece and the welding gun 57 can be welded at the best working position and angle, which ensures the welding accuracy and improves the work efficiency. At the same time, it can weld workpieces of various structures, and one workstation can adapt to different workpieces, which ensures the versatility of the welding workstation.

[0032] A fixing device for fixing the workpiece is provided on the horizontal turntable 31, and the fixing device includes a limit pin 312, a fixing column and a fixing hole 311. The limit pin 312 is fixedly installed at a non-center point on the upper surface of the horizontal turntable 31. A plurality of fixing holes 311 are provided on the horizontal turntable 31. The fixing holes 311 are meshedly connected with fixing columns, and the top of the fixing columns is provided with a protruding edge.

[0033] When in use, the workpiece is placed on the horizontal turntable 31, the position and angle of the workpiece are limited by the limit pin 312, and then the fixing column is passed through the preset notch on the workpiece to engage and connect the fixing column with the fixing hole 311. The protruding edge can clamp the workpiece, thereby fixing the workpiece and facilitating welding.

[0034] A diagonal brace 21 is also provided on one side of the column. The diagonal brace 21 and the column 2 form a triangular structure, which improves the stability and load-bearing capacity of the structure and ensures the safety of the machine.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A welding robot, characterized in that: It comprises a column, a moving device is fixedly mounted on the upper end of the column, a mechanical arm is connected to the lower end of the moving device, a welding gun is connected to the end of the mechanical arm, and the mechanical arm moves in a three-dimensional space driven by the moving device; The mechanical arm includes a plurality of rotatable joints and a plurality of machine arms, and the welding gun can move in a three-dimensional space driven by the plurality of joints and the plurality of machine arms; The side of the column is also connected to a positioner, which can rotate 360 ​​degrees on the horizontal and vertical planes.

2. The welding robot according to claim 1, characterized in that: The moving device comprises a first guide rail, which is fixedly mounted on the upper end of the column, and a gantry arm is connected to the first guide rail in a transversely movable manner.

3. The welding robot according to claim 2, characterized in that: The gantry arm includes a transverse arm and a longitudinal arm, the transverse arm is connected to the first guide rail in a movable manner, a second guide rail is arranged on the side of the transverse arm, the longitudinal arm includes a movable arm and a movable seat, the movable seat is connected to the second guide rail in a transversely movable manner, a third guide rail is arranged on the movable arm, and the third guide rail and the movable seat are connected in a vertically movable manner, thereby realizing movement of the X-axis, Y-axis and Z-axis.

4. The welding robot according to claim 3, characterized in that: The mechanical arm comprises a mounting seat, the upper end of which is fixedly connected to the lower end of the longitudinal arm.

5. The welding robot according to claim 4, characterized in that: A first joint is provided at the lower end of the mounting seat, and the first joint can rotate in the Z-axis direction. The lower end of the first joint is connected to a second joint, and the second joint can rotate in the X-axis direction. One side of the second joint is connected to a first arm, and the other end of the first arm is connected to a third joint, and the third joint can rotate in the X-axis direction. One side of the third joint is connected to a second arm, and the other end of the second arm is connected to a fourth joint, and the fourth joint can rotate in the Y-axis direction. The other end of the second joint is connected to a welding gun.

6. The welding robot according to claim 1, characterized in that: The positioner comprises a base, a vertical turntable is arranged on the upper part of the base, an L-shaped seat is connected to the other side of the vertical turntable, and a horizontal turntable is arranged on the L-shaped seat.

7. The welding robot according to claim 6, characterized in that: The horizontal turntable is provided with a fixing device for fixing the workpiece.

8. The welding robot according to claim 7, characterized in that: The fixing device includes a limit pin, a fixing column and a fixing hole. The limit pin is fixedly installed at a non-center point on the upper surface of the horizontal turntable. The horizontal turntable is provided with a plurality of fixing holes. The fixing holes are meshingly connected with fixing columns, and the top of the fixing column is provided with a protruding edge.

9. The welding robot according to claim 6, characterized in that: A vertical drive motor is arranged inside the base, and an output shaft of the vertical drive motor is connected to the vertical turntable. A horizontal drive motor is arranged inside the L-shaped seat, and an output shaft of the horizontal drive motor is connected to the horizontal turntable.

10. The welding robot according to claim 1, characterized in that: There are two upright posts, and the two upright posts are respectively located at two ends of the moving device; A gun cleaning station and a wire cutting device are fixedly arranged on the side of the column.

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