Welding robot

Abstract

The utility model discloses a welding robot, relates to part handling technical field, the welding robot includes base frame, welding mechanism, handling mechanism, wherein the welding mechanism is installed on base frame, handling mechanism includes connecting support and handling device, connecting support is installed on welding mechanism or base frame, handling device includes gripping subassembly, the gripping subassembly is connected with the connecting support. The grabbing assembly is only powered by a cable, other accessories do not need to be configured, the overall structure of the welding robot integrating the carrying function is relatively simple, and the situation that the fault rate of the welding robot is increased due to a complicated structure is avoided.

Description

Technical Field

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

[0002] In the automated welding process of automobile production, welding robots and handling robots are responsible for the work. The welding robot is responsible for spot welding and assembling sheet metal parts, and the handling robot is responsible for taking the finished welded products out of the fixture and transporting them to the next automated process. When processing some special-shaped parts (tubular and non-planar shapes), a special handling robot is generally required to install them on the fixture before welding, which will increase the cost of a handling robot. Therefore, some companies install special-shaped parts handling devices on welding robots to save investment costs. However, the existing parts handling devices usually have more complicated pipelines and supporting equipment, which leads to a complex structure of the welding robot, an increase in the failure rate of the welding robot and an increase in the difficulty of maintenance.

[0003] In view of this, it is necessary to provide a welding robot to solve or at least alleviate the above technical defects. Utility Model Content

[0004] The main purpose of the utility model is to provide a welding robot, aiming to solve the technical problem of the complex structure of the existing welding robots integrated with the handling function.

[0005] To achieve the above-mentioned purpose, the welding robot proposed by the utility model comprises:

[0006] Scaffolding;

[0007] A welding mechanism, the welding mechanism being mounted on the base frame;

[0008] A transport mechanism, the transport mechanism comprising a connecting bracket and a transport device, the connecting bracket is mounted on the base frame, and / or,

[0009] The connecting bracket is installed on the welding mechanism;

[0010] The handling device comprises a gripping assembly, the gripping assembly comprises a control cable, a main body and a gripping member, the control cable is electrically connected to the main body, and the gripping member is mounted on the main body;

[0011] The gripping member includes an open state and a closed state;

[0012] The main body can drive the gripping member to switch to the open state or the closed state.

[0013] In one embodiment, the main body includes a housing, a driving assembly and at least two sliders, the housing is formed with a guide groove, and the slider is slidably disposed in the guide groove;

[0014] The driving assembly is connected to the slider, and the driving assembly can drive the slider to slide in the guide groove.

[0015] In one embodiment, the gripping member is detachably mounted on the sliding block.

[0016] In one embodiment, the gripping member includes at least two clamping jaws, and each of the clamping jaws is respectively mounted on the corresponding sliding block.

[0017] In one embodiment, the clamp includes a first clamp and a second clamp, the slider includes a first slider and a second slider, the first clamp is mounted on the first slider at one end close to the main body, and the first clamp is provided with a first clamp finger at one end away from the main body, and a first clamping portion is provided at one side of the first clamp;

[0018] The end of the second clamping jaw close to the main body is installed on the second sliding block, and the end of the second clamping jaw away from the main body is provided with a second clamping finger, and a second clamping part is provided on one side of the second clamping finger. The first clamping part and the second clamping part are arranged opposite to each other, so that the first clamping jaw and the second clamping jaw can cooperate with each other to grasp parts.

[0019] In one embodiment, the number of the first clamping fingers is two, the number of the second clamping fingers is one, the two first clamping fingers and the second clamping fingers form a clamping space, and the first clamping portion and the second clamping portion are both configured as concave arc surfaces.

[0020] In one embodiment, the transport mechanism further comprises a tool changing device, the tool changing device is mounted on the transport device, and / or,

[0021] The tool replacement device includes a first clamping member and a second clamping member, wherein the first clamping member is mounted on the connecting bracket, and the second clamping member is mounted on the transport device, and the first clamping member and the second clamping member can be clamped with each other.

[0022] In one embodiment, the transport device further comprises a tool connector and a mounting rod, wherein the tool connector is detachably mounted on the tool changing device, the mounting rod is mounted on the tool connector, and the gripping assembly is connected to the mounting rod.

[0023] In one embodiment, the mounting rod comprises a rod body and a fixing member, the rod body is mounted on the tool connecting member, and the fixing member is mounted on the rod body;

[0024] The gripping assembly further includes a base connected to the housing and mounted on the fixing member.

[0025] In one embodiment, a cavity is formed inside the mounting rod;

[0026] The control cable comprises an internal cable arranged inside the cavity and an external cable exposed outside the rod body;

[0027] The transport device further comprises a cable fixing member, wherein the cable fixing member covers the external cable and is mounted on an outer surface of the mounting rod.

[0028] In the technical solution provided by the utility model, the handling device including the gripping assembly is installed on the base frame or the welding mechanism, so that the welding mechanism is integrated with a handling function to form a new type of welding robot. Since the gripping assembly is only powered by cables and does not need to use compressed air to provide power energy, the gripping assembly does not need to be equipped with accessories such as solenoid valves, I / O equipment and compressed air pipes that traditional handling devices need to be equipped with, so that the structure of the welding robot is relatively simple, avoiding complicated structures that increase the failure rate of the welding robot, and reducing the difficulty of maintenance of the welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 A structural schematic diagram of an embodiment of a welding robot provided by the utility model;

[0031] Figure 2 A partial structural schematic diagram of an embodiment of a welding robot provided by the utility model;

[0032] Figure 3 This is another partial structural schematic diagram of an embodiment of a welding robot provided by the utility model;

[0033] Figure 4 A partial structural schematic diagram of another embodiment of the welding robot provided by the utility model;

[0034] Figure 5 for Figure 4 A three-dimensional exploded schematic diagram of a part of the structure;

[0035] Figure 6 for Figure 4 A three-dimensional exploded diagram of another part of the structure.

[0036] Description of Figure Numbers:

[0037]

[0038]

[0039] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only 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.

[0041] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0042] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0043] When performing welding operations on parts in automobile production and processing workshops, it is usually necessary to install the parts on a fixture for welding operations. For some parts with special shapes, such as rods and other non-planar parts, due to their special shapes, they generally require special handling robots or collaborative robots to move them to the fixture. In order to save the investment in a handling robot, some companies will integrate special parts handling devices on the welding robot, so that the welding robot can not only transport parts with special shapes, but also perform welding work. However, the special-shaped parts handling devices currently integrated on the welding robot are mainly installed on the robot's six-axis flange, and the configuration is relatively complex, which affects the work of the welding robot.

[0044] Research has found that the main reason for the above phenomenon is that the special-shaped parts handling device currently integrated on the welding robot mainly adopts a pneumatic clamp structure. This handling device needs to be equipped with solenoid valves, I / O equipment, compressed air pipes and control cables and other accessories. Integrating this handling device on the welding robot makes the structure of the welding robot more complicated, which in turn increases the difficulty of maintenance of the welding robot. At the same time, the complex structure also increases the failure rate of the welding robot with integrated handling function.

[0045] In view of the above-mentioned current situation, the utility model provides a welding robot, aiming to solve the technical problem of the complex structure of the existing welding robot integrated with the handling function.

[0046] See also Figure 1 to Figure 2 The utility model provides a welding robot 100. In one embodiment of the utility model, the welding robot 100 includes a base frame 1, a welding mechanism 2 and a conveying mechanism 3, wherein the welding mechanism 2 is installed on the base frame 1; the conveying mechanism 3 includes a connecting bracket 31 and a conveying device 32, wherein the connecting bracket 31 is installed on the base frame 1, and / or the connecting bracket 31 is installed on the welding mechanism 2; the conveying device 32 includes a gripping assembly 321, wherein the gripping assembly 321 includes a control cable 3211, a main body 3212 and a gripping member 3213, wherein the control cable 3211 is electrically connected to the main body 3212, and the gripping member 3213 is installed on the main body 3212; the gripping member 3213 includes an open state and a closed state; the main body 3212 can drive the gripping member 3213 to switch to an open state or a closed state.

[0047] The welding mechanism 2 and the transport mechanism 3 are integrated in the base frame 1. In order to enable the welding robot 100 to move, the base frame 1 is connected to the mobile mechanism (not shown in the figure), and the mobile mechanism includes a mechanical arm or a crane; the welding mechanism 2 is the main mechanism of the welding robot 100 when performing welding operations, and is used to weld parts installed on the fixture; the transport mechanism 3 includes a connecting bracket 31 and a transport device 32, and the connecting bracket 31 is used to connect the transport device 32 to the base frame 1 or the welding mechanism 2. The gripping component 321 in the transport device 32 can grip parts, and the main body 3212 in the gripping component 321 can switch between the open state and the closed state by driving the gripping member 3213 to realize the function of gripping parts or placing parts. The mobile mechanism drives the base frame 1 to move, and then drives the transport device 32 to move, and cooperates with the gripping component 321 to realize the function of transporting parts.

[0048] The technical solution of the utility model is to install a conveying mechanism 3 including a gripping assembly 321 on a base frame 1 or a welding mechanism 2 so that the welding mechanism 2 integrates a conveying function, thereby forming a new type of welding robot 100. Since the gripping assembly 321 is only powered by a control cable 3211 and does not need to use compressed air to provide power energy, the gripping assembly 321 does not need to be equipped with accessories such as solenoid valves, I / O equipment and compressed air pipes that are required to be equipped with traditional conveying devices, so that the structure of the welding robot 100 is relatively simple, avoiding complicated structures that increase the failure rate of the welding robot 100, and reducing the difficulty of maintenance of the welding robot 100.

[0049] In one embodiment of the present invention, please refer to Figure 1 The connecting bracket 31 can be detachably mounted on the base frame 1, and the handling device 32 can be detachably mounted on the connecting bracket 31. In this way, the structure of the welding mechanism 2 can avoid bearing excess load, thereby preventing the welding mechanism 2 from causing structural deformation due to the excess load.

[0050] According to the embodiment of the utility model, it should be noted that the gripping assembly 321 of the handling device 32 adopts an electric clamp, which only needs to be equipped with a control cable 3211 to realize the power supply and control functions, and the accessories are simple. In the process of handling parts, the gripping member 3213 of the electric clamp needs to switch between an open state and a closed state to realize the grasping and placement of parts; at the same time, the electric clamp has a power-off self-locking function to prevent parts from falling when the power is off, and the electric clamp can detect in real time whether the parts have been clamped, to avoid the parts from falling due to the lack of clamping during the handling of parts. In addition, in the embodiment of the utility model, the electric clamp used in the gripping assembly 321 can flexibly set the opening and closing range of the gripping member 3213 according to the shape of different parts, to prevent the gripping member 3212 from grasping the parts too tightly and damaging the parts.

[0051] See also Figure 3 In the embodiment of the utility model, the main body 3212 includes a housing 32121, a driving assembly (not shown in the figure) and at least two sliders 32122. The housing 32121 is formed with a guide groove 321211, and the slider 32122 is slidably arranged in the guide groove 321211; the driving assembly is connected to the slider 32122, and the driving assembly can drive the slider 32122 to slide in the guide groove 321211. Specifically, two guide grooves 321211 are formed at the end of the housing 32121, and the cross section of the guide groove 321211 is "convex", and the guide groove 321211 can accommodate the slider 32122, and the driving assembly can drive the slider 32122 to slide along the length direction of the guide groove 321211. In this embodiment, in order to fit the shape of the guide groove 321211 and facilitate the installation of the gripping member 3213, the slider 32122 is configured to be an elongated strip, and the length of the slider 32122 is smaller than the length of the guide groove 321211, so that it can slide in the guide groove 321211; the driving assembly is installed inside the housing 32121, and a connecting portion is provided in the guide groove 321211 to connect with the slider 32122, which is beneficial to reducing the structural volume.

[0052] In one embodiment, the gripping member 3213 can be detachably mounted on the slider 32122. Figures 2 to 4 The gripping member 3213 can be connected to the slider 32122 by screws. It should be noted that there are many types of gripping members 3213. When transporting a certain type of parts, the gripping member 3213 corresponding to the part of the model is installed on the slider 32122, so that the part of the model can be adaptively transported to avoid the part falling during transportation due to the incompatibility of the gripping member 3213. Through the detachable connection between the gripping member 3213 and the slider 32122, different types of gripping members 3213 can be replaced in time to improve the versatility of the transport device 32.

[0053] See also Figures 1 to 3 According to the embodiment of the present invention, the gripping member 3213 includes at least two clamping jaws 3213a, and each clamping jaw 3213a is respectively installed on a corresponding slider 32122. Specifically, in order to ensure stability when grasping parts, the gripping member 3213 needs to include at least two clamping jaws 3213a, and each clamping jaw 3213a is respectively installed on a corresponding slider 32122. Figure 1 and Figure 2 , Figure 1 The clamping jaws 3213a are shown in an open state. Figure 2The clamping jaws 3213a shown are in a closed state. When working, the two sliders 32122 move toward or away from each other along their respective guide grooves 321211, driving the two clamping jaws 3213a to close or open, so that the clamping jaws 3213a can grasp or place parts. By providing at least two clamping jaws 3213a, the grasping member 3213 can apply a set of opposite forces to the parts when grasping the parts. Under the action of this set of opposite forces, the grasping member 3213 can grasp the parts more stably.

[0054] There are many forms of implementation of the clamping jaw 3213a, such as Figure 2 As shown, according to an embodiment of the utility model, the clamping jaw 3213a is in an "L" shape as a whole, the short arm is used to connect with the slider 32122, and the long arm is used to grab the parts. The long arm is arranged in a step-shaped manner at the end away from the slider 32122, and the thickness is smaller than other parts, so that the end is convenient for inserting into the parts with smaller openings. In this embodiment, when the clamping jaw 3213a is used, the clamping jaw 3213a needs to be kept in a closed state first, and then the clamping jaw 3213a is inserted into the hole of the part, and then gradually opened until the long arm ends of the two clamping jaws 3213a can tightly support the part to lift it, and then carry it to a designated position, and then the clamping jaw 3213a is closed so that the part is placed at the position. It should be noted that, in this embodiment, the ends of the clamping jaws 3213a are sleeved with rubber layers, which can increase the friction between the ends of the clamping jaws 3213a and the components, enabling the clamping jaws 3213a to clamp the components more stably. The rubber layer can also protect the clamping jaws 3213a and increase the service life of the clamping jaws 3213a.

[0055] In another embodiment of the present invention, the clamping jaw 3213a includes a first clamping jaw 32131 and a second clamping jaw 32132, and the slider 32122 includes a first slider 321221 and a second slider 321222. The end of the first clamping jaw 32131 close to the main body 3212 is installed on the first slider 321221, and the end of the first clamping jaw 32131 away from the main body 3212 is provided with a first clamping finger 321311, and one side of the first clamping finger 321311 is provided with a first clamping portion 32 13111; the end of the second clamping jaw 32132 close to the main body 3212 is installed on the second slider 32122, and the end of the second clamping jaw 32132 away from the main body 3212 is provided with a second clamping finger 321321, and one side of the second clamping finger 321321 is provided with a second clamping portion 3213211, and the first clamping portion 3213111 and the second clamping portion 3213211 are arranged opposite to each other, so that the first clamping jaw 32131 and the second clamping jaw 32132 can cooperate with each other to grasp the parts. Please refer to Figure 4 and Figure 5The guide grooves 321211 and the slider 32122 in the gripping assembly are each provided with two, and the two guide grooves 321211 are provided in parallel. The gripping member 3213 is provided with two clamping jaws 3213a, namely, a first clamping jaw 32131 and a second clamping jaw 32132. The first clamping jaw 32131 is installed on the first slider 321221, and the second clamping jaw 32132 is installed on the second slider 321222, so that the slider 32122 can drive the clamping jaw 3213a to move. The first clamping jaw 32131 is provided with a first clamping finger 321311 at one end away from the main body 3212, and a first clamping portion is provided inside the first clamping finger 321311. 3213111, a second clamping finger 321321 is arranged at one end of the second clamping jaw 32132 away from the main body 3212, and a second clamping portion 3213211 is arranged on the inner side of the second clamping finger 321321, so that the clamping portions can be arranged relative to each other, and the components can be clamped in the first clamping portion 3213111 and the second clamping portion 3213211 when grabbing components. Due to the existence of the clamping portions, when grabbing components, the clamping jaw 3213a can not only provide friction force to the components, but also provide supporting force perpendicular to the contact point between the clamping portion and the components, so that the clamping jaw 3213a is more stable when grabbing components.

[0056] In the embodiment of the utility model, the number of the first clamping fingers 321311 is two, the number of the second clamping fingers 321321 is one, the two first clamping fingers 321311 and the second clamping fingers 321321 form a clamping space, and the first clamping portion 3213111 and the second clamping portion 3213211 are both configured as concave arc surfaces, see Figure 5 , two first clamping fingers 321311 are arranged in the first clamping jaw 32131, and the two first clamping fingers 321311 are symmetrically arranged along the central axis of the first clamping jaw 32131, and a second clamping finger 321321 is arranged in the second clamping jaw 32132, and the central axis of the second clamping finger 321321 corresponds to the symmetry line of the two first clamping fingers 321311 of the first clamping jaw 32131, and a clamping space is formed between the two first clamping fingers and the second clamping finger, and the parts are placed in the clamping space, and the first clamping jaw and the second clamping jaw are driven to move toward each other, that is, the first clamping finger and the second clamping finger can clamp the parts in the clamping space. At the same time, the first clamping part 3213111 and the second clamping part 3213211 are both arranged as concave arc surfaces, and the concave arc surfaces are provided with a certain curvature. Through this arrangement, the first clamping jaw 32131 and the second clamping jaw 32132 can be more suitable for grasping rod-shaped parts and parts with a certain curvature on the edge. Among them, a rubber layer is arranged on the surface of the concave arc surface to increase the friction between the concave arc surface and the parts, so that the clamping claw 3213a can clamp the parts more stably. At the same time, the rubber layer can also protect the concave arc surface to avoid or reduce its damage.

[0057] The transport mechanism 3 also includes a tool changing device 33. The tool changing device 33 can be implemented in various forms. In one embodiment of the utility model, the tool changing device 33 is installed on the transport device 32. Specifically, the tool changing device 33 is a disc-shaped connector with a side opening, which can be detachably connected to the transport device 32. When in use, the side opening can be used for the cables in the transport device 32 to pass through to connect an external power supply. The tool changing device 33 can be connected to the connecting bracket 31 by bolts, so that the base frame 1 can drive the transport device 32 to move through the connecting bracket 31 and the tool changing device 33; when the transport device 32 is not in use, the bolts between the connecting bracket 31 and the tool changing device 33 can be removed to avoid affecting the welding operation of the welding mechanism 2.

[0058] In another embodiment of the present invention, the tool replacement device 33 includes a first clamping member 331 and a second clamping member 332. The first clamping member 331 is installed on the connecting bracket 31, and the second clamping member 332 is installed on the carrying device 32. The first clamping member 331 and the second clamping member 332 can be clamped with each other. Figure 4The first clamping piece 331 can be engaged with the second clamping piece 332, so that the handling device 32 can be connected to the connecting bracket 31 through the tool changing device 33. When the base frame 1 drives the connecting bracket 31 to move, it can drive the handling device 32 to move accordingly, thereby realizing the handling of parts. When the parts are transported to the predetermined position, welding work is required. In order to avoid affecting the work of the welding mechanism, the welding robot 100 needs to first move to the position where the handling device 32 is placed, and the first clamping piece 331 and the second clamping piece 332 are released to unload the handling device 32, and then move to the position where the parts are placed to carry out welding work. It should be noted that, in the actual structure, in order to realize automated production, the tool replacement device 33 also includes an integrated module 333 and an electric module 334. The integrated module 333 is installed on the side of the first clamping member 331, and is used for power supply, transmission of control signals and control of the first clamping member to complete clamping or disengagement. The electric module 334 is installed on the side of the second clamping member 332, and is used for power supply and transmission of control signals, and is arranged corresponding to the integrated module 333. When the first clamping member 331 is clamped with the second clamping member 332, the integrated module 333 is electrically connected to the electric module 334, and the cable in the transport device 32 is connected to the electric module 334 to provide power for the transport device 32. The integrated module 333 includes a control module and a drive module. When the first clamping member 331 is clamped with the second clamping member 332, The integrated module 333 is electrically connected to the electrical module 334. The control module in the integrated module 333 sends an instruction to enable the drive module to drive the first clamping component 331 and the second clamping component 332 to complete the clamping. At this time, the conveying device 32 is loaded on the welding robot 100. The welding robot 100 has the conveying capability, and the conveying device 32 can complete the grabbing or placement of parts according to the instruction of the control module. When the conveying device 32 needs to be unloaded, the control module in the integrated module 333 sends an instruction to enable the drive module to drive the first clamping component 331 to release the clamping connection with the second clamping component 332. Through the cooperation between the integrated module 333 and the electrical module 334, the clamping or separation of the first clamping component 331 and the second clamping component 332 can be automatically completed, thereby improving the automation degree of the welding robot 100 and saving manpower.

[0059] In the embodiment of the utility model, the tool replacement device 33 adopts a 40kg-level tool replacement plate. Compared with the 300kg-level tool replacement plate installed at the six-axis flange of the robot in the past, the 40kg-level tool replacement plate is lighter in weight. It only needs to connect the integrated module 333 and the electric module 334 through the control cable 3211 to control and power the gripping component 321. No additional wiring and piping are required, and the accessories are simple and the structure is simple. In addition, the 40kg-level tool replacement plate of this scheme can enable the welding robot 100 to automatically unload the handling device 32 according to the program when the handling function is not needed, so as to avoid affecting the welding operation, and at the same time reduce the load of the welding robot 100 and reduce energy waste. Compared with the method of realizing the welding robot 100 handling parts by using a 300kg-level tool replacement plate installed at the six-axis flange of the robot in the past, the tool replacement device 33 adopts a 40kg-level tool replacement plate, and the cost can be reduced by more than 50%.

[0060] It should be noted that there are multiple types of handling devices 32 according to different types of parts. By installing tool changing devices 33 on different handling devices 32, they can be docked with the same welding robot 100, so that the same welding robot 100 can handle parts of different models and realize flexible production.

[0061] In the embodiment of the present utility model, the handling device 32 further includes a tool connecting member 322 and a mounting rod 323. The tool connecting member 322 is detachably mounted on the tool changing device 33. The mounting rod 323 is mounted on the tool connecting member 322. The gripping assembly 321 is connected to the mounting rod 323. For details, please refer to Figure 4 A tool connector 322 and a mounting rod 323 are provided between the tool changing device 33 and the gripping assembly 321. The tool connector 322 and the tool changing device 33 are detachably connected, so that the tool changing device 33 can replace a variety of different handling devices 32 to meet the handling requirements of parts of different models and weights. The mounting rod 323 is used to connect the tool connector 322 and the gripping assembly 321, wherein the mounting rod 323 includes a rod body 3231 and a fixing member 3232, the rod body 3231 is installed on the tool connector 322, and the fixing member 3232 is installed on the rod body 3231. At the same time, the gripping assembly 321 also includes a base 3214, the base 3214 is connected to the housing 32121, and the base 3214 is installed on the fixing member 3232. Figure 4As shown, in order to facilitate the grasping component 321 to grasp parts, the rod body 3231 has a certain length to avoid the grasping component 321 having a too long movement path during the grasping process, resulting in a waste of time and power resources; the base 3214 is installed on the shell 32121 by screws on both sides. When the grasping component 321 is connected to the fixing member 3232, the base 3214 and the fixing member 3232 are first connected by bolts, and then the base 3214 is connected to the shell 32121 of the main body 3212 by screws on both sides. This solution is convenient for replacing the main body 3212 or removing the main body 3212 for maintenance when it fails. At the same time, the fixing member 3232 and the base 3214 are detachably connected, which is convenient for replacing different types of grasping components 321 to adapt to different models of parts.

[0062] In the embodiments of the present invention, please refer to Figure 4 and Figure 6A cavity 32311 is formed inside the mounting rod 323; the control cable 3211 includes an internal cable (not shown in the figure) arranged inside the cavity 32311 and an external cable 32111 exposed outside the rod body 3231; the carrying device 32 also includes a cable fixing 324, the cable fixing 324 covers the external cable 32111, and the cable fixing 324 is installed on the outer surface of the mounting rod 323. Specifically, in order to protect the control cable 3211 of the gripping assembly 321, the rod body 3231 of the mounting rod 323 adopts a hollow rod-shaped structure, and there is a cavity 32311 inside the rod body 3231 for the control cable 3211 to pass through. The control cable 3211 is connected from one side of the gripping assembly 321 and enters the cavity 32311 through a hole 32312 set on the side wall of the rod body 3231. The control cable 3211 can be connected to the electrical module 334 on the side of the second clamping piece 332 from the inside of the rod body 3231. For the convenience of installation, the diameter of the hole 32312 on the side wall of the rod body 3231 is larger than the diameter of the control cable 3211. In the process of carrying parts, the internal cable may slip out of the hole 32312, which is not conducive to safe production. Therefore, a cable fixing member 324 is arranged outside the rod body 3231 to cover the external cable 32111. The cable fixing member 324 is a long strip member with a "concave" cross section, and a notch 3241 is provided at the bottom. The width of the notch 3241 is the same as the outer diameter of the control cable 3211, so that the external cable 32111 can be easily moved. 11 can just fit in the slot 3241. A round hole is provided at one end of the cable fixing member 324, so that the cable fixing member 324 can be connected to the rod body 3231 by screws. When the cable fixing member 324 is installed on the rod body 3231, the gap formed by the slot 3241 of the cable fixing member 324 and the hole 32312 on the side wall of the rod body 3231 is just enough for the control cable 3211 to pass through. Through this solution, the control cable 3211 is fixed, and the internal cable will not easily slip out of the rod body 3231 during the transportation process, causing a safety hazard.

[0063] It should be noted that the working process of the welding robot 100 is as follows: according to the type of parts to be processed, the base frame 1 drives the welding mechanism 2 and the connecting bracket 31 to move to the position of the handling device 32 that can carry the parts of this type, the first clamping member 331 is docked with the second clamping member 332, the integrated module 333 is electrically connected with the electrical module 334, and the control module in the integrated module 333 sends an instruction to enable the drive module in the integrated module 333 to drive the first clamping member 331 and the second clamping member 332 to complete the clamping, at this time the handling device 32 is loaded on the welding robot 100, and then the base frame 1 drives the handling device 32 to move to the parts to be processed, the gripping component 321 grabs the parts according to the instructions of the integrated module 333 and the electrical module 334, and after the gripping component 321 grabs the parts, the welding machine Person 100 moves to the jig, and the integrated module 333 and the electrical module 334 send instructions to make the gripping member 3213 of the gripping assembly 321 release the parts. At this time, the parts are installed on the jig. Then the welding robot 100 moves to the position where the handling device 32 is placed. The control module in the integrated module 333 sends instructions to make the drive module drive the first clamping member 331 and the second clamping member 332 to disengage, completing the unloading of the handling device 32. Finally, the welding robot 100 moves to the jig to weld the parts to be processed. The welded products are transported to the next assembly line by a dedicated handling robot. The welding robot 100 then drives the welding mechanism 2 and the connecting bracket 31 to move to the position of the handling device 32 that can transport parts of this type according to the type of parts to be processed, and so on.

[0064] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A welding robot, characterized in that: include: Scaffolding; A welding mechanism, the welding mechanism being mounted on the base frame; A transport mechanism, the transport mechanism comprising a connecting bracket and a transport device, the connecting bracket being mounted on the base frame, and / or the connecting bracket being mounted on the welding mechanism; The handling device comprises a gripping assembly, the gripping assembly comprises a control cable, a main body and a gripping member, the control cable is electrically connected to the main body, and the gripping member is mounted on the main body; The gripping member includes an open state and a closed state; The main body can drive the gripping member to switch to the open state or the closed state.

2. The welding robot according to claim 1, characterized in that: The main body comprises a housing, a driving assembly and at least two sliders, the housing is formed with a guide groove, and the sliders are slidably arranged in the guide groove; The driving assembly is connected to the slider, and the driving assembly can drive the slider to slide in the guide groove.

3. The welding robot according to claim 2, characterized in that: The gripping member is detachably mounted on the sliding block.

4. The welding robot according to claim 3, characterized in that: The gripping member comprises at least two clamping jaws, and each of the clamping jaws is respectively mounted on the corresponding sliding block.

5. The welding robot according to claim 4, characterized in that: The clamp comprises a first clamp and a second clamp, the slider comprises a first slider and a second slider, the first clamp is mounted on the first slider at one end close to the main body, and a first clamp finger is disposed at one end of the first clamp away from the main body, and a first clamping portion is disposed at one side of the first clamp finger; The end of the second clamping jaw close to the main body is installed on the second sliding block, and the end of the second clamping jaw away from the main body is provided with a second clamping finger, and a second clamping part is provided on one side of the second clamping finger. The first clamping part and the second clamping part are arranged opposite to each other, so that the first clamping jaw and the second clamping jaw can cooperate with each other to grasp parts.

6. The welding robot according to claim 5, characterized in that: The number of the first clamping fingers is two, the number of the second clamping fingers is one, the two first clamping fingers and the second clamping fingers form a clamping space, and the first clamping portion and the second clamping portion are both configured as concave arc surfaces.

7. The welding robot according to any one of claims 2 to 6, characterized in that: The transport mechanism further comprises a tool changing device, the tool changing device is mounted on the transport device, and / or, The tool replacement device includes a first clamping member and a second clamping member, wherein the first clamping member is mounted on the connecting bracket, and the second clamping member is mounted on the transport device, and the first clamping member and the second clamping member can be clamped with each other.

8. The welding robot according to claim 7, characterized in that: The transport device further comprises a tool connecting member and a mounting rod. The tool connecting member is detachably mounted on the tool changing device. The mounting rod is mounted on the tool connecting member. The gripping assembly is connected to the mounting rod.

9. The welding robot according to claim 8, characterized in that: The mounting rod comprises a rod body and a fixing member, the rod body is mounted on the tool connecting member, and the fixing member is mounted on the rod body; The gripping assembly further comprises a base, the base is connected to the housing, and the base is mounted on the fixing member.

10. The welding robot according to claim 9, characterized in that: A cavity is formed inside the mounting rod; The control cable comprises an internal cable arranged inside the cavity and an external cable exposed outside the rod body; The transport device further comprises a cable fixing member, wherein the cable fixing member covers the external cable and is mounted on an outer surface of the mounting rod.

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