Laser welding wire feeding robot

Abstract

The utility model discloses a laser welding wire feeding robot, and belongs to the field of welding equipment. The wire feeding device comprises a manipulator and a wire feeding device body, the wire feeding device body is installed at the end of the manipulator, and the wire feeding device body comprises a connecting arm, a lifting device and a wire feeder; one end of the connecting arm is connected with the end of the mechanical arm, and the lifting device is installed at the other end of the connecting arm and controls the wire feeder to ascend and descend. The wire feeder is provided with a beam lamp, and the beam emitting direction of the beam lamp faces the wire outlet position of the wire feeder. Pre-positioning of the wire feeding position can be achieved, the wire feeding device can be conveniently, accurately and rapidly adjusted to the welding position through the adjusting mechanism, and the welding effect and the welding efficiency are improved.

Description

Technical Field

[0001] The utility model belongs to the field of welding equipment, and more specifically, relates to a laser welding wire feeding robot. Background Technique

[0002] Laser welding is an efficient and precise welding method that uses a laser beam with a high energy density as a heat source. Laser welding with a wire feeding mechanism is a commonly used welding method. It levels the welding wire through a wire feeding mechanism and continuously transports the welding wire to the laser head, and then uses the laser radiation energy to melt the welding wire to stack the wire on the workpiece surface to achieve welding.

[0003] In order to achieve automatic and continuous production for the existing laser welding wire feeding, generally, a manipulator or a planar displacement mechanism is used to adjust the wire feeding position and cooperate with the welding device to perform welding work. However, when the existing welding wire feeding device adjusts the wire feeding position, since there is a certain distance between the wire feeding port of the wire feeding device and the specific welding position, directly controlling the device to feed wire to the welding position is difficult to ensure the wire feeding accuracy, resulting in the welding work being affected. Even if the wire feeding device can be adjusted to align with the welding position, it often requires multiple repeated adjustments for alignment, which affects the welding efficiency.

[0004] For example, the patent document with the Chinese patent application number: CN202010546586.7 and the publication date: August 25, 2020, discloses a wire feeding laser welding machine, including a welding platform, a laser, and a wire feeding mechanism. A servo motor for driving the rotation of the welding platform is installed at the bottom of the welding platform, and the workpiece is positioned on the welding platform by a fixture; both the laser and the wire feeding mechanism are installed on a bracket, the laser head of the laser is directly above the edge of the workpiece, and the laser emits modulated pulsed laser; the wire feeding mechanism can continuously feed the welding wire below the laser head, the wire feeding pipe of the wire feeding mechanism is movably installed on an adjusting mechanism, and the included angle between the wire feeding pipe and the horizontal plane is an acute angle, and the adjusting mechanism can adjust the distance between the wire feeding pipe and the laser head and the included angle between the wire feeding pipe and the horizontal plane.

[0005] Another example is the patent document with the Chinese patent application number: CN201410568902.5 and the publication date: February 4, 2015, which discloses a multifunctional laser composite processing equipment and method, including a laser, a laser control module, an optical fiber, a five-axis robot, a follow-up device, a wire feeding mechanism, a welding torch, a laser head, a workbench, a base; the five-axis robot is composed of a moving X-axis, a moving Y-axis, a moving Z-axis, a manipulator, a rotating shaft B-axis, and a rotating shaft C-axis, and the motors of the rotating shaft B-axis and the rotating shaft C-axis are fixedly connected. The laser control module controls the laser cutting step, the laser welding step, and the laser surface treatment step, and realizes the movement of the five-axis robot and the control of laser processing by controlling the laser.

[0006] In the above two solutions, the wire feeding position is directly adjusted by the adjusting mechanism, and there is the problem that it is difficult to ensure the wire feeding accuracy mentioned above. Summary of the Invention

[0007] 1. Problems to be Solved

[0008] Aiming at the problem that it is difficult to ensure the wire feeding accuracy of the wire feeding device during existing laser welding, the utility model provides a laser welding wire feeding robot, which can realize the pre-positioning of the wire feeding position, facilitate the adjusting mechanism to accurately and quickly adjust the wire feeding device to the welding position, and improve the welding effect and welding efficiency.

[0009] 2. Technical Solutions

[0010] To solve the above problems, the utility model adopts the following technical solutions.

[0011] A laser welding wire feeding robot includes a manipulator and a wire feeding device. The wire feeding device is installed at the end of the manipulator. The wire feeding device includes a connecting arm, a lifting device and a wire feeder. One end of the connecting arm is connected to the end of the manipulator, and the lifting device is installed at the other end of the connecting arm to control the lifting of the wire feeder. A beam lamp is installed on the wire feeder, and the beam emission direction of the beam lamp faces the wire outlet position of the wire feeder.

[0012] As a further improvement of the technical solution, it further includes a connecting bracket and an adjusting bracket. One end of the connecting bracket is fixedly connected to the wire feeder, and the other end is hinged to one end of the adjusting bracket. The other end of the adjusting bracket is connected to the beam lamp.

[0013] As a further improvement of the technical solution, an openable and closable clamp is installed on the adjusting bracket, and the beam lamp is installed on the clamp.

[0014] As a further improvement of the technical solution, a side blowing device is installed on the wire feeder near the wire outlet position. The side blowing device is externally connected to a gas source, and its air outlet faces the lower part of the wire outlet position.

[0015] As a further improvement of the technical solution, the gas source is a nitrogen storage device.

[0016] As a further improvement of the technical solution, a laser sensor is also installed on the wire feeder. The laser sensor includes a mounting bracket and a transmitter. The mounting bracket is fixedly installed on the wire feeder, and the transmitter is installed on the mounting bracket.

[0017] As a further improvement of the technical solution, the mounting bracket has a pair of support arms. A pair of through holes are provided at corresponding positions of the pair of support arms. A rotatable rotating shaft is installed in the pair of through holes, and the transmitter is fixedly connected to the rotating shaft.

[0018] As a further improvement of the technical solution, a threaded hole is provided on the emitter, and an arc-shaped hole is provided at the corresponding position of the support arm. The emitter is fixedly connected to the support arm by a bolt passing through the arc-shaped hole and screwed into the threaded hole.

[0019] As a further improvement of the technical solution, a handle is installed on the emitter.

[0020] As a further improvement of the technical solution, a lighting lamp is installed on the connecting arm.

[0021] 3. Beneficial effects

[0022] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0023] (1) For the laser welding wire feeding robot of the present utility model, a beam lamp that emits a beam towards the wire outlet position is installed on the wire feeder. By adjusting the angle and position of the beam lamp, when the wire feeder descends to a set height from the weld seam, the point irradiated by the beam lamp is the wire feeding position, so that the adjustment of the wire feeding position is more rapid and accurate, improving the welding efficiency and welding effect;

[0024] (2) For the laser welding wire feeding robot of the present utility model, by providing an adjustment bracket, convenient and rapid adjustment of the beam lamp can be achieved, and by clamping the beam lamp with a fixture, the beam lamp is easy to disassemble, improving the usability of the device;

[0025] (3) For the laser welding wire feeding robot of the present utility model, by providing a side blowing device, the debris remaining during welding can be blown away to ensure that the welding is not affected. By using external nitrogen as the purging gas, while the debris is blown away by high-pressure nitrogen, the welding can be protected, improving the welding quality and simplifying the device structure and welding operation;

[0026] (4) For the laser welding wire feeding robot of the present utility model, by providing a laser sensor, the height of the wire feeder from the weld seam can be accurately controlled. On the one hand, it can ensure the precision of the welding work, and on the other hand, it can also assist the beam lamp to determine the specific wire feeding position.

[0027] (5) For the laser welding wire feeding robot of the present utility model, by providing a rotating shaft, the laser sensor can be rotated according to the environment to adjust the laser emission angle to ensure the accuracy of the laser emitter. By correspondingly providing arc-shaped holes, after the emitter rotates, the mounting holes on the emitter can always correspond to the positions of the arc-shaped holes, so that it is convenient for the staff to fix the emitter after adjusting the emitter angle, improving the adjustment efficiency. The setting of the handle enables the staff to rotate the emitter more conveniently. Description of the drawings

[0028] Figure 1Schematic diagram of the overall structure of a wire-feeding robot for laser welding according to the present utility model;

[0029] Figure 2 Schematic diagram of the structure of the wire-feeding device according to the present utility model;

[0030] Figure 3 Schematic diagram of the structure of the laser sensor according to the present utility model;

[0031] In the figure: 1. Manipulator; 11. Wire winding frame; 2. Wire-feeding device; 21. Connecting arm; 22. Lifting device; 23. Wire feeder; 24. Beam lamp; 241. Connecting bracket; 242. Adjusting bracket; 243. Fixture; 25. Side-blowing device; 26. Laser sensor; 261. Mounting bracket; 262. Emitter; 263. Support arm; 264. Arc-shaped hole; 265. Handle; 27. Lighting lamp. Detailed implementation manners

[0032] The exemplary embodiments of the present utility model are described in detail below. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to implement the present utility model, it should be understood that other embodiments can be achieved and various changes can be made to the present utility model without departing from the spirit and scope of the present utility model. The more detailed description of the embodiments of the present utility model below is not intended to limit the scope of the claimed present utility model, but is merely for illustrative purposes and does not limit the description of the features and characteristics of the present utility model, in order to present the best mode of implementing the present utility model and to enable those skilled in the art to implement the present utility model. Therefore, the scope of the present utility model is only defined by the appended claims.

[0033] Embodiment 1

[0034] A wire-feeding robot for laser welding is used for automatic laser welding work to feed wire to a welding device. The specific structure and technical effects thereof are described in detail below.

[0035] As Figure 1 shown, the robot includes a manipulator 1 and a wire-feeding device 2, and the wire-feeding device 2 is installed at the end of the manipulator 1.

[0036] Specifically, as Figure 2 shown, the wire-feeding device 2 includes a connecting arm 21, a lifting device 22 and a wire feeder 23. Among them, one end of the connecting arm 21 is connected to the end of the manipulator 1, and the lifting device 22 is installed at the other end of the connecting arm 21 to control the lifting of the wire feeder 23. A beam lamp 24 is installed on the wire feeder 23, and the beam emission direction of the beam lamp 24 faces the wire outlet position of the wire feeder 23.

[0037] Specifically, the installation structure of the wire feeder 23 includes a connection bracket 241 and an adjustment bracket 242. One end of the connection bracket 241 is fixedly connected to the wire feeder 23, and the other end is hinged to one end of the adjustment bracket 242. The other end of the adjustment bracket 242 is equipped with an openable and closable fixture 243, and the beam lamp 24 is installed on the fixture 243. That is, the adjustment bracket 242 can rotate by means of pin shaft connection to adjust the angle and position of the beam lamp 24.

[0038] By adjusting the angle and position of the beam lamp 24, when the wire feeder 23 descends to a set height from the weld seam, the point irradiated by the beam lamp 24 is the wire feeding position, so that the adjustment of the wire feeding position is more rapid and accurate, improving the welding efficiency and welding effect. The setting of the adjustment bracket 242 realizes the convenient and rapid adjustment of the beam lamp 24, and the setting of the fixture 243 makes the beam lamp 24 easy to disassemble, improving the use convenience of the equipment.

[0039] In addition, a side blowing device 25 is installed on the wire feeder 23 near the wire outlet position. The side blowing device 25 is externally connected to a gas source, and its air outlet faces downward at the wire outlet position. It can blow gas to the wire outlet position through a nozzle to blow away the debris remaining during welding, ensuring that the welding is not affected. Further, the gas source is a nitrogen storage device, so that while the debris is blown away by high-pressure nitrogen, the welding can be protected, improving the welding quality and simplifying the equipment structure and welding operation.

[0040] It is worth mentioning that a laser sensor 26 is also installed on the wire feeder 23. As Figure 3 shown, the laser sensor 26 includes an installation bracket 261 and a transmitter 262. The installation bracket 261 is fixedly installed on the wire feeder 23, and the transmitter 262 is installed on the installation bracket 261. Specifically, the installation bracket 261 has a pair of support arms 263. A pair of through holes are provided at corresponding positions of the pair of support arms 263. A rotatable rotating shaft is installed in the pair of through holes. The transmitter 262 is fixedly connected to the rotating shaft, and a handle 265 is installed thereon. At the same time, a threaded hole is provided on the transmitter 262, and an arc-shaped hole 264 is provided at the corresponding position of the support arm 263. The transmitter 262 is fixedly connected to the support arm 263 by a bolt passing through the arc-shaped hole 264 and screwed into the threaded hole.

[0041] By setting the laser sensor 26, the height of the wire feeder 23 from the weld seam can be accurately controlled. On the one hand, it can ensure the precision of the welding work, and on the other hand, it can also assist the beam lamp 24 to determine the specific wire feeding position. By setting the rotating shaft, the laser sensor 26 can be rotated according to the environment to adjust the laser emission angle and ensure the accuracy of the laser emitter. Through the correspondingly set arc-shaped hole 264, after the emitter 262 rotates, the mounting hole on the emitter 262 can always correspond to the position of the arc-shaped hole 264, so as to facilitate the staff to fix the emitter 262 after adjusting the angle of the emitter 262, improve the adjustment efficiency, and the setting of the handle 265 enables the staff to rotate the emitter 262 more conveniently.

[0042] In addition, this embodiment also installs a lighting lamp 27 on the connecting arm 21 to facilitate the staff to observe the welding situation. A wire winding rack 11 is installed on the manipulator 1, which can store various wires on the wire winding rack 11 to prevent various wires from being wound together during the movement of the manipulator 1, causing safety accidents.

[0043] In summary, a laser welding wire feeding robot of this embodiment can realize the pre-positioning of the wire feeding position, facilitate the adjustment mechanism to accurately and quickly adjust the wire feeding device to the welding position, and improve the welding effect and welding efficiency.

Claims

1. A laser welding wire feeding robot, comprising a manipulator (1) and a wire feeding device (2), wherein the wire feeding device (2) is mounted at the end of the manipulator (1), and is characterized in that: The wire feeding device (2) comprises a connecting arm (21), a lifting device (22) and a wire feeder (23); one end of the connecting arm (21) is connected to the end of the manipulator (1), and the lifting device (22) is installed at the other end of the connecting arm (21) to control the lifting of the wire feeder (23); a beam lamp (24) is installed on the wire feeder (23), and the beam emission direction of the beam lamp (24) is toward the wire outlet position of the wire feeder (23).

2. A laser welding wire feeding robot according to claim 1, characterized in that: It also includes a connecting bracket (241) and an adjusting bracket (242); one end of the connecting bracket (241) is fixedly connected to the wire feeder (23), and the other end is hinged to one end of the adjusting bracket (242); the other end of the adjusting bracket (242) is connected to the beam lamp (24).

3. A laser welding wire feeding robot according to claim 2, characterized in that: The adjusting bracket (242) is provided with an openable and closable clamp (243), and the beam lamp (24) is installed on the clamp (243).

4. A laser welding wire feeding robot according to claim 1, characterized in that: A side blowing device (25) is installed on the wire feeder (23) near the wire outlet position. The side blowing device (25) is connected to an external air source, and its air outlet faces below the wire outlet position.

5. A laser welding wire feeding robot according to claim 4, characterized in that: The gas source is a nitrogen storage device.

6. The laser welding wire feeding robot according to claim 1, characterized in that: The wire feeder (23) is also equipped with a laser sensor (26), and the laser sensor (26) comprises a mounting bracket (261) and a transmitter (262), wherein the mounting bracket (261) is fixedly mounted on the wire feeder (23), and the transmitter (262) is mounted on the mounting bracket (261).

7. A laser welding wire feeding robot according to claim 6, characterized in that: The mounting bracket (261) has a pair of supporting arms (263), a pair of through holes are provided at corresponding positions of the pair of supporting arms (263), a rotatable shaft is installed in the pair of through holes, and the transmitter (262) is fixedly connected to the shaft.

8. The laser welding wire feeding robot according to claim 7, characterized in that: The emitter (262) is provided with a threaded hole, and a corresponding position of the support arm (263) is provided with an arc-shaped hole (264). The emitter (262) is fixedly connected to the support arm (263) by means of a bolt that passes through the arc-shaped hole (264) and is screwed into the threaded hole.

9. A laser welding wire feeding robot according to claim 8, characterized in that: The launcher (262) is provided with a handle (265).

10. A laser welding wire feeding robot according to any one of claims 1 to 9, characterized in that: The connecting arm (21) is provided with an illumination lamp (27).

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