Gas shielded welding device of industrial robot

Abstract

The utility model discloses a gas shielded welding device of an industrial robot, the gas shielded welding device of the industrial robot comprises a robot body and a water-cooled welding gun, the water-cooled welding gun is connected with one end of the robot body, one side of the water-cooled welding gun is connected with a laser sensor so as to position an arc point, the robot body is connected with a gun cleaning station, and the gun cleaning station is connected with the water-cooled welding gun. An industrial camera is connected to the robot body in a sliding mode, and a wire feeder is arranged on the robot body so that welding wires can be conveyed to the water-cooling welding gun. According to the gas shielded welding device of the industrial robot, electric arcs are more concentrated and more stable, and larger fusion depth is easily generated; meanwhile, a remote parameter debugging function is provided, and debugging personnel and welding equipment operators can remotely and manually set welding parameters; the gun cleaning station is provided with a closed oil spraying bin, an anti-splashing agent can be directly sprayed to a welding gun head, a robot working area cannot be polluted, and the use amount of the anti-splashing agent can be reduced.

Description

Technical Field

[0001] The utility model belongs to the field of robot welding, and in particular relates to a gas shielded welding device of an industrial robot. Background Art

[0002] At present, welding robots used in welding processes are the most widely used and mainstream category of industrial robots. Among the existing industrial robots, more than half are used in welding processing processes, and industrial robot welding also mostly uses gas shielded welding technology based on solid welding wire.

[0003] Robotic arms require gas when welding, and the gas needs to come into contact with open flames when it is ejected. There are certain risks in the use of gas, and the welding speed is difficult to control, the welding gun moves unevenly, and the height of the welding gun and the workpiece to be welded cannot be controlled, which will cause the welds to be of different sizes, poor weld quality, and low welding efficiency.

[0004] Therefore, it is urgent to design a gas shielded welding device for an industrial robot to solve the above-mentioned problem of robot gas shielded welding. Utility Model Content

[0005] In order to solve the technical problems mentioned in the background technology that the robot arm needs to use gas when welding, there are certain risks in the gas use process, the welding speed is difficult to control, the welding gun moves unevenly, and the height between the welding gun and the workpiece to be welded cannot be controlled, a gas shielded welding device for an industrial robot is provided to solve the problems of robot gas shielded welding.

[0006] To achieve the above objectives, the specific technical solutions of the gas shielded welding device for industrial robots of the present invention are as follows:

[0007] A gas shielded welding device for an industrial robot includes a robot body and a water-cooled welding gun. The water-cooled welding gun is connected to one end of the robot body. A laser sensor is connected to one side of the water-cooled welding gun to locate the arc point. A gun cleaning station is connected to the robot body to clean the water-cooled welding gun. An industrial camera is slidably connected to the robot body. A wire feeder is provided on the robot body to feed welding wire to the water-cooled welding gun.

[0008] Furthermore, a movable external axis is provided along the length direction of the robot body, and an industrial camera is slidably provided on the movable external axis.

[0009] Furthermore, the robot body includes a first robotic arm, a second robotic arm and a fixed base, the fixed base is connected to the second robotic arm, the second robotic arm is connected to the first robotic arm at one end away from the fixed base, and the first robotic arm is connected to a water-cooled welding gun and a laser sensor.

[0010] Furthermore, an end effector flange is connected to the first robotic arm, and the water-cooled welding gun and the laser sensor are both fixedly connected to the end effector flange.

[0011] Furthermore, a first rotary bearing is connected to the fixed base, and one end of the first rotary bearing away from the fixed base is connected to the second robotic arm to enable the second robotic arm to rotate.

[0012] Furthermore, one end of the second robotic arm away from the fixed base is connected to a second rotary bearing, and the first robotic arm is connected to the second rotary bearing.

[0013] Furthermore, the fixed base is connected to a fixed bottom plate at one end away from the second robotic arm, and a wire feeder is horizontally connected to the fixed bottom plate.

[0014] Furthermore, a gun cleaning station is connected to one end of the fixed base plate away from the wire feeder, and the gun cleaning station is provided with a closed oil spraying tank.

[0015] Furthermore, a connecting shaft is provided on the first robotic arm, and the end execution flange is connected to the connecting shaft.

[0016] Furthermore, the water-cooled welding gun and the laser sensor are spaced apart on the end execution flange, and the water-cooled welding gun is provided with an anti-collision sensor.

[0017] The gas shielded welding device of the industrial robot of the present invention has the following advantages:

[0018] By sliding an industrial camera onto the robot body and adjusting its position to the appropriate position, the robot can capture point cloud images of workpieces of various sizes, improving its adaptability to welding. After capturing images, the robot's water-cooled welding gun is controlled to move near the arc starting point. The gun is equipped with an anti-collision sensor that automatically stops welding if subjected to twisting collision forces, effectively protecting the robot body from damage. A laser sensor precisely locates the arc starting point, and the wire feeder delivers wire at a constant speed. After welding a certain length, the gun is cleaned and the wire is trimmed using a gun cleaning station. This application achieves a more focused and stable arc at the same current, facilitating greater penetration. It also features remote parameter tuning, allowing operators and welding equipment operators to manually set welding parameters remotely. The gun cleaning station is equipped with an enclosed oil spray tank that sprays anti-spatter directly onto the welding gun tip, preventing contamination of the robot's workspace and reducing anti-spatter usage. This also effectively reduces the need for cleaning the welding gun nozzle, extending its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a diagram of the robot gun cleaning state of the gas shielded welding device of the industrial robot of the utility model;

[0020] Figure 2This is the overall structural diagram of the gas shielded welding device of the industrial robot of the present utility model.

[0021] Description of the marks in the figure:

[0022] 1. Robot body; 11. First robotic arm; 12. Second robotic arm; 13. Fixed base; 2. Water-cooled welding gun; 3. Laser sensor; 4. Gun cleaning station; 5. Industrial camera; 6. Wire feeder; 7. Moving external axis; 8. End effector flange; 9. First rotary bearing; 10. Second rotary bearing. DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0024] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is intended to be within the scope of the present invention and to form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0025] Please refer to the attached Figure 1 To the attached Figure 2 The utility model describes a gas shielded welding device of an industrial robot.

[0026] like Figure 1As shown, the gas shielded welding device for an industrial robot in the present invention includes a robot body 1 and a water-cooled welding gun 2. The water-cooled welding gun 2 is connected to one end of the robot body 1. A laser sensor 3 is connected to one side of the water-cooled welding gun 2 to locate the arc point. A gun cleaning station 4 is connected to the robot body 1 to clean the water-cooled welding gun 21. An industrial camera 5 is slidably connected to the robot body 1. A wire feeder 6 is also provided on the robot body 1 to feed the welding wire to the water-cooled welding gun 2. By sliding the industrial camera 5 on the robot body 1 and adjusting its position to the appropriate position, point cloud images of workpieces of various sizes can be captured, improving the adaptability of welding workpieces. After the capture is completed, the water-cooled welding gun 2 of the industrial robot is controlled to move near the arc starting point. The water-cooled welding gun 2 is equipped with an anti-collision sensor. If the welding gun is subjected to a torsional collision force, the welding process is automatically stopped, effectively protecting the robot body from damage. The laser sensor 3 is used to accurately locate the arc starting point, and the wire feeder 6 steadily outputs the welding wire at a constant speed. After welding a certain length, the gun cleaning station 4 is used to clean the gun and cut the wire.

[0027] At the same current, this application achieves a more concentrated and stable arc, facilitating greater penetration. It also features a remote parameter adjustment function, allowing operators and welding equipment operators to manually set welding parameters remotely. The gun cleaning station 4 is equipped with a closed oil spray tank, allowing anti-spatter agent to be sprayed directly onto the welding gun tip, preventing contamination of the robot work area and reducing the amount of anti-spatter agent used. This effectively reduces the need for cleaning the welding gun nozzle, extending its service life.

[0028] Further, if Figure 1 and Figure 2 As shown, a movable external shaft 7 is provided along the length direction of the robot body 1, and an industrial camera 5 is slidably provided on the movable external shaft 7; the robot body 1 includes a first robotic arm 11, a second robotic arm 12 and a fixed base 13, the fixed base 13 is connected to the second robotic arm 12, the second robotic arm 12 is connected to the first robotic arm 11 at one end away from the fixed base 13, and the first robotic arm 11 is connected to a water-cooled welding gun 2 and a laser sensor 3; the first robotic arm 11 is connected to an end effector flange 8, and the water-cooled welding gun 2 and the laser sensor 3 are both fixedly connected to the end effector flange 8.

[0029] In this embodiment, preferably, a movable external axis 7 is fixedly provided along the length direction of the robot body 1, and the industrial camera 5 is slidably provided on the movable external axis 7. The industrial camera 5 adopts active binocular vision technology to perform pre-welding scanning on the intended welding area, generate a regional point cloud, and complete reference point recognition and positioning.

[0030] Preferably, the welding robot can be configured to receive control system commands to position the end effector at a fixed point from a fixed position, with extremely high repeatability. These commands can be provided by the robot's host computer and its control software using a built-in teach pendant, offline programming, or online adaptive programming. The robot's travel and load capacity meet the requirements for end effector pointing and the functional modules it carries. The robot and its accompanying control cabinet must be dustproof and waterproof, depending on the application environment.

[0031] The second robotic arm 12 is connected to the fixed base 13, and the first robotic arm 11 is connected to the second robotic arm 12. The first robotic arm 11 is provided with an end-effector flange 8. The water-cooled welding gun 2 and the laser sensor 3 are fixedly arranged on the end-effector flange 8. Preferably, the laser sensor 3 adopts a point laser sensor, which is compact and does not affect the welding action of the robot and the water-cooled welding gun; the welding gun is equipped with a cooling system to avoid overheating and abnormal effects on welding.

[0032] Further, if Figure 1 As shown, a first rotary bearing 9 is connected to the fixed base 13, and the first rotary bearing 9 is connected to the second robotic arm 12 at one end away from the fixed base 13 to enable the second robotic arm 12 to rotate; the second robotic arm 12 is connected to a second rotary bearing 10 at one end away from the fixed base 13, and the first robotic arm 11 is connected to the second rotary bearing 10; the fixed base 13 is connected to a fixed base plate at one end away from the second robotic arm 12, and a wire feeder 6 is horizontally connected to the fixed base plate.

[0033] In this embodiment, a first rotary bearing 9 is provided on the fixed base 13, and a second robotic arm 12 is connected to the first rotary bearing 9. The second robotic arm 12 is rotated through the first rotary shaft 9. A second rotary bearing 10 is provided on the second robotic arm 12, and the second rotary bearing 10 is connected to the first robotic arm 11, so as to realize the rotation of the first robotic arm 11 and thus realize the movement of the water-cooled welding gun 2.

[0034] Preferably, the fixed base 13 is fixed to a fixed base plate, on which a wire feeder 6 is provided; during the welding process of the water-cooled welding gun 2, the cooling system operates synchronously. The wire feeder 6 outputs the welding wire at a constant speed.

[0035] Further, if Figure 1 As shown, the fixed base plate 13 is connected to a gun cleaning station 4 at one end away from the wire feeder 6, and the gun cleaning station 4 is provided with a closed oil spray tank; a connecting shaft is provided on the first robotic arm 11, and the end execution flange 8 is connected to the connecting shaft; the water-cooled welding gun 2 and the laser sensor 3 are arranged at intervals on the end execution flange 8, and the water-cooled welding gun 2 is provided with an anti-collision sensor.

[0036] In this embodiment, a gun cleaning station 4 is preferably connected to the fixed base plate 13. This station is spaced apart from the wire feeder 6 and features an oil spray tank, allowing anti-splatter spray directly onto the welding gun tip. This prevents contamination of the robot's workspace and reduces the amount of anti-splatter required. This effectively reduces the frequency of nozzle cleaning and extends its service life. The gun cleaning station 4 secures the nozzle of the water-cooled welding gun 2 concentrically with the reamer through a three-point fixation system. The reamer rotates and rises simultaneously, cleaning any weld slag adhering to the nozzle.

[0037] Preferably, after the point cloud algorithm completes processing, the robot can roughly locate the target arc starting point and accurately locate the arc starting point through the point laser sensor 3. The laser sensor 3 scans and processes the reflective surface information and matches the information to the structural template inside the sensor to accurately locate the welding starting point.

[0038] By interacting with industrial camera 5 and laser sensor 3, the arc starting point is accurately identified. The identified target weld structure and weld parameters are then automatically matched to process information in the welding process library and transmitted to the welding power supply. The welding power supply then outputs the corresponding welding current and voltage based on the library parameters, and the water-cooled welding gun 2 initiates the arc welding.

[0039] The water-cooled welding gun 2 and the laser sensor 3 are spaced apart on the end execution flange 8. Preferably, the water-cooled welding gun 2 is equipped with an anti-collision sensor, which automatically stops the welding process when the water-cooled welding gun is subjected to a torsional collision force, thereby effectively protecting the robot body from damage.

[0040] The working principle of the gas shielded welding device of the industrial robot in this utility model is as follows:

[0041] The industrial camera 5 is mounted in a suitable position, and its height is adjusted by independently moving the external axis 7 to ensure that point cloud images of workpieces of various sizes are captured, thereby improving the adaptability of the welding device to workpieces. After the capture is completed, the water-cooled welding gun 2 on the first robotic arm 11 is controlled to move near the arc starting point. Once near the arc starting point, the arc starting point is precisely located using the laser sensor 3. The laser sensor 3 scans and processes the reflected information to accurately locate the welding starting point. After receiving the signal, the robot controls the welding power supply to start the arc welding through the water-cooled welding gun 2 according to the welding operation generated by teaching, offline, or online programming. During the welding process of the water-cooled welding gun 2, the water cooling system operates synchronously. The wire feeder 6 outputs the welding wire at a constant speed. After welding a certain length, the gun is cleaned and the wire is cut by the gun cleaning station 4. After the gun is cleaned and the wire is cut, welding continues, and the cycle repeats until the welding operation is completed.

[0042] This utility model is based on a gas shielded welding device for an industrial robot. An industrial camera 5 is slidably mounted on the robot body and adjusted to its proper position to ensure point cloud capture of workpieces of various sizes, improving the adaptability of welding workpieces. After capturing the image, the robot's water-cooled welding gun 2 is controlled to move near the arc starting point. The water-cooled welding gun 2 is equipped with an anti-collision sensor that automatically stops the welding process if the welding gun is subjected to twisting collision forces, effectively protecting the robot body from damage. A laser sensor 3 accurately locates the arc starting point, and a wire feeder 6 delivers welding wire at a constant speed. After welding a certain length, the gun cleaning station 4 cleans the gun and trims the wire. Under the same current, this device achieves a more concentrated and stable arc, facilitating greater penetration. It also features a remote parameter adjustment function, allowing operators and welding equipment operators to manually adjust welding parameters remotely. The gun cleaning station 4 is equipped with a closed oil spray tank that sprays anti-spatter directly onto the welding gun tip, preventing contamination of the robot's workspace and reducing the amount of anti-spatter required. This also effectively reduces the frequency of welding gun nozzle cleaning, extending its service life.

[0043] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A gas shielded welding device for an industrial robot, characterized in that: It includes a robot body and a water-cooled welding gun. The water-cooled welding gun is connected to one end of the robot body. A laser sensor is connected to one side of the water-cooled welding gun to locate the arc point. A gun cleaning station is connected to the robot body to clean the water-cooled welding gun. An industrial camera is slidably connected to the robot body. A wire feeder is provided on the robot body to deliver the welding wire to the water-cooled welding gun.

2. The gas shielded welding device of an industrial robot according to claim 1, characterized in that: A movable external axis is provided along the length direction of the robot body, and an industrial camera is slidably provided on the movable external axis.

3. The gas shielded welding device of an industrial robot according to claim 1, characterized in that: The robot body includes a first robotic arm, a second robotic arm and a fixed base. The second robotic arm is connected to the fixed base. The second robotic arm is connected to the first robotic arm at one end away from the fixed base. The first robotic arm is connected to a water-cooled welding gun and a laser sensor.

4. The gas shielded welding device of an industrial robot according to claim 3, characterized in that: The first robotic arm is connected to an end effector flange, and the water-cooled welding gun and the laser sensor are both fixedly connected to the end effector flange.

5. The gas shielded welding device of an industrial robot according to claim 3, characterized in that: The fixed base is connected to a first rotary bearing, and one end of the first rotary bearing away from the fixed base is connected to the second mechanical arm to enable the second mechanical arm to rotate.

6. The gas shielded welding device of an industrial robot according to claim 5, characterized in that: One end of the second mechanical arm away from the fixed base is connected to the second rotary bearing, and the first mechanical arm is connected to the second rotary bearing.

7. The gas shielded welding device of an industrial robot according to claim 6, characterized in that: One end of the fixed base away from the second mechanical arm is connected to the fixed bottom plate, and a wire feeder is horizontally connected to the fixed bottom plate.

8. The gas shielded welding device of an industrial robot according to claim 7, characterized in that: The end of the fixed base plate away from the wire feeder is connected to a gun cleaning station, which is provided with a closed oil spraying tank.

9. The gas shielded welding device of an industrial robot according to claim 4, characterized in that: A connecting shaft is provided on the first robotic arm, and an end actuator flange is connected to the connecting shaft.

10. The gas shielded welding device of an industrial robot according to claim 4, characterized in that: The water-cooled welding gun and the laser sensor are spaced apart on the end execution flange, and the water-cooled welding gun is provided with an anti-collision sensor.

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