Welding mechanical arm

Abstract

The utility model relates to the field of welding equipment, and discloses a welding mechanical arm which comprises a ground rail, a workbench, a cantilever, a welding mechanical arm body and a gun cleaner, the ground rail comprises a bottom frame, guide rails and levelers, the levelers are installed at the bottom of the bottom frame, the parallel guide rails are installed at the tops of the two sides of the bottom frame, and the workbench is slidably installed on the guide rails through sliding blocks; a servo gear motor is installed on the working table and drives the working table to move on the ground rail, protective plates wrapping the ground rail are installed at the bottom and on the two sides of the bottom frame, one end of the cantilever is fixed to the working table, the welding mechanical arm is installed at the other end of the cantilever, and a welding machine for welding machining, a welding wire barrel, a water tank and a control cabinet are installed on the working table. The end of the welding mechanical arm is provided with a line laser sensor for recognizing the position and direction of a welding seam. Welding operation can be automatically and completely carried out according to the welding path confirmed by an operator, the welding requirement of an oversized workpiece can be met, and the welding device has a large coverage range.

Description

Technical Field

[0001] The present invention relates to the field of welding equipment, in particular to a welding robot arm. Background Art

[0002] The welding of oversized workpieces is difficult and requires high technical skills from welders due to their large size and varying thickness. Furthermore, welding oversized workpieces requires multiple welders to take turns welding. This welding method is not only inefficient but also labor-intensive and labor-intensive, resulting in high labor costs. Prior art has proposed the use of welding robots to replace manual labor for simple welding tasks. However, existing welding robots are difficult to meet the requirements of large workpieces for complex welding processes. Direct use of these robots will result in substandard welding quality. Furthermore, oversized workpieces have long welding paths and multiple weld types, requiring improvements to existing welding robots to meet the requirements of oversized workpieces and reduce manual labor intensity. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems in the background technology and provide a welding robot arm with multiple degrees of freedom. The welding robot arm can automatically weld according to the welding path set by the staff and can perform welding according to the set welding process in conjunction with the visual system.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A welding robot arm comprises a ground rail, a workbench, a cantilever and a welding robot arm, wherein the ground rail comprises a bottom frame, a short beam, a guide rail, a rack, a guard plate and a leveler, a plurality of short beams are welded in parallel in the bottom frame, a leveler is installed at the bottom of the bottom frame at both ends of each short beam, parallel guide rails are installed on the tops of both sides of the bottom frame, the workbench is slidably mounted on the guide rails through a slider, the rack is mounted on one side of the guide rail, a servo reduction motor is mounted on the workbench, the servo reduction motor drives the workbench to move by meshing with the rack, a guard plate wrapping the ground rail is installed at the bottom and both sides of the bottom frame, one end of the cantilever is fixed on the workbench, and the welding robot arm is mounted on the other end of the cantilever. The workbench is equipped with a welding machine, a welding wire barrel, a water tank and a control cabinet to assist the welding robot arm in realizing the welding process. The end of the welding robot arm is equipped with a line laser sensor for identifying the position and direction of the weld. The welding robot arm includes a base, a turntable, a support arm, a movable arm and a welder. The base is fixed on the surface of the cantilever end, the turntable is rotatably installed on the base, the support arm is hinged on the turntable, the end of the support arm away from the turntable is hinged to the movable arm, the end of the movable arm is equipped with a welder, the end of the movable arm close to the support arm is equipped with a wire feeder, the wire feeder is equipped with a wire feeding tube connected to the wire reel, and the welding wire in the wire reel is fed to the welder along the wire feeding tube under the action of the wire feeder.

[0006] An inverted L-shaped support rod is installed on the workbench on one side of the cantilever, and a tension balancer for hanging the wire feeding tube is hung on the support rod.

[0007] The welder includes a support, a bent nozzle welding gun, a mounting plate, a camera, an extension rod and an adjustment plate. The support is hinged at the end of the movable arm, and the bent nozzle welding gun is installed on the support. One side of the support is also connected to the mounting plate. The camera is connected to the mounting plate, and an extension rod is also installed on the mounting plate. The end of the extension rod is connected to the adjustment plate. The line laser sensor is installed on the adjustment plate, and the line laser sensor is parallel to the nozzle of the bent nozzle welding gun through the adjustment plate. A light shielding plate is installed on the line laser sensor.

[0008] A bellows connected to the controller and the welder is installed on the cantilever, and a wire harness set is installed in the bellows.

[0009] The welding robot arm provided by the present invention has the following beneficial effects:

[0010] (1) The welder has a wide coverage range through the coordination of the turntable, support arm and movable arm;

[0011] (2) By setting up a welder and using a camera to plan the welding path, the operator only needs to select the corresponding welding line, and the controller can control the welding robot to perform welding operations on the workpiece along the set welding line. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 A schematic diagram of the structure provided by an embodiment of the present invention.

[0014] Figure 2 A schematic structural diagram of a ground rail provided in an embodiment of the present invention.

[0015] Figure 3 A schematic diagram of the internal structure of the ground rail provided in an embodiment of the present invention.

[0016] Figure 4 Schematic diagram of the structure of the workbench provided in an embodiment of the present invention Figure 1 .

[0017] Figure 5 Schematic diagram of the structure of the workbench provided in an embodiment of the present invention Figure 2 .

[0018] Figure 6 Schematic diagram of the structure of the welding robot arm provided in the embodiment of the present invention Figure 1 .

[0019] Figure 7 Schematic diagram of the structure of the welding robot arm provided in the embodiment of the present invention Figure 2 .

[0020] Figure 8 This is a schematic structural diagram of a gun cleaner provided in an embodiment of the present invention.

[0021] Figure 9 Schematic diagram of the internal structure of the gun cleaner provided by the embodiment of the present invention Figure 1 .

[0022] Figure 10 Schematic diagram of the internal structure of the gun cleaner provided by the embodiment of the present invention Figure 2 .

[0023] Figure 11 Schematic diagram of the internal structure of the gun cleaner provided by the embodiment of the present invention Figure 3 .

[0024] Figure 12 This is a schematic diagram of the use status of the gun cleaner provided by an embodiment of the present invention.

[0025] Reference numerals:

[0026] 100, floor rail; 101, bottom frame; 103, short beam; 104, guide rail; 105, connecting hole; 106, rack; 107, guard plate; 109, drag chain; 110, groove; 111, end limiter; 112, in-position switch; 113, leveler; 114, bearing plate; 115, rib plate; 116, adjusting screw; 117, foot support plate;

[0027] 200, workbench; 201, servo reduction motor; 203, welding machine; 204, welding wire barrel; 205, water tank; 206, control cabinet; 207, support rod; 208, tension balancer; 209, screen;

[0028] 300, cantilever; 301, bellows;

[0029] 400, welding robot arm; 401, base; 402, turntable; 403, support arm; 404, movable arm; 405, wire feeder; 406, wire feed tube; 407, welder; 408, support; 409, bent nozzle welding gun; 410, mounting plate; 411, visual recognition module; 412, extension rod; 413, adjustment plate; 414, line laser sensor;

[0030] 500, gun cleaner; 501, column; 502, control box; 503, operating table; 504, motor; 505, screw mechanism; 506, reamer; 507, chip groove; 508, through groove; 509, clamping seat; 510, positioning block; 511, clamping cylinder; 512, oil storage bottle; 513, oil nozzle; 514, protective cover; 515, fixing seat; 516, articulated rod; 517, shearing cylinder; 518, cutting edge; 519, collecting hopper. DETAILED DESCRIPTION

[0031] Example

[0032] like Figures 1 to 11As shown, the automatic welding device provided in this embodiment includes a ground rail 100, a workbench 200, a cantilever 300, a welding robot arm 400 and a gun cleaner 500. The ground rail 100 includes a bottom frame 101, a short beam 103, a guide rail 104, a rack 106, a guard plate 107 and a leveler 113. Multiple short beams 103 are welded in parallel in the bottom frame 101. The short beams 103 can increase the structural strength of the bottom frame 101, thereby ensuring the load-bearing effect of the bottom frame 101. Levelers 113 are installed at the bottom of the bottom frame 101 at both ends of each short beam 103. Multiple levelers 113 are used In order to adjust the horizontal position and height of the ground rail 100 to provide a stable working environment for the welding robot arm 400 to ensure the welding quality, parallel guide rails 104 are installed on the top of both sides of the bottom frame 101, and the workbench 200 is slidably installed on the guide rails 104 through sliders. A drag chain 109 connected to the workbench 200 is installed on the bottom frame 101. On the one hand, it is used to detect the position of the workbench 200 to facilitate welding by the welding robot arm 400, and on the other hand, it increases the coverage of the welding robot arm 400 to adapt to the welding of oversized workpieces. The rack 106 is installed on one side of the guide rail 104, and a servo reduction motor 504201 is installed on the workbench 200. The servo reduction motor 504201 drives the workbench 200 to move by engaging the gear with the rack 106. The bottom and both sides of the bottom frame 101 are installed with a guard plate 107 that wraps the ground rail 100. The guard plate 107 is used to wrap the guide rail 104 and the rack 106 of the ground rail 100, which can reduce the impact of the external environment on the accuracy of the ground rail 100, thereby ensuring the welding accuracy. One end of the cantilever 300 is fixed on the workbench 200, and the welding robot arm 400 is installed at the other end of the cantilever 300. The workbench 200 is equipped with a welding machine 203, a welding wire barrel 204, and a water tank that assist the welding robot arm 400 to realize welding processing. 205 and control cabinet 206, welding machine 203, welding wire barrel 204, water tank 205 and control cabinet 206 are installed on the workbench 200. On the one hand, they can increase the weight of the workbench 200, thereby improving the stability of the workbench 200 moving on the ground rail 100. On the other hand, they can reduce the deadweight of the welding robot arm 400, improve the stability of the cantilever 300 support, and ensure the stability of the welding robot arm 400 when moving. A line laser sensor 414 for identifying the position and direction of the weld is installed at the end of the welding robot arm 400. The line laser sensor 414 can effectively improve the welding accuracy of the welding robot arm 400 and improve the welding quality. A gun cleaner 500 is installed on the cantilever 300. The gun cleaner 500 is used to clean the welding gun to ensure the welding quality.

[0033] In order to improve the stability of the workbench 200 traveling on the ground rail 100, as Figure 2 、 Figure 3As shown, a drag chain 109 is installed in the base frame 101, a groove 110 for storing the drag chain 109 is installed on the short beam 103, end point limiters 111 are installed at both ends of the outer wall of the base frame 101, and an in-position switch 112 that can be connected to the end point limiter 111 is installed on the workbench 200. The drag chain 109 can provide energy and signals for the workbench 200 and the welding robot 400 installed on the workbench 200, effectively ensuring the normal operation of welding. At the same time, the end point limiter 111 and the in-position switch 112 can limit the moving stroke of the workbench 200 to prevent the workbench 200 from moving out of the support range of the ground rail 100.

[0034] Since the workbench 200 has a heavy load, in order to improve the stability of the ground rail 100 support, Figure 2 、 Figure 3 As shown, the guide rail 104 is uniformly processed with a plurality of connecting holes 105 along the length direction, and the base frame 101 is processed with a positioning hole aligned with each connecting hole 105. The guide rail 104 is fixedly connected to the base frame 101 by passing the locking screws through the connecting holes 105 and the positioning holes. The locking screws can improve the stability and anti-bending effect of the connection of the guide rail 104, and effectively prevent the guide rail 104 from being laterally displaced due to being too long or the weight of the workbench 200 pressing the guide rail 104.

[0035] In order to facilitate the leveling of the ground rail 100, Figure 3 As shown, the leveler 113 includes a load-bearing plate 114, a rib plate 115, an adjusting screw 116 and a foot support plate 117. One end of the load-bearing plate 114 extends to the outside of the base frame 101. The rib plate 115 supporting the load-bearing plate 114 is installed on the side wall of the lower part of the base frame 101. The rib plate 115 is vertically arranged, and the adjusting screw 116 is threadedly connected to the load-bearing plate 114. The bottom of the adjusting screw 116 is connected to the foot support plate 117. The vertically arranged rib plate 115 can increase the load capacity and further improve the supporting effect of the leveler 113 on the workbench 200.

[0036] To facilitate welding, Figure 6 、 Figure 7As shown, the welding robot arm 400 includes a base 401, a turntable 402, a support arm 403, a movable arm 404 and a welder 407. The base 401 is fixed to the end surface of the cantilever 300, the turntable 402 is rotatably mounted on the base 401, the turntable 402 is hinged with a support arm 403, the end of the support arm 403 away from the turntable 402 is hinged with the movable arm 404, and the end of the movable arm 404 is mounted with a welder 407. In order to adapt to the welding of super-large workpieces, the end of the movable arm 404 close to the support arm 403 is mounted with a wire feeder 405, and the wire feeder 405 is mounted with a wire feeding tube 406 connected to the wire drum. The welding wire in the welding wire reel is fed to the welder 407 along the wire feeding tube 406 under the action of the wire feeder 405. Placing the welding wire reel on the workbench 200 can reduce the weight of the robot arm and improve the stability of the cantilever 300 supporting the welding robot arm 400. However, in order to avoid entanglement between the wire feeding tube 406 and the welding robot arm 400, an inverted L-shaped support rod 207 is installed on the workbench 200 on one side of the cantilever 300, and a tension balancer 208 for hanging the wire feeding tube 406 is hung on the support rod 207. The tension balancer 208 bears the weight of the wire feeding tube 406 under the action of the support rod 207, thereby reducing the weight of the welding robot arm 400.

[0037] In order to improve welding accuracy, such as Figure 7 As shown, the welder 407 includes a support 408, a bent nozzle welding gun 409, a mounting plate 410, a visual recognition module 411 (camera), an extension rod 412 and an adjustment plate 413. The support 408 is hinged at the end of the movable arm 404. The support 408 is equipped with a bent nozzle welding gun 409. One side of the support 408 is also connected to a mounting plate 410. The visual recognition module 411 (camera) is connected to the mounting plate 410. The visual recognition module 411 (camera) is used to identify the position and direction of the weld. The visual recognition module 411 uses a structured light camera to shoot the weld and transmits the data to the controller to provide a reference for the operation of the welder 203. The workbench 200 is equipped with a screen 209 for viewing the information captured by the visual recognition module 411 (camera), a keyboard, a mouse and other peripherals. The controller then controls the welding robot arm 400 to drive the bent nozzle welding gun 409 to perform welding processing. An extension rod 412 is also installed on the mounting plate 410, and an adjustment plate 413 is connected to the end of the extension rod 412. The line laser sensor 414 is installed on the adjustment plate 413, and the line laser sensor 414 is parallel to the nozzle of the bent nozzle welding gun 409 through the adjustment plate 413. A light shielding plate is installed on the line laser sensor 414. The light shielding plate can reduce the impact of the temperature during welding on the line laser sensor 414, thereby effectively improving the welding accuracy.

[0038] In order to ensure that the controller and the welding machine 203 control the welding robot 400, as shown in FIG. Figure 4 、 Figure 5As shown, the cantilever 300 is equipped with a bellows 301 connecting the controller and the welder 407, and a wiring harness is installed in the bellows 301. The wiring harness includes the electrical energy for controlling the operation of the welding robot 400 and also includes the communication signal between the welding robot 400 and the controller.

[0039] In order to ensure the quality of welding machine 203, Figure 4 、 Figure 5 As shown, the cantilever 300 is equipped with a gun cleaner 500. Figures 8 to 11As shown, the gun cleaner 500 mainly includes functions such as gun cleaning, wire cutting, and oil spraying, which provide assistance for high-precision welding. The gun cleaner 500 includes a column 501, a control box 502, a gun clamping device, an oil spraying device, and a wire cutting device. The column 501 is installed on one side of the cantilever 300, and the control box 502 is installed and connected to the top of the column 501. An operating table 503 is provided on the side wall of the control box 502. A motor 504 is vertically installed in the operating table 503. A screw mechanism 505 that can drive the motor 504 to rise and fall is installed in the control box 502. A reamer 506 is installed on the output shaft of the motor 504. The gun clamping device is as large as the operating table 50 3, the gun clamping device includes a clamping seat 509, a positioning block 510 and a clamping cylinder 511. The clamping seat 509 is C-shaped, and the back of the C-shaped clamping seat 509 is connected to the control box 502. The positioning block 510 and the clamping cylinder 511 are symmetrically installed on the side walls on both sides of the clamping seat 509, and the positioning hole cooperates with the clamping cylinder 511 to clamp the bent nozzle welding gun 409. When the bent nozzle welding gun 409 is aligned with the reamer 506, the motor 504 drives the reamer 506 to rotate, and the screw mechanism 505 drives the reamer 506 to move up and down to clean the bent nozzle welding gun 409. In order to shorten the cleaning time of the welding gun, the reamer 506 is hollow, and the side wall of the reamer 506 is processed with The chip groove 507 is provided, and the chips are thrown out from the chip groove 507. The oil spraying device includes an oil storage bottle 512 and an oil spray nozzle 513 connected to the oil storage bottle 512 through a pipeline. There are two oil spray nozzles 513, which are symmetrically installed in the operating table 503 on both sides of the reamer 506. The reamer 506 below the chip groove 507 is processed with a through groove 508 that passes through the reamer 506. The oil outlet direction of the oil spray nozzle 513 is aligned with the through groove 508. The wire cutting device is installed on the outside of the opening direction of the clamping seat 509. The wire cutting device includes a protective cover 514, a fixing seat 515, a hinged rod 516, a shearing cylinder 517 and a cutting edge 518. The protective cover 514 is connected from top to bottom, and the fixed seat 515 is fixed on the inner wall of one side of the protective cover 514. The middle part of the hinged rod 516 is hinged to the bottom of the fixed seat 515. The shear cylinder 517 is installed below the fixed seat 515. The piston rod of the shear cylinder 517 is connected to the bottom end of the hinged rod 516. The shear cylinder 517 drives the top of the hinged rod 516 to move closer to or away from the top of the fixed seat 515. The adjacent tops of the hinged rod 516 and the fixed seat 515 are both equipped with cutting edges 518. A detachable collecting hopper 519 is installed on the column 501 below the protective cover 514. The two cutting edges 518 move closer to or away from each other under the drive of the shear cylinder 517.

[0040] The method of use of the present invention is:

[0041] When using, such as Figure 12As shown, the worker places the workpiece to be welded in the welding area, and then moves it to a suitable starting position for welding. Then the worker controls the movement of the welding robot arm 400 and the workbench 200 according to the welding path, and scans the welding position of the workpiece. If the welding robot arm 400 cannot reach the area, the workbench 200 is moved to scan it. At the same time, the visual recognition module 411 (camera) analyzes the weld and calculates a path suitable for welding. Finally, after manually confirming the welding path, the welding process and welding speed are selected. After selection, the welding robot arm 400 controls the welder 407 to automatically weld the workpiece, and the controller records it.

[0042] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modification or replacement based on the technical solution and inventive concept provided by the present invention shall be covered by the scope of protection of the present invention. It should be noted that the structures or components illustrated in the drawings are not necessarily drawn to scale, and the present invention omits descriptions of well-known components and processing technologies and processes to avoid unnecessary limitations on the present invention.

Claims

1. A welding robot arm, characterized in that: It includes a ground rail, a workbench, a cantilever and a welding robot arm. The ground rail includes a bottom frame, a short beam, a guide rail, a rack, a guard plate and a leveler. Multiple short beams are welded in parallel in the bottom frame. Levelers are installed at the bottom of the bottom frame at both ends of each short beam. Parallel guide rails are installed on the tops of both sides of the bottom frame. The workbench is slidably mounted on the guide rails through sliders. The rack is installed on one side of the guide rails. A servo reduction motor is installed on the workbench. The servo reduction motor drives the workbench to move by meshing the gear and the rack. Guard plates wrapping the ground rails are installed at the bottom and both sides of the bottom frame. One end of the cantilever is fixed on the workbench, and the welding robot arm is installed at the other end of the cantilever. A welding machine, a welding wire barrel, a water tank and a control cabinet are installed on the top of the welding robot arm to assist the welding process. A line laser sensor for identifying the position and direction of the weld is installed at the end of the welding robot arm. The welding robot arm includes a base, a turntable, a support arm, a movable arm and a welder. The base is fixed on the surface of the cantilever end, the turntable is rotatably installed on the base, the support arm is hinged on the turntable, the end of the support arm away from the turntable is hinged to the movable arm, the welder is installed at the end of the movable arm, a wire feeder is installed at the end of the movable arm close to the support arm, and a wire feeding tube connected to the wire reel is installed on the wire feeder. The welding wire in the wire reel is sent to the welder along the wire feeding tube under the action of the wire feeder.

2. The welding robot arm according to claim 1, characterized in that: An inverted L-shaped support rod is installed on the workbench on one side of the cantilever, and a tension balancer for hanging the wire feeding tube is hung on the support rod.

3. The welding robot arm according to claim 1, characterized in that: The welder includes a support, a bent nozzle welding gun, a mounting plate, a camera, an extension rod and an adjustment plate. The support is hinged at the end of the movable arm, and the bent nozzle welding gun is installed on the support. One side of the support is also connected to the mounting plate. The camera is connected to the mounting plate, and an extension rod is also installed on the mounting plate. The end of the extension rod is connected to the adjustment plate. The line laser sensor is installed on the adjustment plate, and the line laser sensor is parallel to the nozzle of the bent nozzle welding gun through the adjustment plate. A light shielding plate is installed on the line laser sensor.

4. The welding robot arm according to claim 1, characterized in that: A bellows connected to the controller and the welder is installed on the cantilever, and a wire harness set is installed in the bellows.

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