Welding robot

Abstract

The utility model discloses a welding robot which comprises a trolley, a mechanical arm, a welding gun, a heating part and a preheating part. The mechanical arm is installed on the trolley and provided with a moving end capable of moving relative to the trolley. The welding gun is arranged at the moving end and provided with a material conveying channel used for conveying welding flux, and the welding gun is provided with a welding end and a feeding end located at the two ends of the welding gun. The heating part is arranged on the welding gun and located between the welding end and the feeding end. The preheating part comprises a hot-air blower, a main pipe and a branch pipe, the main pipe and the branch pipe are connected with an air outlet of the hot-air blower, the hot-air blower is arranged at the moving end, the air outlet direction of the main pipe is the same as the discharging direction of the welding gun, and the branch pipe is further communicated with the feeding end. According to the scheme, the welding seam part and the welding flux can be preheated at the same time, the welding efficiency and quality are improved, the structure is relatively simple, the investment cost is saved, the welding seam is filled with the welding flux for welding, the non-conductive polymer material can be directly welded, and the applicability is good.

Description

Technical Field

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

[0002] In order to prevent hydrogen molecules from escaping, deep underground hydrogen storage structures are generally lined with polymer materials on their inner layer. The polymer material lining is often fixed into shape by welding during construction.

[0003] Publication number CN103157900A discloses a welding robot, whose welding clamps have a clamp drive and two welding electrodes that can be pressed relative to each other by means of the clamp drive. When the welding robot is operating normally, the two welding electrodes are pressed relative to at least two objects to be welded by resistance welding, and electrical energy is provided to the welding electrodes by a welding motor during resistance welding.

[0004] This patent uses resistance welding electrodes to perform resistance welding, which can improve production efficiency, but the equipment is complex, high power, and relatively high cost, and non-conductive polymer materials cannot be directly welded by resistance welding. Utility Model Content

[0005] The purpose of the present invention is to overcome the above technical deficiencies and to provide a welding robot to solve the technical problem that welding robots in the prior art perform resistance welding through welding electrodes and cannot directly weld non-conductive polymer materials.

[0006] In order to achieve the above technical purpose, the present invention adopts the following technical solutions:

[0007] The utility model provides a welding robot, comprising:

[0008] Trolley;

[0009] a robotic arm, mounted on the trolley and having a movable end capable of moving relative to the trolley;

[0010] A welding gun, provided at the movable end, having a material passage for conveying solder, and having a welding end and a feeding end located at both ends thereof; and

[0011] a heating portion, provided on the welding gun and located between the welding end and the feeding end;

[0012] The preheating part includes a hot air blower and a main pipe and a branch pipe respectively connected to the air outlet of the hot air blower. The hot air blower is arranged at the movable end. The air outlet direction of the main pipe is the same as the discharge direction of the welding gun. The branch pipe is also connected to the feeding end.

[0013] In some embodiments, the welding robot further includes a solder bin and an extrusion portion, wherein the solder bin is disposed at the movable end and is connected to the feed end, and the extrusion portion is disposed at the welding gun for driving the solder to move from the feed end toward the welding end.

[0014] In some embodiments, the extrusion part includes a driving motor, a driving screw, an extrusion rod and a transmission nut. The driving motor is arranged at the movable end, and the driving screw is connected to the output shaft of the driving motor and extends along the arrangement direction of the feeding end and the welding end. One end of the extrusion rod is passed through the feeding channel and can move along its axial direction, and the other end is located outside the feeding channel. The transmission nut is sleeved on the outside of the driving screw and connected to the end of the extrusion rod located outside the feeding channel, and is used to convert the rotation of the driving screw into the movement of the extrusion rod along its axial direction.

[0015] In some embodiments, the welding robot further comprises a mounting box, which is mounted on the mobile end and has a mounting cavity, and a connecting hole connecting the outside with the mounting cavity is provided in a direction close to the feeding end;

[0016] The driving motor, the driving screw and the transmission nut are located in the installation cavity, and one end of the extruding rod located outside the material feeding channel extends into the installation cavity from the communicating hole.

[0017] In some embodiments, a limit groove is provided on the inner wall of the mounting cavity and one of the extrusion rods, and a limit block is provided on the other. The limit groove extends along the axial direction of the extrusion rod, and the limit block is clamped in the limit groove to limit the rotation of the extrusion rod around its axial direction.

[0018] In some embodiments, one end of the extruder rod located in the material passage is an extrusion end, the feed end is provided with a feed port connected to the solder bin, and the connection point between the branch pipe and the feed end is located on a side of the feed port close to the welding end;

[0019] The extrusion portion further includes a reset spring, which is connected to the movable end and the transmission nut and is used to drive the extrusion end to reset from a position close to the welding end to a side of the feed port away from the welding end.

[0020] In some embodiments, the welding robot also includes an electric push rod and a coating head. The electric push rod is arranged at the moving end, and its telescopic rod is telescopic along the arrangement direction of the feeding end and the welding end. The coating head is installed at the end of the telescopic rod.

[0021] In some embodiments, the coating head and the main pipe are respectively arranged on two opposite sides of the welding gun in the radial direction and are spaced apart from the welding gun.

[0022] In some embodiments, a slide groove is provided on the outer wall of the welding gun and one of the telescopic rod, and a slider is provided on the other. The slide groove extends along the axial direction of the telescopic rod, and the slider is provided in the slide groove.

[0023] In some embodiments, the heating part includes an insulation tube and multiple electric heating rings. The insulation tube is mounted on the outside of the welding gun. The multiple electric heating rings are arranged on the welding gun and are spaced apart along the arrangement direction of the feeding end and the welding end, and are located inside the insulation tube.

[0024] Compared with the prior art, the welding robot provided by the present invention first moves the mechanical arm to a position adjacent to the part to be welded by means of a trolley, and then adjusts the mechanical arm to move its moving end to the weld; then the hot air blower is started, and part of the hot air is blown to the weld through the main pipe to preheat the weld part so that its surface is in a molten state; at the same time, another part of the hot air from the hot air blower is blown to the feed end of the welding gun through the main pipe to preheat the solder being transported to the material feeding channel, so that the solder can be quickly heated to a molten state by the heating part during the process of moving to the welding end, and finally discharged from the welding end and fill the weld to complete the welding. In this solution, the weld part and the solder can be preheated at the same time, thereby improving the welding efficiency and quality, and the structure is relatively simple, saving investment costs, and the weld is filled with solder for welding, and non-conductive polymer materials can be directly welded, which has good applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of a welding robot provided by an embodiment of the present utility model;

[0026] Figure 2 is a schematic diagram of a welding robot provided by another embodiment of the present utility model;

[0027] Figure 3 yes Figure 1 Partial cross-sectional view of the welding robot;

[0028] Figure 4 yes Figure 3 Partial schematic diagram of the welding robot;

[0029] Figure 5 yes Figure 3 Partial schematic diagram of the middle extrusion section;

[0030] Figure 6 yes Figure 1 Schematic diagram of the welding robot preheating the weld of the polymer lining;

[0031] Figure 7 yes Figure 1Schematic diagram of the welding robot extruding solder into the weld of the polymer lining;

[0032] Figure 8 yes Figure 1 Schematic diagram of a welding robot leveling the solder at the weld seam of a polymer lining.

[0033] Description of reference numerals:

[0034] 100. Welding robot; 1. Trolley; 2. Robotic arm; 21. Mobile end; 3. Welding gun; 3a. Material feeding channel; 31. Welding end; 32. Feeding end; 32a. Feeding port; 32b. Air inlet; 4. Heating unit; 41. Insulation cylinder; 42. Electric heating ring; 5. Hot air blower; 51. Main pipe; 52. Branch pipe; 6. Solder bin; 7. Extrusion unit; 71. Driving motor; 72. Driving screw; 73. Extrusion rod; 731. Extrusion end; 74. Transmission nut; 75. Return spring; 8. Mounting box; 9. Electric push rod; 91. Applicator head; 92. Telescopic rod; 93. Slider; 10. Polymer material unit. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] In order to solve the technical problems in the prior art that welding robot equipment is complex and relatively costly, and non-conductive polymer materials cannot be directly welded using resistance welding, the utility model provides a welding robot that can preheat the weld area and solder at the same time, thereby improving welding efficiency and quality. It has a relatively simple structure, saves costs, and uses solder to fill the weld for welding. It can be directly applied to non-conductive polymer materials and has good applicability.

[0037] See also Figures 1 to 3 , Figures 1 to 3This is a schematic diagram of the structure of a welding robot 100 in the present invention. The welding robot 100 includes a trolley 1, a robotic arm 2, a welding gun 3, a heating unit 4, and a preheating unit. The robotic arm 2 is mounted on the trolley 1 and has a movable end 21 that can move relative to the trolley 1. The welding gun 3 is located at the movable end 21 and has a material passage 3a for conveying solder, with a welding end 31 and a feeding end 32 located at its two ends. The heating unit 4 is located on the welding gun 3 and is located between the welding end 31 and the feeding end 32. The preheating unit includes a hot air blower 5 and a main pipe 51 and a branch pipe 52 respectively connected to the air outlet of the hot air blower 5. The hot air blower 5 is located at the movable end 21. The air outlet direction of the main pipe 51 is the same as the discharge direction of the welding gun 3. The branch pipe 52 is also connected to the feeding end 32. In other words, the main pipe 51 is connected to the air outlet of the hot air blower 5 and its air outlet direction is the same as the discharge direction of the welding gun 3. The branch pipe 52 connects the air outlet of the hot air blower 5 with the feeding end 32.

[0038] When the welding robot 100 provided by the present invention is in operation, the robot arm 2 is first moved to a position adjacent to the part to be welded by the trolley 1, and then the robot arm 2 is adjusted to move its movable end 21 to the weld; then the hot air blower 5 is started to work, and part of the hot air is blown to the weld through the main pipe 51 to preheat the weld part so that its surface is in a molten state; at the same time, another part of the hot air from the hot air blower 5 is blown to the feed end 32 of the welding gun 3 through the main pipe 51 to preheat the solder delivered to the feeding channel 3a, so that the solder can be quickly heated to a molten state by the heating part 4 during the process of moving to the welding end 31, and finally discharged from the welding end 31 and fill the weld, completing the welding. In this solution, the weld part and the solder can be preheated at the same time, improving the welding efficiency and quality, and the structure is relatively simple, saving investment costs, and the weld is filled with solder for welding, which can directly weld non-conductive polymer materials and has good applicability.

[0039] It should be noted that, in one embodiment, the robotic arm 2 includes at least two connecting arms. The two connecting arms at either end are capable of relative movement in at least any direction, allowing the mobile end 21 to move in any direction relative to the trolley 1. The connecting arm at one end is mounted on the trolley 1 via a rotating base. Specifically, the connecting arm is hingedly connected to the rotating base via an ear plate. It should be understood that the specific structure and operating principle of the robotic arm 2 are prior art and will not be elaborated upon here.

[0040] In one embodiment, the welding robot 100 further includes a solder bin 6 and a material extrusion portion 7. The solder bin 6 is disposed at the movable end 21 and is connected to the feed end 32. The material extrusion portion 7 is disposed at the welding gun 3 for driving the solder to move from the feed end 32 toward the welding end 31.

[0041] In this embodiment, the solder bin 6 is also provided in the movable end 21, so that the solder can continuously enter the material channel 3a of the welding gun 3, and the solder in the material channel 3a is driven to move toward the welding end 31 by the extruding portion 7, thereby improving the degree of automation.

[0042] It should be noted that the configuration of the extrusion unit 7 is not limited, as long as it can drive the solder from the feed end 32 to the welding end 31. In one embodiment, the extrusion unit 7 is configured as an electric extrusion push rod, and the push rod of the electric extrusion push rod extrudes the solder. In another embodiment, the extrusion unit 7 is configured as a hydraulic push rod, and the push rod of the hydraulic push rod also extrudes the solder.

[0043] In one embodiment, see Figures 3 to 5 The extrusion part 7 includes a drive motor 71, a drive screw 72, an extrusion rod 73 and a transmission nut 74. The drive motor 71 is arranged at the movable end 21. The drive screw 72 is connected to the output shaft of the drive motor 71 and extends along the arrangement direction of the feed end 32 and the welding end 31. One end of the extrusion rod 73 is passed through the feeding channel 3a and can move along its axial direction. The other end is located outside the feeding channel 3a. The transmission nut 74 is sleeved on the outside of the drive screw 72 and connected to the end of the extrusion rod 73 located outside the feeding channel 3a, which is used to convert the rotation of the drive screw 72 into the movement of the extrusion rod 73 along its axial direction.

[0044] In this embodiment, the output shaft of the driving motor 71 rotates, thereby driving the driving screw 72 to rotate synchronously, and through the cooperation of the driving screw 72 and the transmission nut 74, the rotation of the driving screw 72 is converted into the linear movement of the extrusion rod 73, thereby realizing extrusion, and at the same time keeping the driving motor 71 away from the heat source, the structure is stable and reliable.

[0045] In one embodiment, the welding robot 100 also includes an installation box 8, which is installed on the mobile end 21 and has an installation cavity, and a connecting hole connecting the outside and the installation cavity is provided in the direction close to the feed end 32; the drive motor 71, the drive screw 72 and the transmission nut 74 are located in the installation cavity, and the extrusion rod 73 is located at one end outside the feeding channel 3a and extends into the installation cavity from the connecting hole.

[0046] In this embodiment, the driving motor 71 , the driving screw 72 and the transmission nut 74 are arranged in the installation cavity of the installation box 8 to protect the above components.

[0047] In one embodiment, a limit groove is provided on the inner wall of the mounting cavity and one of the extrusion rod 73, and a limit block is provided on the other. The limit groove extends along the axial direction of the extrusion rod 73, and the limit block is clamped in the limit groove to limit the rotation of the extrusion rod 73 around its axial direction.

[0048] In this embodiment, the limiting groove and the limiting block cooperate to limit the extrusion rod 73 from being synchronously driven to rotate by the driving screw 72, ensuring that the transmission nut 74 can stably convert the rotation of the driving screw 72 into the linear movement of the extrusion rod 73, thereby improving stability.

[0049] In one embodiment, see Figure 3 and Figure 4 One end of the extrusion rod 73 located in the material feeding channel 3a is the extrusion end 731, and the feed end 32 is provided with a feed port 32a connected to the solder bin 6, and the connection point between the branch pipe 52 and the feed end 32 is located on the side of the feed port 32a close to the welding end 31; the extrusion part 7 also includes a reset spring 75, which connects the moving end 21 and the transmission nut 74, and is used to drive the extrusion end 731 to reset from a position close to the welding end 31 to a side of the feed port 32a away from the welding end 31.

[0050] In this embodiment, the feed end 32 is provided with an air inlet 32b, which is spaced apart and located on the side of the feed port 32a close to the welding end 31 and is connected to the branch pipe 52. After the extrusion rod 73 squeezes the solder from the front end of the material passage 3a, the drive motor 71 is stopped to drive the extrusion rod 73 to continue moving toward the welding end 31. The extrusion rod 73 can be quickly reset under the action of the reset spring 75, so that the extrusion end 731 is located on the side of the feed port 32a away from the air inlet 32b, ensuring that the solder stably enters the material passage 3a and is preheated. It should be noted that in one embodiment, the torque of the reset spring 75 is greater than the starting torque of the drive motor 71 and less than the working torque of the drive motor 71, so as to be able to drive the extrusion rod 73 to reset.

[0051] In one embodiment, the welding robot 100 also includes an electric push rod 9 and a coating head 91. The electric push rod 9 is arranged at the moving end 21, and its telescopic rod 92 is telescopic along the arrangement direction of the feeding end 32 and the welding end 31. The coating head 91 is installed at the end of the telescopic rod 92.

[0052] In this embodiment, an electric push rod 9 and a coating head 91 are also provided at the mobile end 21. In this way, after the welding gun 3 fills the weld with solder, the robotic arm 2 can cooperate with the electric push rod 9 to drive the coating head 91 to coat the solder at the weld smoothly, thereby preventing the problem of poor welding quality caused by uneven solder.

[0053] In one embodiment, the coating head 91 and the main pipe 51 are respectively disposed on two opposite sides of the welding gun 3 in the radial direction and are spaced apart from the welding gun 3 .

[0054] In this embodiment, the main pipe 51 and the coating head 91 are placed on both sides of the welding gun 3 in the radial direction, so that when the robot arm 2 drives the welding gun 3 to move toward the side where the main pipe 51 is provided, the main pipe 51 first preheats the weld area, then the welding gun 3 outputs the solder, and finally the solder is smoothed through the coating head 91, making the whole process smoother and further improving the welding quality and efficiency.

[0055] In one embodiment, a slide groove is provided on the outer wall of the welding gun 3 and one of the telescopic rod 92 , and a slider 93 is provided on the other. The slide groove extends along the axial direction of the telescopic rod 92 , and the slider 93 is provided in the slide groove.

[0056] In this embodiment, a slider 93 and a slide groove are provided between the welding gun 3 and the telescopic rod 92 of the electric push rod 9 to guide and support the telescopic rod 92 and ensure the stability of the solder coating head 91.

[0057] It should be noted that the arrangement of the heating unit 4 is not limited, as long as it can heat the solder in the welding gun 3 to a molten state. In one embodiment, the heating unit 4 is arranged in the form of electromagnetic heating, while in another embodiment, the heating unit 4 is arranged in the form of fuel heating.

[0058] In one embodiment, the heating part 4 includes an insulation tube 41 and multiple electric heating rings 42. The insulation tube 41 is mounted on the outside of the welding gun 3. The multiple electric heating rings 42 are arranged around the welding gun 3 and are spaced apart along the arrangement direction of the feed end 32 and the welding end 31, and are located inside the insulation tube 41.

[0059] In this embodiment, the heating part 4 is configured in the form of an insulation tube 41 and multiple electric heating rings 42. The electric heating rings 42 are energized to generate heat to heat the solder in the welding gun 3, and the insulation tube 41 is used to insulate and keep the heat, thereby accelerating the heating speed of the solder.

[0060] In order to better understand the present invention, the following Figures 1 to 8 The technical solution of the utility model is described in detail:

[0061] It should be noted that, in one embodiment, the polymer material lining of the deep underground hydrogen storage structure is formed by splicing a plurality of polymer material units 10 in a circumferential direction.

[0062] In this embodiment, the welds between the circumferentially spliced ​​polymer material units 10 are first preheated through the main pipe 51 connected to the hot air blower 5, so that their surfaces are in a molten state; at the same time, the solder entering the material feeding channel 3a is preheated through the branch pipe 52 connected to the hot air blower 5, and then the drive motor 71 is started to drive the drive screw 72 to rotate, thereby driving the extrusion rod 73 to push the preheated solder forward; the solder is heated to a molten state by the electric heating ring 42 and then extruded to fill the weld, and finally the electric push rod 9 is started to drive the smearing head 91 to smear and level the solder at the weld to prevent poor welding quality caused by uneven solder.

[0063] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A welding robot, characterized in that: include: Trolley; a robotic arm, mounted on the trolley and having a movable end capable of moving relative to the trolley; A welding gun is provided at the movable end and has a material passage for conveying solder and has a welding end and a feeding end located at both ends thereof; a heating portion provided on the welding gun and located between the welding end and the feeding end; and The preheating part includes a hot air blower and a main pipe and a branch pipe respectively connected to the air outlet of the hot air blower. The hot air blower is arranged at the movable end. The air outlet direction of the main pipe is the same as the discharge direction of the welding gun. The branch pipe is also connected to the feeding end.

2. The welding robot according to claim 1, characterized in that: The welding robot also includes a solder bin and a material extrusion part. The solder bin is arranged at the moving end and is connected to the feeding end. The material extrusion part is arranged on the welding gun and is used to drive the solder to move from the feeding end toward the welding end.

3. The welding robot according to claim 2, characterized in that: The extrusion part includes a driving motor, a driving screw, an extrusion rod and a transmission nut. The driving motor is arranged at the moving end. The driving screw is connected to the output shaft of the driving motor and extends along the arrangement direction of the feeding end and the welding end. One end of the extrusion rod is passed through the feeding channel and can move along its axial direction. The other end is located outside the feeding channel. The transmission nut is sleeved on the outside of the driving screw and connected to the end of the extrusion rod located outside the feeding channel, for converting the rotation of the driving screw into the movement of the extrusion rod along its axial direction.

4. The welding robot according to claim 3, characterized in that: The welding robot further includes a mounting box, which is mounted on the moving end and has a mounting cavity, and a connecting hole connecting the outside with the mounting cavity is provided in a direction close to the feeding end; The driving motor, the driving screw and the transmission nut are located in the installation cavity, and one end of the extruding rod located outside the material feeding channel extends into the installation cavity from the communicating hole.

5. The welding robot according to claim 4, characterized in that: A limiting groove is provided on the inner wall of the mounting cavity and one of the extrusion rods, and a limiting block is provided on the other. The limiting groove extends along the axial direction of the extrusion rod, and the limiting block is clamped in the limiting groove to limit the extrusion rod from rotating around its axial direction.

6. The welding robot according to claim 3, characterized in that: One end of the extruder rod located in the material passage is an extrusion end, the feed end is provided with a feed port connected to the solder bin, and the connection point between the branch pipe and the feed end is located on a side of the feed port close to the welding end; The extrusion portion further includes a reset spring, which is connected to the movable end and the transmission nut and is used to drive the extrusion end to reset from a position close to the welding end to a side of the feed port away from the welding end.

7. The welding robot according to claim 1, characterized in that: The welding robot also includes an electric push rod and a coating head. The electric push rod is arranged at the moving end, and its telescopic rod is telescopic along the arrangement direction of the feeding end and the welding end. The coating head is installed at the end of the telescopic rod.

8. The welding robot according to claim 7, characterized in that: The coating head and the main pipe are respectively arranged on two opposite sides of the welding gun in the radial direction and are spaced apart from the welding gun.

9. The welding robot according to claim 7, characterized in that: A sliding groove is provided on the outer wall of the welding gun and one of the telescopic rod, and a sliding block is provided on the other. The sliding groove is extended along the axial direction of the telescopic rod, and the sliding block is arranged in the sliding groove.

10. The welding robot according to claim 1, characterized in that: The heating part includes an insulation tube and multiple electric heating rings. The insulation tube is sleeved on the outside of the welding gun. The multiple electric heating rings are arranged on the welding gun and are spaced apart along the arrangement direction of the feeding end and the welding end, and are located inside the insulation tube.

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