Automatic positioning and welding robot for tubular structural parts

Abstract

The utility model provides an automatic positioning welding robot for a tubular structural part, belongs to the technical field of tubular part welding, and solves the technical problems that an existing welding robot is low in welding efficiency, not accurate enough in positioning, low in welding applicability, poor in welding continuity and the like. Comprising a working frame arranged on the ground, a clamping mechanism, a rolling and clamping matching mechanism, a rotary clamping mechanism and a double-roller conveying mechanism are sequentially arranged on the working frame from front to back, the clamping mechanism, the rolling and clamping matching mechanism, the rotary clamping mechanism and the double-roller conveying mechanism correspond in position, and a rolling and clamping mechanism is arranged on the rolling and clamping matching mechanism. A welding matching mechanism is arranged on the working frame and located on the right side of the rolling and clamping matching mechanism, a welding mechanism is arranged on the welding matching mechanism, and the clamping mechanism, the rolling and clamping mechanism, the rotating clamping mechanism and the double-rotating-roller conveying mechanism correspond in height. The welding device is higher in welding efficiency, more accurate in positioning, wider in welding applicability and better in welding continuity.

Description

Technical Field

[0001] The utility model belongs to the technical field of tubular component welding and relates to an automatic positioning device, in particular to an automatic positioning welding robot for tubular structural components. Background Art

[0002] Automatic positioning welding refers to the process of automatically identifying and locating the welding position and adjusting the welding parameters to ensure welding quality and stability through the use of sensors and control systems. Its basic principle is to use sensors (such as visual sensors, laser sensors, etc.) to sense the position of the welding object, and then use the control system to adjust the welding head and welding parameters.

[0003] Welding tubular structural parts is a complex process involving material preparation, parameter selection, process monitoring, weld inspection and post-processing, and safety measures. It requires precise assembly, reasonable control of welding parameters, close monitoring of the molten pool state, strict weld quality inspection, and ensuring safe operation throughout the process to ensure weld quality and structural integrity.

[0004] Existing welding robots have technical problems such as low welding efficiency, inaccurate positioning, low welding applicability, and poor welding continuity.

[0005] Based on this, we propose an automatic positioning welding robot for tubular structural parts, which has higher welding efficiency, more accurate positioning, wider welding applicability, and better welding continuity. Utility Model Content

[0006] The purpose of this utility model is to address the above-mentioned problems in the existing technology and propose an automatic positioning welding robot for tubular structural parts. The technical problem to be solved by this utility model is: how to achieve higher welding efficiency, more accurate positioning, wider welding applicability and better welding continuity when welding tubular structural parts.

[0007] The purpose of this utility model can be achieved through the following technical solutions:

[0008] A robot for automatic positioning and welding of tubular structural parts comprises a work frame arranged on the ground, on which a clamping mechanism, a roller clamping matching mechanism, a rotating clamping mechanism and a double-roller conveying mechanism are sequentially arranged from front to back, and the positions of the clamping mechanism, the roller clamping matching mechanism, the rotating clamping mechanism and the double-roller conveying mechanism correspond to each other, a roller clamping mechanism is provided on the roller clamping matching mechanism, a welding matching mechanism is provided on the work frame, the welding matching mechanism is located on the right side of the roller clamping matching mechanism, a welding mechanism is provided on the welding matching mechanism, and the heights of the clamping mechanism, the roller clamping mechanism, the rotating clamping mechanism and the double-roller conveying mechanism correspond to each other.

[0009] The working principle of the utility model is as follows: the manipulator places the first section of the workpiece to be welded into the double-roller conveying mechanism, starts the double-roller conveying mechanism, and the double-roller conveying mechanism conveys the workpiece forward, passes through the rotating clamping mechanism and enters the interior of the roller clamping mechanism. After the workpiece reaches the designated position, the roller clamping mechanism is started to clamp the workpiece. At the same time, the roller clamping matching mechanism drives the roller clamping mechanism to convey the workpiece forward, thereby driving the workpiece forward, so that the workpiece enters the interior of the clamping mechanism. After reaching the designated position, the clamping mechanism is started to clamp the workpiece.

[0010] Repeat the above steps to transport the second section of the workpiece forward to the designated position. At the same time, rotate the clamping mechanism to clamp the second section of the workpiece so that the rear end of the first section of the workpiece contacts and is relatively fixed with the front end of the second section of the workpiece. The contact point is the welding point.

[0011] Before welding, adjust the position of the welding mechanism on the welding matching mechanism so that the welding mechanism corresponds to the welding position. In the initial position, the welding mechanism is in a vertical state. Start the welding mechanism to weld at the welding position. The first welding angle is 15°. After the first welding is completed, the two sections of the workpiece are relatively fixed, the clamping mechanism and the roller clamping mechanism are released, and the two sections of the workpiece are driven to rotate synchronously by rotating the clamping mechanism. The rotation of the workpiece cooperates with the welding mechanism to achieve complete welding of the workpiece.

[0012] After welding is completed, the roller clamping mechanism clamps the workpiece, the rotating clamping mechanism releases the workpiece, and the roller clamping matching mechanism drives the roller clamping mechanism to transport it forward, thereby driving the welded workpiece forward, passing through the inside of the clamping mechanism, and finally being taken away by the robot.

[0013] The double-roller conveying mechanism includes a double-roller frame, which is fixed on the work frame and has a through hole. The double-roller frame is provided with two symmetrically arranged rollers for rotation. The rollers are provided with rubber matching grooves corresponding to the specifications of the workpiece. A second rotating motor is fixed on the upper side of the double-roller frame, and the output shaft of the second rotating motor is fixedly connected to one of the rollers.

[0014] With the above structure, the robot places the first section of the workpiece to be welded into the gap between the rubber matching grooves of the two rollers, starts the second rotary motor, and the output shaft of the second rotary motor rotates, driving the corresponding roller to rotate, so that the workpiece rotates on the roller and cooperates with the other roller to drive the workpiece through the perforation and transport it forward.

[0015] The rotating clamping mechanism includes a mounting seat, a rotating motor and several electric push rods. The mounting seat is fixed on the upper side of the work frame, the rotating motor is fixed inside the work frame, an inner rotating seat is provided for internal rotation of the mounting seat, the output shaft of the rotating motor is connected to the inner rotating seat through a pulley transmission, two symmetrically arranged matching plates are fixed inside the inner rotating seat, and several circumferentially symmetrically arranged rubber fixed rollers are slidingly provided between the two matching plates, the electric push rod is fixed on the matching plate, and the output shaft of the electric push rod is fixedly connected to the rubber fixed rollers at corresponding positions.

[0016] With the above structure, the second section of the workpiece is transported forward through the perforation. After passing through the space between the two matching plates and reaching the designated position, several electric push rods are pushed out synchronously, driving several rubber fixed rollers to move toward the center of the inward rotating seat to clamp the workpiece.

[0017] After the first welding is completed, the rotating motor 1 is started, and the output shaft of the rotating motor 1 rotates back and forth, driving the inner rotating seat to rotate back and forth through the pulley, thereby driving the workpiece to rotate back and forth.

[0018] The roller clamp matching mechanism includes an installation limit plate, which is fixed on the workbench, a second screw motor is fixed on the installation limit plate, a second rotating screw is rotatably provided on the installation limit plate, the output shaft of the second screw motor is fixedly connected to the second rotating screw, and a matching slider is rotatably provided on the second rotating screw.

[0019] With the above structure, the output shaft of the screw motor 2 rotates, driving the rotating screw 2 to rotate, and the rotating screw 2 cooperates with the installation limit plate to drive the matching slider to slide.

[0020] The roller clamping mechanism includes a square shaft fixing frame, which is fixed on a matching slider. An electric clamp is fixed on the upper end of the square shaft fixing frame. An electric push rod 2 is fixed on the electric clamp. A rubber runner seat is provided for sliding inside the electric clamp. The rubber runner seat is located inside the two clamping heads of the electric clamp. The pushing end of the electric push rod 2 is fixedly connected to the rubber runner seat.

[0021] With the above structure, the electric clamp is used to clamp the workpiece. When the electric clamp rotates, the electric clamp is released, and the push-out end of the electric push rod 2 pushes up and down, driving the rubber wheel seat to slide up and down. The sliding trajectory of the rubber wheel seat corresponds to the outer edge specifications of the workpiece, so that when the workpiece rotates, the rubber wheel seat is against the bottom of the workpiece, so that the rotation axis of the workpiece is highly fixed, thereby improving stability during welding.

[0022] The clamping mechanism includes a clamping bracket and a V-shaped opening and closing frame. The clamping bracket is fixed on the working frame. An opening and closing motor is fixed on the clamping bracket. The output shaft of the opening and closing motor is rotatably arranged inside the clamping bracket. The V-shaped opening and closing frame is fixed to the output shaft of the opening and closing motor. At the same time, the V-shaped opening and closing frame and the clamping bracket form a clamping area. A plurality of rubber pads are provided inside the clamping bracket through spring sliding, and the rubber pads are located in the clamping area.

[0023] With the above structure, after the workpiece passes through the clamping area and reaches the specified position, the output shaft of the opening and closing motor rotates, driving the V-shaped opening and closing frame to rotate. The workpiece is fixed in the clamping area through the cooperation of the clamping bracket, V-shaped opening and closing frame, rubber pad and spring.

[0024] The welding cooperation mechanism includes a double-axis fixing frame, which is fixed on the workbench. A fixing seat is fixed on the upper end of the double-axis fixing frame, a screw motor is fixed on one side of the fixing seat, a rotating screw is provided inside the fixing seat, and the output shaft of the screw motor is fixedly connected to the rotating screw.

[0025] With the above structure, the screw motor rotates, which drives the screw to rotate.

[0026] The welding mechanism includes a rotating block 1 and a rotating block 2. The rotating block 1 is slidably arranged on the rotating screw 1. The rotating block 1 is rotatably provided with a rotating screw 3. The rotating block 2 is rotatably arranged on the upper end of the rotating screw 3. A sliding shaft is rotatably provided between the rotating block 1 and the rotating block 2. A screw motor 3 is fixed on the rotating block 2. The output shaft of the screw motor 3 is fixedly connected to the rotating screw 3. The rotating block 2 is detachably provided with a welding gun.

[0027] With the above structure, the position of the rotating block 1 on the rotating screw 1 is adjusted before welding. During the welding process, according to the specifications of the workpiece to be welded, the screw motor 1 rotates, driving the rotating screw 1 to rotate, thereby rotating the welding angle of the welding gun. At the same time, the output shaft of the screw motor 3 rotates, driving the rotating block 2 to slide on the sliding shaft, thereby keeping the distance between the welding gun and the workpiece unchanged.

[0028] Compared with the existing technology, this automatic positioning welding robot for tubular structural parts has the following advantages:

[0029] 1. Through the cooperation of double roller conveying mechanism, rotating clamping mechanism, rolling clamping mechanism and clamping mechanism, the workpiece with welding can be smoothly transported from back to front to the designated position, with higher welding efficiency and more accurate positioning;

[0030] 2. By rotating the clamping mechanism, the welding matching mechanism and the welding mechanism, the workpiece is welded twice to achieve a smooth welding process, uniform welding and higher welding efficiency;

[0031] 3. Through the cooperation of the welding coordination mechanism and the welding mechanism, multi-angle welding of the workpiece can be realized. At the same time, the welding distance can be adjusted according to the specifications of the workpiece and the welding requirements, which is suitable for the processing of various types of workpieces. The welding applicability is wider and the welding continuity is better.

[0032] 4. By cooperating with the rolling clamping mechanism and the rotating clamping mechanism, the workpiece can rotate stably during welding, thereby improving the stability of the welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural diagram of the present utility model.

[0034] Figure 2 It is a structural schematic diagram of the clamping mechanism in the utility model.

[0035] Figure 3 It is a structural diagram of the welding matching mechanism and the welding mechanism in the utility model.

[0036] Figure 4 It is a structural diagram of the roller-clamp matching mechanism and the roller-clamp mechanism in the utility model.

[0037] Figure 5 It is a structural diagram of the roller clamping mechanism in the utility model.

[0038] Figure 6 It is a structural diagram of the rotating clamping mechanism in the utility model.

[0039] Figure 7 It is a structural diagram of the double-roller conveying mechanism in the utility model.

[0040] In the figure, 1. working frame; 2. clamping mechanism; 3. welding matching mechanism; 4. roller clamp matching mechanism; 5. rotating clamping mechanism; 6. double roller conveying mechanism; 7. welding mechanism; 8. roller clamping mechanism; 201. clamping bracket; 202. opening and closing motor; 203. V-shaped opening and closing frame; 204. rubber pad; 301. double-axis fixing frame; 302. fixing seat; 303. screw motor 1; 304. rotating screw rod 1; 401. installing limit plate; 402. screw motor 2; 403. matching slider; 404. rotating screw rod 2; 501. installing Mounting seat; 502, rotating motor 1; 503, inner rotating seat; 504, matching plate; 505, rubber fixed roller; 506, electric push rod 1; 601, double roller frame; 602, roller; 603, rotating motor 2; 604, rubber matching groove; 605, perforation; 701, rotating block 1; 702, rotating screw 3; 703, sliding shaft; 704, screw motor 3; 705, rotating block 2; 706, welding gun; 801, square shaft fixing frame; 802, electric clamp; 803, rubber roller seat; 804, electric push rod 2. DETAILED DESCRIPTION

[0041] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0042] like Figure 1-Figure 7 As shown, the automatic positioning welding robot for tubular structural parts includes a work frame 1 arranged on the ground, and the work frame 1 is provided with a clamping mechanism 2, a roller clamping matching mechanism 4, a rotating clamping mechanism 5 and a double-roller conveying mechanism 6 in sequence from front to back. The positions of the clamping mechanism 2, the roller clamping matching mechanism 4, the rotating clamping mechanism 5 and the double-roller conveying mechanism 6 correspond to each other, the roller clamping matching mechanism 4 is provided with a roller clamping mechanism 8, the work frame 1 is provided with a welding matching mechanism 3, the welding matching mechanism 3 is located on the right side of the roller clamping matching mechanism 4, the welding matching mechanism 3 is provided with a welding mechanism 7, and the heights of the clamping mechanism 2, the roller clamping mechanism 8, the rotating clamping mechanism 5 and the double-roller conveying mechanism 6 correspond to each other.

[0043] In this embodiment, the manipulator places the first section of the workpiece to be welded into the double-roller conveying mechanism 6, starts the double-roller conveying mechanism 6, and the double-roller conveying mechanism 6 conveys the workpiece forward, passes through the rotating clamping mechanism 5 and enters the interior of the roller clamping mechanism 8. After the workpiece reaches the specified position, the roller clamping mechanism 8 is started to clamp the workpiece. At the same time, the roller clamping matching mechanism 4 drives the roller clamping mechanism 8 to convey it forward, thereby driving the workpiece forward to enter the interior of the clamping mechanism 2. After reaching the specified position, the clamping mechanism 2 is started to clamp the workpiece.

[0044] Repeat the above steps to transport the second section of the workpiece forward to the designated position. At the same time, rotate the clamping mechanism 5 to clamp the second section of the workpiece so that the rear end of the first section of the workpiece contacts the front end of the second section of the workpiece and is relatively fixed. The contact point is the welding point.

[0045] Before welding, adjust the position of the welding mechanism 7 on the welding cooperation mechanism 3 so that the welding mechanism 7 corresponds to the welding position. In the initial position, the welding mechanism 7 is in a vertical state. Start the welding mechanism 7 to weld the welding position. The first welding angle is 15°. After the first welding is completed, the two sections of the workpiece are relatively fixed. The clamping mechanism 2 and the roller clamping mechanism 8 are loosened. The two sections of the workpiece are driven to rotate synchronously by rotating the clamping mechanism 5. The rotation of the workpiece cooperates with the welding mechanism 7 to achieve complete welding of the workpiece.

[0046] After welding is completed, the roller clamping mechanism 8 clamps the workpiece, the rotating clamping mechanism 5 releases the workpiece, and the roller clamping matching mechanism 4 drives the roller clamping mechanism 8 to be transported forward, thereby driving the welded workpiece to be transported forward, passing through the interior of the clamping mechanism 2, and finally taken away by the robot.

[0047] The double-roller conveying mechanism 6 includes a double-roller frame 601, which is fixed on the work frame 1. The double-roller frame 601 is provided with a through hole 605. Two symmetrically arranged rollers 602 are rotatably provided on the double-roller frame 601. The rollers 602 are provided with rubber matching grooves 604 corresponding to the specifications of the workpiece. A second rotating motor 603 is fixed on the upper side of the double-roller frame 601, and the output shaft of the second rotating motor 603 is fixedly connected to one of the rollers 602.

[0048] In this embodiment, the robot places the first section of the workpiece to be welded into the gap between the rubber matching grooves 604 of the two rollers 602, starts the rotating motor 2 603, and rotates the output shaft of the rotating motor 2 603, driving the corresponding roller 602 to rotate, so that the workpiece rotates on the roller 602 and cooperates with the other roller 602 to drive the workpiece through the through hole 605 and transport it forward.

[0049] The rotating clamping mechanism 5 includes a mounting seat 501, a rotating motor 502 and several electric push rods 506. The mounting seat 501 is fixed on the upper side of the work frame 1, and the rotating motor 502 is fixed inside the work frame 1. The internal rotation of the mounting seat 501 is provided with an inner rotating seat 503. The output shaft of the rotating motor 502 is connected to the inner rotating seat 503 through a pulley transmission. Two symmetrically arranged matching plates 504 are fixed inside the inner rotating seat 503. Several circumferentially symmetrically arranged rubber fixed rollers 505 are slidingly provided between the two matching plates 504. The electric push rod 506 is fixed on the matching plate 504, and the output shaft of the electric push rod 506 is fixedly connected to the rubber fixed roller 505 at the corresponding position.

[0050] In this embodiment, the second section of the workpiece is conveyed forward through the through-hole 605 and, after passing between the two mating plates 504 and reaching the designated position, a plurality of electric push rods 506 are simultaneously pushed out, driving a plurality of rubber fixed rollers 505 to move toward the center of the inward rotating seat 503 to clamp the workpiece;

[0051] After the first welding is completed, the rotary motor 502 is started, and the output shaft of the rotary motor 502 rotates back and forth, driving the inner rotary seat 503 to rotate back and forth through the pulley, thereby driving the workpiece to rotate back and forth.

[0052] The roller clamp matching mechanism 4 includes an installation limit plate 401, which is fixed on the work frame 1, and a screw motor 2 402 is fixed on the installation limit plate 401. A rotating screw 2 404 is rotatably provided on the installation limit plate 401, and the output shaft of the screw motor 2 402 is fixedly connected to the rotating screw 2 404, and a matching slider 403 is rotatably provided on the rotating screw 2 404.

[0053] In this embodiment, the output shaft of the second screw motor 402 rotates, driving the second rotating screw 404 to rotate. The second rotating screw 404 cooperates with the mounting limit plate 401 to drive the matching slider 403 to slide.

[0054] The roller clamping mechanism 8 includes a square shaft fixing frame 801, which is fixed on the mating slider 403. The upper end of the square shaft fixing frame 801 is fixed with an electric clamping jaw 802, and an electric push rod 2 804 is fixed on the electric clamping jaw 802. The internal sliding portion of the electric clamping jaw 802 is provided with a rubber roller seat 803, and the rubber roller seat 803 is located inside the two clamping heads of the electric clamping jaw 802. The pushing end of the electric push rod 2 804 is fixedly connected to the rubber roller seat 803.

[0055] In this embodiment, the electric clamp 802 is used to clamp the workpiece. When the electric clamp 802 rotates, the electric clamp 802 is released, and the pushing end of the electric push rod 804 pushes up and down, driving the rubber roller seat 803 to slide up and down. The sliding trajectory of the rubber roller seat 803 corresponds to the outer edge specifications of the workpiece, so that when the workpiece rotates, the rubber roller seat 803 is against the bottom of the workpiece, so that the rotation axis of the workpiece is highly fixed, thereby improving stability during welding.

[0056] The clamping mechanism 2 includes a clamping bracket 201 and a V-shaped opening and closing frame 203. The clamping bracket 201 is fixed on the working frame 1. An opening and closing motor 202 is fixed on the clamping bracket 201. The output shaft of the opening and closing motor 202 is rotatably arranged inside the clamping bracket 201. The V-shaped opening and closing frame 203 is fixed to the output shaft of the opening and closing motor 202. At the same time, the V-shaped opening and closing frame 203 and the clamping bracket 201 form a clamping area. Several rubber pads 204 are provided inside the clamping bracket 201 through spring sliding, and the rubber pads 204 are located in the clamping area.

[0057] In this embodiment, after the workpiece passes through the clamping area and reaches the specified position, the output shaft of the opening and closing motor 202 rotates, driving the V-shaped opening and closing frame 203 to rotate. The workpiece is fixed in the clamping area through the cooperation of the clamping bracket 201, the V-shaped opening and closing frame 203, the rubber pad 204 and the spring.

[0058] The welding cooperation mechanism 3 includes a double-axis fixing frame 301, which is fixed on the workbench 1. A fixing seat 302 is fixed to the upper end of the double-axis fixing frame 301, and a screw motor 303 is fixed to one side of the fixing seat 302. A rotating screw 304 is provided inside the fixing seat 302, and the output shaft of the screw motor 303 is fixedly connected to the rotating screw 304.

[0059] In this embodiment, the screw motor 303 rotates, driving the rotating screw 304 to rotate.

[0060] The welding mechanism 7 includes a rotating block 701 and a rotating block 705. The rotating block 701 is slidably set on the rotating screw 1 304. The rotating block 701 is rotatably provided with a rotating screw 3 702. The rotating block 2 705 is rotatably set at the upper end of the rotating screw 3 702. A sliding shaft 703 is rotatably provided between the rotating block 1 701 and the rotating block 2 705. A screw motor 3 704 is fixed on the rotating block 2 705. The output shaft of the screw motor 3 704 is fixedly connected to the rotating screw 3 702. The rotating block 2 705 is detachably provided with a welding gun 706.

[0061] In this embodiment, the position of the rotating block 701 on the rotating screw 304 is adjusted before welding. During the welding process, according to the specifications of the workpiece to be welded, the screw motor 303 is rotated to drive the rotating screw 304 to rotate, thereby rotating the welding angle of the welding gun 706. At the same time, the output shaft of the screw motor 3 704 is rotated to drive the rotating block 2 705 to slide on the sliding shaft 703, thereby keeping the distance between the welding gun 706 and the workpiece unchanged.

[0062] The working principle of the present invention is as follows: the manipulator puts the first section of the workpiece to be welded into the gap of the rubber matching groove 604 of the two rollers 602, starts the rotating motor 203, and the output shaft of the rotating motor 203 rotates, driving the corresponding roller 602 to rotate, so that the workpiece rotates on the rotating roller 602, and cooperates with the other rotating roller 602 to drive the workpiece to pass through the through hole 605 and transport it forward. After passing through the through hole 605 and transporting it forward, the workpiece reaches the specified position, and the electric clamp 802 clamps the workpiece. At the same time, the output shaft of the screw motor 202 rotates, driving the rotating screw rod 204 to rotate, and the rotating screw rod 204 cooperates with the mounting limit plate 401 to drive the matching slider 403 to slide forward, thereby driving the workpiece to be transported forward. After the workpiece passes through the clamping area and reaches the specified position, the output shaft of the opening and closing motor 202 rotates, driving the V-shaped opening and closing frame 203 to rotate, and the workpiece is fixed in the clamping area through the clamping bracket 201, the V-shaped opening and closing frame 203, the rubber pad 204 and the spring.

[0063] Repeat the above steps to transport the second section of the workpiece forward to the designated position. After the second section of the workpiece is transported forward through the through-hole 605 and passes between the two mating plates 504 to the designated position, the electric push rods 506 are pushed out synchronously, driving the rubber fixed rollers 505 to move toward the center of the inward rotating seat 503, clamping the workpiece so that the rear end of the first section of the workpiece contacts and is relatively fixed with the front end of the second section of the workpiece. This contact point is the welding point.

[0064] Before welding, the position of the rotating block 701 on the rotating screw 304 is adjusted. During the welding process, according to the specifications of the workpiece to be welded, the screw motor 303 is rotated to drive the rotating screw 304 to rotate, thereby rotating the welding angle of the welding gun 706. At the same time, the output shaft of the screw motor 304 is rotated to drive the rotating block 2 705 to slide on the sliding shaft 703, thereby keeping the distance between the welding gun 706 and the workpiece unchanged. The first welding angle is 15°. After the first welding is completed, the two sections of the workpiece are relatively fixed, the output shaft of the opening and closing motor 202 rotates, driving the V-shaped opening and closing frame 203 to rotate, and releasing the workpiece. At the same time, the electric clamp 802 releases the workpiece, and the rotating motor 502 is started. The output shaft of the rotating motor 502 rotates back and forth, and the inner rotating seat 503 is driven to rotate back and forth through the pulley, thereby driving the workpiece to rotate back and forth. The rotation of the workpiece cooperates with the welding mechanism 7 to achieve complete welding of the workpiece.

[0065] After welding is completed, the electric clamp 802 clamps the workpiece, and several electric push rods 506 are retracted synchronously, driving several rubber fixed rollers 505, and moving the inward rotating seat 503 away from the center to loosen the workpiece. The electric clamp 802 clamps the workpiece, and at the same time the output shaft of the screw motor 2 402 rotates, driving the rotating screw 2 404 to rotate, and the rotating screw 2 404 cooperates with the installation limit plate 401, driving the cooperating slider 403 to slide forward, thereby driving the workpiece to be transported forward, passing through the interior of the clamping bracket 201, and finally taken away by the robot.

[0066] In summary, the double roller conveying mechanism 6, the rotating clamping mechanism 5, the roller clamping mechanism 8 cooperate with the clamping mechanism 2 to smoothly convey the welded workpiece from back to front to the designated position, with higher welding efficiency and more accurate positioning;

[0067] By rotating the clamping mechanism 5, the welding cooperation mechanism 3 and the welding mechanism 7, the workpiece is welded twice, so that the welding process is smooth, the welding is uniform, and the welding efficiency is higher;

[0068] By cooperating with the welding mechanism 3 and the welding mechanism 7, multi-angle welding of the workpiece can be achieved. At the same time, the welding distance can be adjusted according to the specifications of the workpiece and the welding requirements, which is suitable for processing various types of workpieces. The welding applicability is wider and the welding continuity is better.

[0069] By cooperating with the rolling clamping mechanism 8 and the rotating clamping mechanism 5, the workpiece can be stably rotated during welding, thereby improving the stability of the welding process.

[0070] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

Claims

1. A tubular structural member automatic positioning welding robot, comprising a work frame (1) arranged on the ground, characterized in that: The working frame (1) is provided with a clamping mechanism (2), a roller clamping matching mechanism (4), a rotating clamping mechanism (5) and a double roller conveying mechanism (6) in sequence from front to back. The positions of the clamping mechanism (2), the roller clamping matching mechanism (4), the rotating clamping mechanism (5) and the double roller conveying mechanism (6) correspond to each other. The roller clamping matching mechanism (4) is provided with a roller clamping mechanism (8). The working frame (1) is provided with a welding matching mechanism (3). The welding matching mechanism (3) is located on the right side of the roller clamping matching mechanism (4). The welding matching mechanism (3) is provided with a welding mechanism (7). The heights of the clamping mechanism (2), the roller clamping mechanism (8), the rotating clamping mechanism (5) and the double roller conveying mechanism (6) correspond to each other.

2. The automatic positioning welding robot for tubular structural parts according to claim 1, characterized in that: The double roller conveying mechanism (6) comprises a double roller frame (601), the double roller frame (601) is fixed on the working frame (1), a perforation (605) is provided on the double roller frame (601), two symmetrically arranged rollers (602) are rotatably provided on the double roller frame (601), the rollers (602) are provided with rubber matching grooves (604) corresponding to the specifications of the workpiece, a second rotating motor (603) is fixed on the upper side of the double roller frame (601), and the output shaft of the second rotating motor (603) is fixedly connected to one of the rollers (602).

3. The automatic positioning welding robot for tubular structural parts according to claim 2, characterized in that: The rotating clamping mechanism (5) comprises a mounting seat (501), a rotating motor (502) and a plurality of electric push rods (506). The mounting seat (501) is fixed on the upper side of the working frame (1). The rotating motor (502) is fixed inside the working frame (1). An inner rotating seat (503) is provided for rotation inside the mounting seat (501). The output shaft of the rotating motor (502) is connected to the inner rotating seat (503) via a pulley transmission. Two symmetrically arranged matching plates (504) are fixed inside the inner rotating seat (503). A plurality of circumferentially symmetrically arranged rubber fixed rollers (505) are slidingly provided between the two matching plates (504). The electric push rod (506) is fixed on the matching plate (504). The output shaft of the electric push rod (506) is fixedly connected to the rubber fixed rollers (505) at corresponding positions.

4. The automatic positioning welding robot for tubular structural parts according to claim 3, characterized in that: The roller clamp matching mechanism (4) comprises a mounting limit plate (401), the mounting limit plate (401) is fixed on the working frame (1), a second screw motor (402) is fixed on the mounting limit plate (401), a second rotating screw (404) is rotatably provided on the mounting limit plate (401), an output shaft of the second screw motor (402) is fixedly connected to the second rotating screw (404), and a matching slider (403) is rotatably provided on the second rotating screw (404).

5. The automatic positioning welding robot for tubular structural parts according to claim 4, characterized in that: The roller clamp mechanism (8) comprises a square shaft fixing frame (801), the square shaft fixing frame (801) is fixed on the matching slider (403), an electric clamping jaw (802) is fixed on the upper end of the square shaft fixing frame (801), an electric push rod 2 (804) is fixed on the electric clamping jaw (802), a rubber roller seat (803) is provided inside the electric clamping jaw (802) for sliding, the rubber roller seat (803) is located inside the two clamping heads of the electric clamping jaw (802), and the push-out end of the electric push rod 2 (804) is fixedly connected to the rubber roller seat (803).

6. The automatic positioning welding robot for tubular structural parts according to claim 5, characterized in that: The clamping mechanism (2) comprises a clamping bracket (201) and a V-shaped opening and closing bracket (203); the clamping bracket (201) is fixed on the working frame (1); an opening and closing motor (202) is fixed on the clamping bracket (201); the output shaft of the opening and closing motor (202) is rotatably arranged inside the clamping bracket (201); the V-shaped opening and closing bracket (203) is fixed to the output shaft of the opening and closing motor (202); and the V-shaped opening and closing bracket (203) and the clamping bracket (201) form a clamping area; a plurality of rubber pads (204) are provided inside the clamping bracket (201) via spring sliding, and the rubber pads (204) are located in the clamping area.

7. The automatic positioning welding robot for tubular structural parts according to claim 6, characterized in that: The welding matching mechanism (3) comprises a double-axis fixing frame (301), the double-axis fixing frame (301) is fixed on the working frame (1), a fixing seat (302) is fixed at the upper end of the double-axis fixing frame (301), a screw motor (303) is fixed on one side of the fixing seat (302), a rotating screw (304) is provided inside the fixing seat (302), and an output shaft of the screw motor (303) is fixedly connected to the rotating screw (304).

8. The automatic positioning welding robot for tubular structural parts according to claim 7, characterized in that: The welding mechanism (7) comprises a rotating block 1 (701) and a rotating block 2 (705), wherein the rotating block 1 (701) is slidably arranged on the rotating screw 1 (304), the rotating block 1 (701) is rotatably provided with a rotating screw 3 (702), the rotating block 2 (705) is rotatably arranged on the upper end of the rotating screw 3 (702), a sliding shaft (703) is rotatably provided between the rotating block 1 (701) and the rotating block 2 (705), a screw motor 3 (704) is fixed on the rotating block 2 (705), the output shaft of the screw motor 3 (704) is fixedly connected to the rotating screw 3 (702), and the rotating block 2 (705) is detachably provided with a welding gun (706).

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