Truss type intelligent welding robot

Abstract

The utility model relates to the technical field of welding robots, in particular to a truss type intelligent welding robot which comprises first trusses and an I-shaped sliding frame, the first trusses are installed in a welding operation room through two sets of parallel fixing frames, and first sliding rails are fixedly installed at the top ends of the two first trusses. First sliding blocks are slidably connected to the two first sliding rails correspondingly, two second trusses are installed on the two sides of the top ends of the two first sliding blocks in parallel, second sliding rails are fixedly installed at the top ends of the two second trusses correspondingly, second sliding blocks are slidably connected to the two second sliding rails correspondingly, and a mounting plate is fixedly installed at the top ends of the two second sliding blocks. Four uniformly distributed fixed guide rods are fixedly connected to the bottom end of the mounting plate, an I-shaped sliding frame is slidably connected to the four fixed guide rods, a hollow mounting column is fixedly mounted at the bottom end of the I-shaped sliding frame, and a cooperation mechanism is arranged in the mounting column. And the cooperation mechanism is used for switching the welding manipulator and the image acquisition camera according to needs through rotation of the chain.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding robot technical field especially relates to a truss type intelligent welding robot. BACKGROUND

[0002] Welding technology occupies the component more and more big in industrial production, and the excellent degree of welding technology directly influences the quality of product, needs the connection of steel piece through welding equipment in the production and processing of some large steel piece.

[0003] The existing production process often adopts the truss type welding robot to carry out the welding of large steel piece, but the welding mode of truss type welding robot still needs manual welding position calibration, and the operator controls the truss remote controller to adjust the welding position, which is more dependent on professional skills, and the welding site will produce toxic gas and heat radiation, which will cause certain harm to human body. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the shortcomings in prior art and provides a truss type intelligent welding robot.

[0005] In order to realize the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A truss type intelligent welding robot, including first truss and I -shaped sliding frame, the first truss is installed in the welding operation room through two groups of parallel fixed frame, and the top of two first trusses is fixedly installed with first sliding rail, and the first sliding rail is slidably connected with first sliding block, and the top of two first sliding blocks is slidably connected with two second trusses, and the top of two second trusses is fixedly installed with second sliding rail, and the second sliding rail is slidably connected with second sliding block, and the top of two second sliding blocks is fixedly installed with one mounting plate, and the bottom of mounting plate is fixedly connected with four evenly distributed fixed guide rods, and the fixed guide rod is slidably connected with I -shaped sliding frame, and the bottom of I -shaped sliding frame is fixedly installed with hollow mounting column, and the mounting column is provided with cooperation mechanism.

[0007] The cooperation mechanism includes chain and cooperation sliding block, and the bottom of mounting column is provided with sliding slot, and one cooperation sliding block is slidably connected with the top of one sliding slot, and another cooperation sliding block is slidably connected with the bottom of another sliding slot, and the structure of two cooperation sliding blocks is same, and the mounting column bottom is rotatably connected with chain, and the chain is fixedly connected with two cooperation sliding blocks.

[0008] Preferably, the first truss one side wall is provided with first rack, and the second truss one side wall is provided with second rack.

[0009] Preferably, one side of the first slider is fixedly provided with a first motor, and the output shaft of the first motor is fixedly connected with a first gear engaged with the first rack.

[0010] Preferably, one side of the mounting plate is fixedly provided with a second motor, and the output shaft of the second motor is fixedly connected with a second gear engaged with the second rack.

[0011] Preferably, the top end of the mounting plate is fixedly provided with a third motor, the output shaft of the third motor penetrates out of the mounting plate, the output shaft of the third motor is threadedly connected with the center connecting column of the I-shaped sliding frame, the thread stroke of the center connecting column of the I-shaped sliding frame is greater than the height difference between the I-shaped sliding frame and the fixed guide rod, and the bottom end of each fixed guide rod is provided with a limiting clamping block.

[0012] Preferably, the bottom of the I-shaped sliding frame is fixedly provided with a motor box, the fourth motor is fixedly installed in the motor box, and the output shaft of the fourth motor is rotationally connected with a chain through a fourth gear.

[0013] Preferably, the bottom of the cooperative slider of the mounting column is fixedly provided with a welding manipulator, and the bottom of the cooperative slider of the top of the mounting column is fixedly provided with an image acquisition camera through a connecting rod.

[0014] Compared with the prior art, the utility model has the advantages that:

[0015] The utility model discloses a first truss and second truss are set up, the first truss position is fixed, the second truss is connected on the first sliding rail through the first slider sliding, and the mounting plate is connected on the second sliding rail through the second slider sliding, and the movement of the I-shaped sliding frame and the mounting column in X, Y two directions can be realized through the sliding of the first slider and the second slider.

[0016] The utility model discloses a cooperative mechanism, and the cooperative mechanism is equipped with two cooperative sliders, and the two cooperative sliders are located at the top and bottom of the two sliding grooves respectively, the height positions of the two cooperative sliders can be switched through the rotation of the chain, the welding manipulator and the image acquisition camera can be switched according to needs, the image acquisition camera is used to scan and confirm the welding position before welding, the welding manipulator is switched to carry out remote welding after scanning and confirming, and real-time image shooting and acquisition are carried out, which is convenient for the operator to adjust the welding position or angle, the image acquisition camera can be switched again to check the welding position after welding, which is favorable for improving the welding precision, and the remote operation and adjustment can reduce the harm of the welding site to the operator.

[0017] The utility model discloses a third motor is set up, when the height position of the I -shaped sliding frame needs to be adjusted when the specification of the steel piece of welding is different, control third motor rotation, and the output shaft synchronous rotation of third motor can drive I -shaped sliding frame to slide up and down along the fixed guide rod through the thread, can conveniently adjust the height position of the welding manipulator, is applicable to the steel piece welding operation of different specification, and the threaded stroke of I -shaped sliding frame center connecting column is greater than the height difference of I -shaped sliding frame and fixed guide rod, and then cooperation limiting stopper can prevent third motor from rotating excessively and cause I -shaped sliding frame to separate from fixed guide rod and cause the damage of equipment. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A truss type intelligent welding robot overall structure schematic diagram is provided for the utility model;

[0019] Figure 2 A truss type intelligent welding robot partial structure enlarged view is provided for the utility model;

[0020] Figure 3 A truss type intelligent welding robot mounting plate structure schematic diagram is provided for the utility model;

[0021] Figure 4 A truss type intelligent welding robot I -shaped sliding frame structure schematic diagram is provided for the utility model;

[0022] Figure 5 A truss type intelligent welding robot cooperation mechanism structure schematic diagram is provided for the utility model.

[0023] In the drawing: 1, first truss;101, first rack;2, first slide rail;3, first sliding block;4, first motor;5, second truss;501, second rack;6, second slide rail;7, second sliding block;8, mounting plate;81, fixed guide rod;9, second motor;10, third motor;11, I -shaped sliding frame;12, motor box;121, fourth motor;13, mounting column;14, sliding groove;15, cooperation mechanism;16, chain;17, cooperation sliding block;18, welding manipulator;19, image acquisition camera. DETAILED DESCRIPTION

[0024] The technical scheme in the embodiments of the utility model will be apparently and completely described in conjunction with the drawings in the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0025] REFERENCE Figures 1-5The utility model provides a kind of truss type intelligent welding robot, including first truss 1 and I-shaped sliding frame 11, first truss 1 is installed in welding operation room by two groups of parallel fixed frame, two first truss 1 top are fixedly installed with first sliding rail 2, two first sliding rail 2 are slidably connected with first sliding block 3, two first sliding block 3 top sides are parallelly installed with two second truss 5, two second truss 5 top are fixedly installed with second sliding rail 6, two second sliding rail 6 are slidably connected with second sliding block 7, two second sliding block 7 top are fixedly installed with an installation plate 8, installation plate 8 bottom is fixedly connected with four evenly distributed fixed guide rods 81, four fixed guide rods 81 are slidably connected with I-shaped sliding frame 11, I-shaped sliding frame 11 bottom is fixedly installed with hollow mounting column 13, and mounting column 13 is provided with cooperation mechanism 15;

[0026] Cooperation mechanism 15 includes chain 16 and cooperation sliding block 17, two sides of the bottom of mounting column 13 are provided with sliding slot 14, one cooperation sliding block 17 is slidably connected with the top of one sliding slot 14, the other cooperation sliding block 17 is slidably connected with the bottom of the other sliding slot 14, two cooperation sliding blocks 17 are same in structure, mounting column 13 bottom is rotatably connected with chain 16, chain 16 is fixedly connected with two cooperation sliding blocks 17 respectively. First truss 1 is fixed in position, second truss 5 is slidably connected on first sliding rail 2 by first sliding block 3, installation plate 8 is slidably connected on second sliding rail 6 by second sliding block 7, the movement of I-shaped sliding frame 11 and mounting column 13 in X, Y two directions can be realized by the sliding of first sliding block 3 and second sliding block 7, I-shaped sliding frame 11 top and bottom are connected by center connecting column, cooperation mechanism 15 is matched with two cooperation sliding blocks 17, and two cooperation sliding blocks 17 are located at the top and bottom of two sliding slots 14 respectively, the height position of two cooperation sliding blocks 17 can be switched by the rotation of chain 16, welding manipulator 18 and image acquisition camera 19 can be switched according to requirements, image acquisition camera 19 is switched to scan and confirm welding position before welding, welding manipulator 18 is switched to carry out remote welding after scanning and confirming, and real-time image is captured, so that welding position or angle is adjusted by operator, image acquisition camera 19 is switched again to carry out weld inspection after welding, which is beneficial to improve welding accuracy, and welding position can be adjusted, and remote operation and adjustment can reduce the harm to operator in welding site.

[0027] As a kind of technical optimization scheme of the utility model, first truss 1 one side side wall is provided with first rack 101, and second truss 5 one side side wall is provided with second rack 501. First rack 101 and second rack 501 are used to cooperate with first motor 4 and second motor 9 to realize the movement of second truss 5 and installation plate 8.

[0028] As a technical optimization scheme of the utility model, first sliding block 3 one side fixed installation has first motor 4, first motor 4's output shaft terminal fixed connection has with first rack 101 meshing first gear. Remote control first motor 4's positive and negative rotation, cooperate first rack 101 can drive second truss 5 along first sliding rail 2 moves.

[0029] As a technical optimization scheme of the utility model, installation plate 8 one side fixed installation has second motor 9, second motor 9's output shaft terminal fixed connection has with second rack 501 meshing second gear. Remote control second motor 9's positive and negative rotation, cooperate second rack 501 can drive installation plate 8 along second sliding rail 6 moves.

[0030] As a technical optimization scheme of the utility model, installation plate 8 top fixed installation has third motor 10, third motor 10's output shaft passes through installation plate 8, third motor 10's output shaft terminal and I-shaped sliding bracket 11 center connecting column screw connection, I-shaped sliding bracket 11 center connecting column screw stroke is greater than the height difference of I-shaped sliding bracket 11 and fixed guide rod 81, and the bottom of each fixed guide rod 81 is provided with a limit block. When the specifications of the welded steel parts are different and the height position of the I-shaped sliding bracket 11 needs to be adjusted, the third motor 10 is controlled to rotate, the output shaft of the third motor 10 is synchronously rotated, and the I-shaped sliding bracket 11 is driven to slide up and down along the fixed guide rod 81 through the thread, and the center connecting column screw stroke of the I-shaped sliding bracket 11 is greater than the height difference of the I-shaped sliding bracket 11 and the fixed guide rod 81, and the limit block is further matched to prevent the third motor 10 from rotating excessively to cause the I-shaped sliding bracket 11 to separate from the fixed guide rod 81 and cause damage to the equipment.

[0031] As a technical optimization scheme of the utility model, I-shaped sliding bracket 11 bottom fixedly provided with motor box 12, motor box 12 is fixedly installed with fourth motor 121, and the output shaft terminal of fourth motor 121 is rotatably connected with chain 16 through fourth gear. The bottom of the chain 16 is rotatably connected to the bottom of the mounting column 13, the top of the chain 16 is inserted into the motor box 12, so that the chain 16 is in a vertical installation state, and the two cooperative sliding blocks 17 can be driven to slide up and down along the sliding groove 14 when the fourth motor 121 is rotated.

[0032] As a technical optimization scheme of the utility model, the cooperative sliding block 17 bottom fixedly installed with the welding manipulator 18 is arranged at the bottom of the mounting column 13, and the cooperative sliding block 17 bottom of the mounting column 13 top is fixedly installed with the image acquisition camera 19 through the connecting rod. The welding manipulator 18 and the image acquisition camera 19 (model: Yijianda-YJD, a hoisting type inspection camera) are both remotely controlled through wired connection, an external operator operates through a control panel, the welding manipulator 18 can perform welding operation, the image acquisition camera 19 can shoot images and record tracks, real-time shooting of the welding position and track recording of the welding position are facilitated, real-time shooting can facilitate the operator to timely adjust the welding manipulator 18 and perform weld inspection after welding, and the welding precision of the welding manipulator 18 can be improved after track recording.

[0033] In use, the operator controls the fourth motor 121 to rotate to drive the chain 16 to rotate clockwise, so that the cooperative sliding block 17 at the top of the image acquisition camera 19 descends along the sliding groove 14 and the cooperative sliding block 17 at the top of the welding manipulator 18 ascends along the sliding groove 14, the height positions of the welding manipulator 18 and the image acquisition camera 19 are switched, the first motor 4 and the second motor 9 are respectively started and controlled to rotate, the second truss 5 and the mounting plate 8 are driven to move through cooperation of the first rack 101 and the second rack 501, the movement of the I-shaped sliding frame 11 and the mounting column 13 in X and Y directions is realized, the image acquisition camera 19 is driven to shoot images of the welding position and record tracks through the movement of the mounting column 13, after recording is completed, the fourth motor 121 is reversed to rotate to drive the chain 16 to rotate counterclockwise, so that the welding manipulator 18 descends and the image acquisition camera 19 ascends, the height positions of the welding manipulator 18 and the image acquisition camera 19 are switched at this time, the operator respectively starts and controls the first motor 4 and the second motor 9 to rotate to drive the mounting column 13 to move in X and Y directions, and controls the welding manipulator 18 to weld the steel piece, the image acquisition camera 19 continues to shoot during the welding process, for real-time observation and adjustment, and the image acquisition camera 19 can be switched again to perform weld inspection on the welding position after welding is completed.

[0034] When the specifications of the welded steel pieces are different and the height position of the I-shaped sliding frame 11 needs to be adjusted, the third motor 10 is controlled to rotate, the output shaft of the third motor 10 is synchronously rotated, and the I-shaped sliding frame 11, i.e. the mounting column 13, is driven to slide up and down along the fixed guide rod 81 through threads.

[0035] The above merely describes a preferred embodiment of the present application, and the protection scope of the present application is not limited thereto, and any skilled person in the art, according to the technical scheme and the inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A trussed intelligent welding robot comprising a first truss (1) and an I- slide (11), characterized in that: The first truss (1) is installed in the welding operation room through two groups of parallel fixing frames, the top of each of the two first trusses (1) is fixedly provided with a first sliding rail (2), the two first sliding rails (2) are both slidably connected with a first sliding block (3), the top of each of the two first sliding blocks (3) is fixedly provided with two second trusses (5) in parallel, the top of each of the two second trusses (5) is fixedly provided with a second sliding rail (6), the two second sliding rails (6) are both slidably connected with a second sliding block (7), the top of each of the two second sliding blocks (7) is fixedly provided with a mounting plate (8), the bottom of the mounting plate (8) is fixedly connected with four evenly distributed fixed guide rods (81), the four fixed guide rods (81) are slidably connected with an I-shaped sliding frame (11), the bottom of the I-shaped sliding frame (11) is fixedly provided with a hollow mounting column (13), the mounting column (13) is provided with a cooperation mechanism (15); The cooperation mechanism (15) comprises a chain (16) and a cooperation sliding block (17), the bottom of the mounting column (13) is provided with a sliding groove (14), the top of one sliding groove (14) is slidably connected with one cooperation sliding block (17), the bottom of the other sliding groove (14) is slidably connected with the other cooperation sliding block (17), the two cooperation sliding blocks (17) are the same in structure, the bottom of the mounting column (13) is rotatably connected with the chain (16), and the chain (16) is fixedly connected with the two cooperation sliding blocks (17).

2. The truss-type intelligent welding robot according to claim 1, characterized in that: The first truss (1) is provided with a first rack (101) on one side wall, and the second truss (5) is provided with a second rack (501) on one side wall.

3. The trussed intelligent welding robot of claim 2, wherein: The first sliding block (3) is fixedly provided with a first motor (4) on one side, and the output shaft of the first motor (4) is fixedly connected with a first gear meshing with the first rack (101).

4. The trussed intelligent welding robot of claim 2, wherein: The mounting plate (8) is fixedly provided with a second motor (9) on one side, and the output shaft of the second motor (9) is fixedly connected with a second gear meshing with the second rack (501).

5. The trussed intelligent welding robot of claim 1, wherein: The mounting plate (8) is fixedly provided with a third motor (10) on the top, the output shaft of the third motor (10) penetrates out of the mounting plate (8), the output shaft of the third motor (10) is threadedly connected with a center connecting column of the I-shaped sliding frame (11), the thread stroke of the center connecting column of the I-shaped sliding frame (11) is greater than the height difference between the I-shaped sliding frame (11) and the fixed guide rod (81), and the bottom of each fixed guide rod (81) is provided with a limiting clamping block.

6. The trussed intelligent welding robot of claim 1, wherein: The bottom of the I-shaped sliding frame (11) is fixedly provided with a motor box (12), the fourth motor (121) is fixedly installed in the motor box (12), and the output shaft of the fourth motor (121) is rotatably connected with the chain (16) through a fourth gear.

7. The trussed intelligent welding robot of claim 1, wherein: The bottom of the cooperation sliding block (17) of the mounting column (13) is fixedly provided with a welding manipulator (18), and the bottom of the cooperation sliding block (17) of the mounting column (13) is fixedly provided with an image acquisition camera (19) through a connecting rod.

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