Flexible heavy-load induction brazing device assisted by collaborative robot and balancer

Abstract

The utility model discloses a flexible heavy-load induction brazing device assisted by a collaborative robot and a balancer, which relates to the technical field of brazing and comprises a six-axis collaborative robot, a spring balancer, a brazing working head, a six-axis collaborative robot arm fixing brazing working head and a spring balancer hanging brazing working head. The brazing working head is used for clamping and welding a to-be-welded copper terminal on a large-size component; and the control cabinet body is electrically connected with the six-axis collaborative robot, the spring balancer and the brazing working head. The six-axis collaborative robot and the spring balancer are used for collaboratively assisting work to form the flexible heavy-load working device, and the flexible heavy-load working device has the advantages that man-machine collaboration can be achieved with low cost, the working difficulty is greatly reduced, meanwhile, the working intensity of workers can be reduced, and the intelligent level of production and manufacturing is improved.

Description

Technical Field

[0001] This utility model relates to the field of brazing technology, and more specifically, it relates to a flexible, high-load induction brazing device using a collaborative robot and a balancer. Background Technology

[0002] In heavy industries such as machinery manufacturing and steel structure construction, the welding of large components constitutes a core part of the manufacturing process, and is also a challenging area with intertwined technical difficulties and complexities. The complexity of welding operations is particularly pronounced when handling large and heavy workpieces such as ultra-large motor stators. Figure 1 Taking the welding of copper terminals at the end of an ultra-large motor stator as an example, the stator has a diameter of over 3 meters, and its end is densely covered with a large number of copper terminals that need to be brazed to copper plates. Due to the large size of the workpiece and the difficulty in moving it flexibly, the stator needs to rely on the motor drive in the pit to achieve rotation during the welding process. However, due to the limitations of the workpiece's size and weight, precise control of the rotation angle becomes extremely difficult.

[0003] In this context, welding equipment needs to be highly flexible to adapt to constantly changing welding positions, ensuring smooth welding operations. Simultaneously, given the large size of the copper terminals, the power required for welding increases accordingly, making both the welding equipment and welding cables more cumbersome. Traditionally, to address this issue, the industry has often used custom-designed multi-axis welding tables, where each axis can be independently adjusted to suit different welding needs. However, while this solution solves the problem to some extent, it also introduces the drawback of cumbersome operation. A significant amount of time must be spent fine-tuning the tooling position before each welding operation, severely reducing production efficiency and increasing labor costs.

[0004] Therefore, there is an urgent need to develop a new type of welding equipment for the welding production of large-sized components. Utility Model Content

[0005] To address this problem in practical applications, the purpose of this invention is to propose a flexible, high-load induction brazing device using a collaborative robot and a balancer. This device can flexibly, accurately, and efficiently adjust the welding posture, and is easy to operate, saving manpower. The specific solution is as follows:

[0006] A flexible high-load induction brazing device using a collaborative robot and a balancer includes a six-axis collaborative robot, a spring balancer, and a brazing head. The six-axis collaborative robot arm fixes the brazing head, and the spring balancer suspends the brazing head. The brazing head is used to clamp and weld copper terminals to be welded on large-sized components.

[0007] It also includes a control cabinet, which is electrically connected to the six-axis collaborative robot, the spring balancer, and the brazing head.

[0008] Furthermore, it also includes a robot base, a base rail, and a base vertical drive mechanism. The six-axis collaborative robot is mounted on the robot base, the robot base is slidably connected to the base rail, and the robot base is driven by the base vertical drive mechanism so that the robot base can move vertically on the base rail.

[0009] Furthermore, the robot base, base guide rail, and base vertical drive mechanism are all installed inside the control cabinet.

[0010] Furthermore, it also includes a balancer slide rail, a balancer drive component, a sling, and a lifting ring. The spring balancer is slidably connected to the balancer slide rail and is driven by the balancer drive component. The output end of the spring balancer suspends the lifting ring via the sling, and the lifting ring is connected to the brazing head.

[0011] Furthermore, the balancer slide rail is installed inside the control cabinet.

[0012] Furthermore, the brazing head includes a head body and a heating coil, a clamping mechanism, a handle, and a control button mounted on the head body. The handle is mounted on the clamping mechanism, which is used to drive the heating coil to clamp.

[0013] Furthermore, the six-axis collaborative robot arm is located on the side opposite to the working head body and opposite to the handle.

[0014] Furthermore, the spring balancer is suspended from the side of the working head body facing the handle via slings and rings.

[0015] Furthermore, it also includes a foot switch, which is installed on the ground and is used to activate and deactivate the six-axis collaborative robot's servo hovering.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] In this invention, a flexible, high-load working device is formed by using a six-axis collaborative robot and a spring balancer to assist in the work. This enables precise, highly flexible, high-load induction brazing, achieving human-machine collaboration at a lower cost. It significantly reduces the difficulty of the work, reduces the workload of workers, and improves the level of intelligence in manufacturing. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the copper terminals at the stator end of an ultra-large motor in the prior art;

[0019] Figure 2 This is an overall schematic diagram of an embodiment of the present utility model;

[0020] Figure 3 This is a schematic diagram showing the connection between the six-axis collaborative robot, the spring balancer, and the brazing head in an embodiment of this utility model.

[0021] Reference numerals: 1. Six-axis collaborative robot; 2. Spring balancer; 3. Brazing head; 4. Control cabinet; 5. Robot base; 6. Base guide rail; 7. Base vertical drive mechanism; 8. Balancer slide rail; 9. Balancer drive component; 10. Sling; 11. Lifting ring; 12. Heating coil; 13. Clamping mechanism; 14. Handle; 15. Control button; 16. Coil cable; 17. Foot switch;

[0022] 100. Stator. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] like Figure 2 As shown, a flexible, high-load inductive brazing device using a collaborative robot and a balancer includes a six-axis collaborative robot 1, a spring balancer 2, and a brazing head 3. The arm of the six-axis collaborative robot 1 fixes the brazing head 3, and the spring balancer 2 suspends the brazing head 3. The brazing head 3 is used to clamp and weld copper terminals to be welded on the stator 100 of an ultra-large motor. The brazing head 3 is positioned by the cooperation of the six-axis collaborative robot 1 and the spring balancer 2. The device also includes a control cabinet 4.

[0025] Generally, collaborative robots are limited by their inherent flexibility requirements, resulting in a very limited load capacity for their robotic arms, typically not exceeding 20 kg, which restricts their application under heavy load conditions. Furthermore, when using only a balancer for suspension, the excessive freedom of movement makes precise positioning of the brazing head 3 under heavy load conditions extremely difficult. This application addresses this issue by combining a six-axis collaborative robot 1 with a spring balancer 2 for the movement of the brazing head 3. This not only overcomes the load limitations of the collaborative robot but also solves the problem of precise positioning by the balancer, achieving precise, highly flexible, and heavy-load induction brazing.

[0026] Specifically, in combination Figure 3 As shown:

[0027] The device also includes a robot base 5, a base rail 6, and a base vertical drive mechanism 7. The robot base 5, the base rail 6, and the base vertical drive mechanism 7 are all mounted on the control cabinet 4. The six-axis collaborative robot 1 is mounted on the robot base 5. The robot base 5 is slidably connected to the base rail 6. The base rail 6 is arranged along the vertical direction of the control cabinet 4. The robot base 5 is connected to the base vertical drive mechanism 7 so that the robot base 5 can move vertically on the base rail 6, thereby driving the six-axis collaborative robot 1 to move vertically.

[0028] It should be noted that the six-axis collaborative robot 1 is existing technology, and this application does not involve any improvements to it. Therefore, its specific structure and working principle will not be described in detail here.

[0029] In addition, in one possible embodiment, the vertical drive structure of the base can be driven by a hydraulic cylinder or a pneumatic cylinder, etc., and this application does not limit this.

[0030] The device also includes a balancer slide rail 8, a balancer drive component 9, a sling 10, and a lifting ring 11. The balancer slide rail 8 is mounted on the control cabinet 4 and is arranged vertically and horizontally along the control cabinet 4, forming an L-shaped slide rail structure. The spring balancer 2 is slidably connected to the balancer slide rail 8 and is driven by the balancer drive component 9, so that the spring balancer 2 can move vertically or horizontally on the balancer slide rail 8. The output end of the spring balancer 2 is suspended by the sling 10 and the lifting ring 11 is connected to the brazing head 3.

[0031] In one possible embodiment, the balancer drive 9 can be driven by an existing method using an electric hoist in conjunction with gears and a transmission chain, such as the drive structure involved in a movable online printing device disclosed in patent authorization number CN207997677U. Since this application does not involve improvements to it, it will not be described in detail here.

[0032] The brazing head 3 includes a head body and a heating coil 12, a clamping mechanism 13, a handle 14, and a control button 15 mounted on the head body. The handle 14 is mounted on the clamping mechanism 13. Preferably, there are two handles 14. The clamping mechanism 13 is used to drive the heating coil 12 to clamp. The heating coil 12 is connected to a coil cable 16 and is energized to generate heat for welding. The control button 15 is used to control the clamping and welding operations of the brazing head 3.

[0033] The arm of the six-axis collaborative robot 1 is located on the side facing away from the working head and handle 14. The spring balancer 2 is suspended from the side of the working head facing handle 14 via cable 10 and ring 11.

[0034] Furthermore, it should be noted that, as the brazing working head 3 is existing technology, this application does not involve any improvement to the specific structure and principle of its structure, such as the clamping mechanism 13. A workpiece clamping mechanism 13 for use in a vacuum brazing furnace, as disclosed in patent authorization number CN215545624U, can be adopted. Therefore, it will not be described in detail here.

[0035] The device also includes a foot switch 17, mounted on the ground, which is used to activate and deactivate the six-axis collaborative robot's servo-hover function. Currently, the servo-hover function button for collaborative robots is located on the robot arm near the working head. However, since the brazing working head in this embodiment is relatively bulky and requires two-handed operation, a foot switch control is added to the robot's own button control to improve the convenience and flexibility of operation.

[0036] The control cabinet 4 also houses a power supply and a controller (not shown in the figure). The coil cable 16 is connected to the power supply, and the controller is electrically connected to the six-axis collaborative robot 1, the spring balancer 2, and the brazing head 3. As prior art, the controller can be a PLC controller, etc., and will not be described further in this application.

[0037] The welding process of the device in this application includes the following steps: Step 1: Operate the pit rotation mechanism (not shown in the figure, which is prior art) to rotate the copper terminal to be improved at the end of the stator 100 to an area that the brazing head 3 can reach; Step 2: Step on the foot switch 17 placed on the ground and hold the handle 14 of the brazing head 3 to move the brazing head 3 to the designated working position; Step 3: Use the control button 15 to operate the brazing head 3 to perform clamping and welding operations; Step 4: Repeat Step 2 and Step 3 to weld other copper terminals to be welded in sequence.

[0038] During the welding process, the use of spring balancer 2 and six-axis collaborative robot 1 enables highly flexible high-load induction brazing, allowing the high-load brazing head 3 to be easily suspended at any position and angle in space.

[0039] At the same time, by utilizing human flexibility and the follow-up function of collaborative robots, the difficulty of flexible welding of large-sized components is greatly reduced, and the labor intensity of operators during use is also significantly reduced.

[0040] Furthermore, due to its flexible design, this device can be used not only for heavy-load welding operations but also for assisting in other similar production processes. It is particularly suitable when manufacturing processes require cumbersome tooling and fixtures that still demand high flexibility. This application expands the application scope of collaborative robots and improves the level of intelligence in production processes.

[0041] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.

Claims

1. A flexible, high-load induction brazing device using a collaborative robot and a balancer, characterized in that, The system includes a six-axis collaborative robot, a spring balancer, and a brazing head. The six-axis collaborative robot arm fixes the brazing head, and the spring balancer suspends the brazing head. The brazing head is used to clamp and weld copper terminals to be welded on large-sized components. It also includes a control cabinet, which is electrically connected to the six-axis collaborative robot, the spring balancer, and the brazing head.

2. The flexible high-load induction brazing device using a collaborative robot and balancer as described in claim 1, characterized in that, It also includes a robot base, a base rail, and a base vertical drive mechanism. The six-axis collaborative robot is mounted on the robot base, the robot base is slidably connected to the base rail, and the robot base is driven by the base vertical drive mechanism so that the robot base can move vertically on the base rail.

3. The flexible high-load induction brazing device using a collaborative robot and balancer as described in claim 2, characterized in that, The robot base, base rail, and base vertical drive mechanism are all installed inside the control cabinet.

4. The flexible high-load induction brazing device using a collaborative robot and balancer as described in claim 1, characterized in that, It also includes a balancer slide rail, a balancer drive unit, a sling, and a lifting ring. The spring balancer is slidably connected to the balancer slide rail and is driven by the balancer drive unit. The lifting ring is suspended from the output end of the spring balancer via the sling and is connected to the brazing head.

5. The flexible high-load induction brazing device using a collaborative robot and balancer as described in claim 4, characterized in that, The balancer slide rail is installed inside the control cabinet.

6. The flexible high-load induction brazing device using a collaborative robot and balancer as described in claim 1, characterized in that, The brazing head includes a head body and a heating coil, a clamping mechanism, a handle, and a control button mounted on the head body. The handle is mounted on the clamping mechanism, which is used to drive the heating coil to clamp.

7. The flexible high-load induction brazing device using a collaborative robot and balancer as described in claim 6, characterized in that, The six-axis collaborative robot arm is located on the side opposite to the working head and the handle.

8. The flexible high-load induction brazing device using a collaborative robot and balancer as described in claim 6, characterized in that, The spring balancer is suspended on the side of the working head body facing the handle.

9. The flexible high-load induction brazing device using a collaborative robot and balancer as described in claim 1, characterized in that, It also includes a foot switch, which is mounted on the ground and is used to activate and deactivate the six-axis collaborative robot's servo hovering.

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