Welding manipulator

Abstract

The utility model discloses a welding manipulator and relates to the technical field of manipulators, the welding manipulator comprises a base, a rotating arm assembly and a welding assembly, the rotating arm assembly comprises a first movable arm and a second movable arm, the first movable arm is rotatably connected to the base, and the second movable arm is rotatably connected to one end, far away from the base, of the first movable arm; the welding assembly comprises a connector, a shell, a welding head and an air pipe, the connector is connected with the shell and the end, away from the first movable arm, of the second movable arm, a mounting cavity is defined by the shell, the welding head and the air pipe are arranged in the mounting cavity in a spaced mode, and the air pipe comprises a pipe body and a cleaning piece arranged in the pipe body. The cleaning device can move relative to the extending direction of the pipe body to clean the inner wall of the pipe body.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a welding robotic arm. Background Technology

[0002] CO2 arc welding robots use carbon dioxide as a shielding gas to weld low-carbon steel plates. Carbon dioxide is ejected through a nozzle outside the welding torch, generating an electric arc between the welding wire and the workpiece. The strong penetrating power of the carbon dioxide arc allows for increased bevel thickness and reduced bevel width during welding. However, during the welding of curved low-carbon steel plates, the thermophysical properties of carbon dioxide make it difficult for the molten metal at the welding wire tip to achieve a balanced axial free transition. This results in significant splashing of molten low-carbon steel at the weld joint, with the molten metal splashing in an arc shape into the nozzle. After cooling, the molten low-carbon steel solidifies, forming particles inside the nozzle. These particles easily clog the nozzle, hindering the output of carbon dioxide. Utility Model Content

[0003] The main purpose of this invention is to propose a welding robot that can automatically clean the carbon dioxide nozzle on the welding robot to prevent the molten metal from solidifying and clogging the nozzle.

[0004] To achieve the above objectives, the welding robot proposed in this utility model includes:

[0005] Base:

[0006] A rotating arm assembly, the rotating arm assembly including a first movable arm and a second movable arm, the first movable arm being rotatably connected to the base, and the second movable arm being rotatably connected to the end of the first movable arm away from the base;

[0007] A welding assembly includes a connector, a housing, a welding head, and an air pipe. The connector connects the housing to the end of the second movable arm away from the first movable arm. The housing encloses and forms an installation cavity. The welding head and the air pipe are spaced apart within the installation cavity. The air pipe includes a tube body and a cleaning component. The cleaning component is disposed within the tube body and can move relative to the extension direction of the tube body to clean the inner wall of the tube body.

[0008] In one embodiment, the air tube further includes a mounting base, a pressure plate, and a connecting rod. The tube body includes an air outlet located at the end of the tube body away from the connector. The pressure plate, the mounting base, and the cleaning component are sequentially spaced apart within the tube body along the direction close to the air outlet. The mounting base is connected to the inner wall of the tube body. The connecting rod connects the pressure plate and the cleaning component. The pressure plate can move closer to or further away from the mounting base along the extension direction of the tube body to drive the cleaning component to move.

[0009] In one embodiment, the air tube further includes an elastic connector, the opposite ends of which are respectively connected to the pressure plate and the mounting base.

[0010] In one embodiment, the elastic connector is a compression spring.

[0011] In one embodiment, a flow guide groove is formed on the outer periphery of the mounting base, and the flow guide groove is arranged along the extension direction of the tube body.

[0012] In one embodiment, the pressure plate has a first through hole, the mounting base has a second through hole, and the cleaning component has a third through hole. The first through hole, the second through hole, and the third through hole are sequentially connected and are all arranged along the extension direction of the tube body. The diameter of the second through hole is larger than the diameter of the first through hole.

[0013] In one embodiment, the mounting base is provided with a guide rod at one end near the cleaning component. The guide rod is arranged along the extension direction of the tube body, and the size of the guide rod is adapted to the size of the third through hole. The cleaning component is inserted into the third through hole along the extension direction of the tube body to clean it.

[0014] In one embodiment, the pipe body includes a cylindrical section and a conical section, the cylindrical section and the conical section are detachably connected, the mounting base, the pressure plate and the cleaning component are all disposed in the cylindrical section, and the air outlet is disposed in the conical section.

[0015] In one embodiment, the welding assembly further includes a shield connected to the end of the housing away from the connector and arranged in a flared shape.

[0016] In one embodiment, the inner wall of the shield is provided with a plurality of protruding structures.

[0017] This invention proposes a welding robot. The base provides a stable support platform for the robot, ensuring stability and reliability during the welding process. The rotating arm assembly consists of a first movable arm and a second movable arm. Their rotational connection allows the robot to flexibly position and move in space to adapt to different welding positions and angles. The welding assembly includes a connector, a housing, a welding head, and an air pipe. The connector connects the housing to the second movable arm, and the housing encloses a mounting cavity, within which the welding head and air pipe are located. This structural design allows the welding assembly to be securely mounted on the robot while facilitating maintenance and replacement of the welding head. A cleaning component inside the pipe cleans the inner wall, promptly removing molten metal adhering to the inner wall and preventing it from solidifying and affecting carbon dioxide delivery. This ensures the normal operation of the air pipe and guarantees stable welding operations by the welding head. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the structure of an embodiment of the welding robot provided by this utility model;

[0020] Figure 2 for Figure 1 Schematic diagram of the welding assembly;

[0021] Figure 3 for Figure 2 Cross-sectional view of the middle trachea;

[0022] Figure 4 for Figure 3 A cross-sectional schematic diagram of the mounting base.

[0023] Explanation of icon numbers:

[0024] 1000. Welding robot; 1. Base; 2. Rotary arm assembly; 21. First movable arm; 22. Second movable arm; 3. Welding assembly; 31. Connector; 32. Housing; 33. Welding head; 34. Air pipe; 341. Pipe body; 3411. Cylindrical section; 3412. Conical section; 342. Cleaning component; 3421. Third through hole; 343. Mounting base; 3431. Guide groove; 3432. Second through hole; 3433. Guide rod; 344. Pressure plate; 3441. First through hole; 345. Connecting rod; 346. Elastic connector; 35. Baffle; 351. Protruding structure.

[0025] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0027] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0028] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0029] CO2 arc welding robots use carbon dioxide as a shielding gas to weld low-carbon steel plates. Carbon dioxide is ejected through a nozzle outside the welding torch, generating an electric arc between the welding wire and the workpiece. The strong penetrating power of the carbon dioxide arc allows for increased bevel thickness and reduced bevel width during welding. However, during the welding of curved low-carbon steel plates, the thermophysical properties of carbon dioxide make it difficult for the molten metal at the welding wire tip to achieve a balanced axial free transition. This results in significant splashing of molten low-carbon steel at the weld joint, with the molten metal splashing in an arc shape into the nozzle. After cooling, the molten low-carbon steel solidifies, forming particles inside the nozzle. These particles easily clog the nozzle, hindering the output of carbon dioxide.

[0030] To solve the above problems, this utility model proposes a welding robot 1000, including a base 1, a rotating arm assembly 2, and a welding assembly 3. The rotating arm assembly 2 includes a first movable arm 21 and a second movable arm 22. The first movable arm 21 is rotatably connected to the base 1, and the second movable arm 22 is rotatably connected to the end of the first movable arm 21 away from the base 1. The welding assembly 3 includes a connector 31, a housing 32, a welding head 33, and an air pipe 34. The connector 31 connects the housing 32 and the end of the second movable arm 22 away from the first movable arm 21. The housing 32 encloses and forms an installation cavity. The welding head 33 and the air pipe 34 are spaced apart in the installation cavity. The air pipe 34 includes a pipe body 341 and a cleaning component 342. The cleaning component 342 is disposed inside the pipe body 341 and can move relative to the extension direction of the pipe body 341 to clean the inner wall of the pipe body 341.

[0031] This utility model proposes a welding robot 1000. The base 1 provides a stable support platform for the robot, ensuring stability and reliability during the welding process. The rotating arm assembly 2 consists of a first movable arm 21 and a second movable arm 22. Their rotational connection allows the robot to flexibly position and move in space to adapt to different welding positions and angles. The welding assembly 3 includes a connector 31, a housing 32, a welding head 33, and an air pipe 34. The connector 31 connects the housing 32 to the second movable arm 22, and the housing 32 encloses a mounting cavity, within which the welding head 33 and the air pipe 34 are located. This structural design allows the welding assembly 3 to be securely mounted on the robot while facilitating maintenance and replacement of the welding head 33. A cleaning component 342 is installed inside the tube 341 to clean the inner wall of the tube 341, promptly removing molten metal adhering to the inner wall and preventing it from solidifying and sticking to the inner wall, thus affecting carbon dioxide delivery. Ensure the normal operation of the gas pipe 34 to ensure that the welding head 33 can perform welding operations stably.

[0032] In an optional embodiment, to facilitate the movement of the cleaning component 342 within the tube 341, the air tube 34 further includes a mounting base 343, a pressure plate 344, and a connecting rod 345. The tube 341 includes an air outlet located at the end of the tube 341 away from the connector 31. The pressure plate 344, mounting base 343, and cleaning component 342 are sequentially spaced within the tube 341 along the direction near the air outlet. The mounting base 343 is connected to the inner wall of the tube 341. The connecting rod 345 connects the pressure plate 344 and the cleaning component 342. The pressure plate 344 can move closer to or further away from the mounting base 343 along the extension direction of the tube 341 to drive the cleaning component 342 to move. Please refer to [reference needed]. Figure 2The connecting rod 345 passes through the mounting base 343 and is connected at both ends to the pressure plate 344 and the cleaning component 342, respectively. The pressure plate 344 drives the cleaning component 342 to move, thus achieving cleaning. In actual design, a driving component can be used to connect to the pressure plate 344 to drive its movement. Alternatively, the input carbon dioxide gas flow can push the pressure plate 344, thereby driving the cleaning component 342 to clean the inner wall of the tube 341. This structural design ensures that the gas tube 34 can not only stably supply carbon dioxide gas but also clean the inner wall of the gas tube 34 through the pressure plate 344 and the cleaning component 342, preventing blockages during gas supply. This ensures the continuity and stability of the gas supply during welding.

[0033] Specifically, the pressure plate 344 has a first through hole 3441, the mounting base 343 has a second through hole 3432, and the cleaning component 342 has a third through hole 3421. The first through hole 3441, the second through hole 3432, and the third through hole 3421 are sequentially connected and are all arranged along the extension direction of the tube body 341. The diameter of the second through hole 3432 is larger than the diameter of the first through hole 3441. By providing multiple first through holes 3441, second through holes 3432, and third holes on the pressure plate 344, mounting base 343, and cleaning component 342 respectively, carbon dioxide gas input from the upper inlet end can be smoothly output from the lower outlet. The diameter of the second through hole 3432 on the mounting base 343 is set to be larger than the diameter of the first through hole 3441 on the pressure plate 344. This allows the carbon dioxide gas between the pressure plate 344 and the mounting base 343 to quickly pass through the mounting base 343, thereby reducing the resistance of the carbon dioxide airflow above the pressure plate 344 in pushing the pressure plate 344, thus ensuring that the cleaning component 342 can move smoothly within the tube body 341.

[0034] Furthermore, a flow guide groove 3431 is formed on the outer periphery of the mounting base 343, and the flow guide groove 3431 is arranged along the extension direction of the tube body 341. By setting the flow guide groove 3431 on the mounting base 343, the flow path of carbon dioxide gas in the gas tube 34 is optimized, the resistance to the flow of carbon dioxide gas is reduced, and the flow efficiency is improved. The design of the flow guide groove 3431 also helps to stabilize the gas flow rate and reduce turbulence and eddies in the flow of carbon dioxide gas, thereby ensuring that the welding head 33 can obtain a stable and uniform gas supply. In addition, the setting of the flow guide groove 3431 also helps to reduce noise and vibration inside the gas tube 34, and improve the stability and operating comfort of the welding robot 1000. This structural design enables the welding robot 1000 to maintain high welding quality and efficiency when performing high-speed welding operations. In addition, to facilitate the movement of the pressure plate 344 and the cleaning component 342, guide protrusions / guide grooves can be provided along the length direction on the inner wall of the tube body 341, and guide grooves / guide protrusions can be provided on the outer edges of the pressure plate 344 and the cleaning component 342 respectively. The guide protrusions and guide grooves cooperate with each other, so that the pressure plate 344 and the cleaning component 342 can move more smoothly and stably.

[0035] In an optional embodiment, to facilitate the reciprocating motion of the cleaning component 342, the air tube 34 further includes an elastic connector 346, with its opposite ends connected to a pressure plate 344 and a mounting base 343, respectively. The pressure plate 344 compresses the elastic connector 346 within the tube body 341, causing it to elastically deform. When the elastic connector 346 is compressed, it can push the cleaning component 342 downwards to clean the inner wall of the tube body 341. When welding is completed or temporarily stopped, the carbon dioxide gas flow rate decreases or stops, the pressure plate 344 is no longer subjected to upward thrust, and the elastic connector 346 resets and lifts, causing the cleaning component 342 to move upwards to achieve a reset, preparing for cleaning of the inner wall of the tube body 341 at the start of the next welding operation. Furthermore, the addition of the elastic connector 346 also helps reduce the rigid contact between the pressure plate 344 and the mounting base 343, extending the service life of the air tube 34 and reducing maintenance costs.

[0036] Furthermore, the elastic connector 346 is a compression spring. Using a compression spring as the elastic connector 346 effectively provides the necessary elastic force, allowing the pressure plate 344 to move flexibly to clean the inner wall of the gas tube 34. The use of the compression spring also helps to maintain stable gas pressure during welding. In addition, the addition of the compression spring improves the response speed of the gas tube 34 system, enabling the welding robot 1000 to quickly adapt to different welding conditions and requirements. In other embodiments, the elastic connector 346 can also be a disc spring or a wave spring, whichever is selected according to actual needs.

[0037] In an optional embodiment, since the cleaning component 342 is located near the air outlet, when the welding robot 1000 is working, some molten metal will inevitably splash onto the inner wall of the third connecting hole. In order to clean the third through hole 3421, the mounting base 343 is provided with a guide rod 3433 at one end near the cleaning component 342. The guide rod 3433 is arranged along the extension direction of the tube body 341, and the size of the guide rod 3433 is adapted to the size of the third through hole 3421. The cleaning component 342 is inserted into the third through hole 3421 along the extension direction of the tube body 341 to clean it. Under normal circumstances, the guide rod 3433 is inserted into the third through hole 3421 to achieve a fit. During welding, the carbon dioxide gas flow pushes the pressure plate 344, thereby causing the cleaning component 342 to move downwards, disengaging the guide rod 3433 from the third through hole 3421 and facilitating the flow of carbon dioxide. After welding is completed, the cleaning component 342 returns to its original position and moves upwards, allowing the guide rod 3433 to re-enter the third through hole 3421 and push out any molten metal adhering to the hole wall, ensuring the cleanliness of the third through hole 3421 and guaranteeing the normal transmission of carbon dioxide gas flow within the gas tube 34. The dimensional fit between the guide rod 3433 and the third through hole 3421 ensures that the cleaning component 342 can be precisely inserted into and clean the through hole, preventing jamming and damage during the cleaning process. Furthermore, the design of the guide rod 3433 also helps improve cleaning efficiency, reduce cleaning time, and enhance the maintenance convenience of the welding robot 1000. With this design, the welding robot 1000 can keep the gas pipe 34 clean during the welding process, ensuring the continuity and stability of the gas supply, thereby improving welding quality and efficiency.

[0038] In an optional embodiment, to facilitate maintenance within the trachea 34, the trachea 341 includes a cylindrical section 3411 and a tapered section 3412. The cylindrical section 3411 and the tapered section 3412 are detachably connected. The mounting base 343, pressure plate 344, and cleaning component 342 are all located within the cylindrical section 3411, and the air outlet is located within the tapered section 3412. This detachable connection design between the cylindrical section 3411 and the tapered section 3412 allows for easy disassembly and assembly when the trachea 341 needs replacement or maintenance, improving the maintenance efficiency of the welding robot 1000. Optionally, the cylindrical section 3411 and the tapered section 3412 can be connected by threads or by fasteners such as clamps. Furthermore, placing the mounting base 343, pressure plate 344, and cleaning component 342 within the cylindrical section 3411 helps to centralize the key components of the trachea 34, simplifying its structure and facilitating maintenance and replacement of these components. The conical outlet design increases the gas pressure after carbon dioxide passes through the outlet, optimizes the gas outlet direction and flow rate, and improves the efficiency and stability of the gas supply. This enables the welding robot 1000 to maintain a high-efficiency gas supply in various welding operations, improving welding quality and production efficiency.

[0039] In an optional embodiment, the welding assembly 3 further includes a shield 35, which is connected to the end of the housing 32 away from the connector 31 and is flared in shape. By providing the shield 35 on the housing 32, spatter and heat during the welding process are prevented from damaging other components of the welding robot 1000. The flared design of the shield 35 helps guide and collect welding spatter, reducing pollution of the working environment and protecting operator safety. Furthermore, the design of the shield 35 also helps reduce noise during the welding process, improving the comfort of the working environment. Through this design, the welding robot 1000 can protect its own components while also protecting the working environment and operator safety, improving the safety and efficiency of welding operations.

[0040] In an optional embodiment, the inner wall of the shield 35 is provided with a plurality of protrusions 351. The design of the protrusions 351 also helps to improve the thermal stability of the shield 35, preventing deformation of the shield 35 under high-temperature welding conditions. Furthermore, the protrusions 351 help to guide welding spatter, reducing the impact and abrasion of the spatter on the shield 35, thus improving the protective effect of the shield 35. Through this design, the shield 35 of the welding robot 1000 can more effectively protect the robot and the working environment, improving the safety and reliability of welding operations.

[0041] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A welding robot, characterized in that, include: Base: A rotating arm assembly, the rotating arm assembly including a first movable arm and a second movable arm, the first movable arm being rotatably connected to the base, and the second movable arm being rotatably connected to the end of the first movable arm away from the base; A welding assembly includes a connector, a housing, a welding head, and an air pipe. The connector connects the housing to the end of the second movable arm away from the first movable arm. The housing encloses and forms an installation cavity. The welding head and the air pipe are spaced apart within the installation cavity. The air pipe includes a tube body and a cleaning component. The cleaning component is disposed within the tube body and can move relative to the extension direction of the tube body to clean the inner wall of the tube body.

2. The welding robot as described in claim 1, characterized in that, The air tube also includes a mounting base, a pressure plate, and a connecting rod. The tube body includes an air outlet located at the end of the tube body away from the connector. The pressure plate, the mounting base, and the cleaning component are sequentially spaced apart within the tube body along the direction close to the air outlet. The mounting base is connected to the inner wall of the tube body. The connecting rod connects the pressure plate and the cleaning component. The pressure plate can move closer to or further away from the mounting base along the extension direction of the tube body to drive the cleaning component to move.

3. The welding robot as described in claim 2, characterized in that, The air tube also includes an elastic connector, the opposite ends of which are connected to the pressure plate and the mounting base, respectively.

4. The welding robot as described in claim 3, characterized in that, The elastic connector is a compression spring.

5. The welding robot as described in any one of claims 2 to 4, characterized in that, A flow guide groove is formed on the outer periphery of the mounting base, and the flow guide groove is arranged along the extension direction of the pipe body.

6. The welding robot as described in claim 5, characterized in that, The pressure plate has a first through hole, the mounting base has a second through hole, and the cleaning component has a third through hole. The first through hole, the second through hole, and the third through hole are sequentially connected and are all arranged along the extension direction of the tube body. The diameter of the second through hole is larger than the diameter of the first through hole.

7. The welding robot as described in claim 6, characterized in that, The mounting base is provided with a guide rod at one end near the cleaning component. The guide rod is arranged along the extension direction of the tube body. The size of the guide rod is adapted to the size of the third through hole. The cleaning component is inserted into the third through hole along the extension direction of the tube body to clean it.

8. The welding robot as described in claim 6, characterized in that, The pipe body includes a cylindrical section and a conical section, the cylindrical section and the conical section are detachably connected, the mounting base, the pressure plate and the cleaning component are all located in the cylindrical section, and the air outlet is located in the conical section.

9. The welding robot as described in claim 6, characterized in that, The welding assembly also includes a baffle, which is connected to the end of the housing away from the connector and is arranged in a flared shape.

10. The welding robot as described in claim 9, characterized in that, The inner wall of the shield is provided with multiple protruding structures.

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