Built-in push-pull wire feeding system for welding robot

Abstract

The utility model discloses a built-in push-pull wire feeding system for a welding robot, which comprises a wire feeding mechanism positioned behind a mechanical front arm of the robot and a push-pull wire mechanism positioned in front of the mechanical front arm, and is characterized in that a welding wire redundancy mechanism is arranged between the wire feeding mechanism and the push-pull wire mechanism; the welding wire redundant mechanism is arranged in the mechanical front arm and is covered by the hidden cover; the welding wire redundancy mechanism comprises a wire feeding hose, and a welding wire is installed in the wire feeding hose in a penetrating mode. The wire feeding hose is sequentially divided into a rear section, a middle section and a front section from back to front, the front end of the rear section is inserted into an expanding part at the rear end of the middle section, so that the rear section and the middle section can move relatively, the front end of the middle section is inserted into the rear end of the front section, and the middle section and the front section can move relatively. According to the utility model, dynamic synchronous control of the wire feeding mechanism and the wire pushing and drawing mechanism is realized; a hidden redundant mechanism is provided, so that space occupation and collision risks are reduced; and through redundancy closed-loop control, the push-pull speed synchronization error is reduced to the minimum.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of push-pull wire feeding systems for welding robot. BACKGROUND

[0002] Traditional welding robot wire feeding system not only causes long wire feeding distance, large resistance due to the layout of large interval between welding wire reel, wire feeding mechanism and welding torch, but also exists synchronous mismatch caused by the operation difference between wire feeding mechanism and push-pull wire feeding mechanism in push-pull wire feeding process, which leads to welding wire tension mutation, broken wire or accumulation problem, and the existing improvement scheme mostly uses servo motor synchronization or complex sensor mechanism, but still has defects such as high cost and complex equipment. The existing wire feeding mechanism is generally externally mounted on the robot mechanical arm, which not only affects the appearance, but also is easy to be affected. SUMMARY

[0003] The utility model aims at providing a kind of push-pull wire feeding system for welding robot with effectively realizing stable wire feeding.

[0004] The technical solution of the utility model is as follows:

[0005] A kind of push-pull wire feeding system for welding robot, including the wire feeding mechanism located at the rear of robot mechanical forearm, the push-pull wire feeding mechanism located at the front of mechanical forearm, characterized by: wire feeding mechanism and push-pull wire feeding mechanism are welding wire redundancy mechanism;The welding wire redundancy mechanism is arranged in the mechanical forearm and covered with a hidden cover;The welding wire redundancy mechanism includes wire feeding hose, and welding wire is installed in wire feeding hose;The wire feeding hose is sequentially rear section, middle section and front section from back to front, the front end of rear section is inserted in the enlarged part of the rear end of middle section, so that rear section and middle section are in the form of relative movement, and the front end of middle section is inserted into the rear end of front section, so that middle section and front section are in the form of relative movement.

[0006] The middle section of wire feeding hose is provided with a jacking mechanism for jacking the middle section of wire feeding hose.

[0007] The jacking mechanism includes a jacking shaft fixed sleeve fixedly connected with the robot body, a jacking shaft movably arranged in the jacking shaft fixed sleeve, a jacking fixed head seat fixedly connected to the upper end of the jacking shaft, and a jacking spring sleeved on the jacking shaft fixed sleeve between the jacking fixed head seat and the bottom of the jacking shaft fixed sleeve;The upper end of the jacking shaft is connected with a jacking fixed plate.

[0008] The utility model realizes dynamic synchronous control of wire feeding mechanism and push-pull wire feeding mechanism, provides hidden redundancy mechanism, reduces space occupation and collision risk, effectively improves two different wire feeding modes because power-assisted wire feeding is stable wire feeding and push-pull is sudden wire feeding, so as to effectively achieve the purpose of stable wire feeding. Through redundancy closed-loop control, push-pull speed synchronization error is minimized;Complex path adaptation: support continuous wire feeding under six-axis robot multiple postures. Attached Figure Description

[0009] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0010] Figure 1 This is a schematic diagram of the robot structure using this utility model.

[0011] Figure 2 This is a schematic diagram of the internal push-pull wire feeding system of this utility model. Detailed Implementation

[0012] A built-in push-pull wire feeding system for a welding robot includes a wire feeding mechanism 6 located behind the robot's mechanical forearm and a push-pull wire feeding mechanism 13 located in front of the mechanical forearm. A wire redundancy mechanism 9 is located between the wire feeding mechanism and the push-pull wire feeding mechanism. The wire redundancy mechanism is housed within the mechanical forearm and covered by a concealed cover 8. The wire redundancy mechanism includes a wire feeding hose, in which a welding wire 15 is threaded. The wire feeding hose consists of a rear section 16, a middle section 17, and a front section 24, arranged sequentially from back to front. The front end of the rear section is inserted into the enlarged portion at the rear end of the middle section, allowing relative movement between the rear and middle sections. The front end of the middle section is inserted into the rear end of the front section, also allowing relative movement between the middle and front sections.

[0013] A lifting mechanism is provided below the middle section of the wire feeding hose to lift the middle section of the wire feeding hose. The lifting mechanism includes a lifting shaft fixing sleeve 22 fixedly connected to the robot body 25, a lifting shaft 20 that can move up and down along the lifting shaft fixing sleeve is provided inside the lifting shaft fixing sleeve, a lifting fixing head seat 19 is fixedly connected to the upper end of the lifting shaft, and a lifting spring 21 fitted on the lifting shaft fixing sleeve is provided between the lifting fixing head seat and the bottom of the lifting shaft fixing sleeve; a lifting plate 18 is connected to the upper end of the lifting shaft for contacting a larger area of ​​the middle section of the wire feeding hose.

[0014] A displacement sensor 23 for real-time monitoring of the position of the lifting rod is provided at the lower end of the lifting shaft (the displacement sensor may also be omitted).

[0015] The front and rear sections of the wire feeding hose are in the form of fixed diameter hoses.

[0016] The diagram also includes joint 1, joint 2, welding wire spool 3, welding wire guide tube 4, joint 3, joint 4, joint 5, joint 6, collision mechanism 12, and welding torch 14; these are all standard structures of welding robots.

[0017] The wire feeder is connected to the wire feeder via a rear-section wire feed hose. The middle section wire feed hose is telescopic, enabling dynamic redundancy adjustment. The front section wire feed hose connects to the push-pull wire mechanism. The reducer design effectively reduces wire feeding resistance. A spring-loaded adjusting lifting shaft is vertically installed below the middle section wire feed hose. The spring provides initial preload to keep the wire feed hose in a low, relaxed position, allowing the lifting shaft to move vertically. This design is particularly suitable for industrial applications such as automotive manufacturing and shipbuilding welding, where high welding efficiency and stability are required.

Claims

1. A built-in push-pull wire feeding system for a welding robot, comprising a wire feeding mechanism located behind a mechanical forearm of the robot, and a push-pull wire mechanism located in front of the mechanical forearm, characterized in that: The welding wire redundancy mechanism is arranged in the mechanical forearm and is covered by a hidden cover.

2. The push-pull wire feed system for a welding robot according to claim 1, characterized in that: The middle section of the welding wire hose is provided with a jacking mechanism for jacking the middle section of the welding wire hose.

3. The push-pull wire feed system for a welding robot according to claim 2, characterized in that: The jacking mechanism comprises a jacking shaft fixed sleeve fixedly connected with the robot body, a jacking shaft arranged in the jacking shaft fixed sleeve and capable of moving up and down, a jacking fixed head base fixedly connected with the upper end of the jacking shaft, and a jacking spring sleeved on the jacking shaft fixed sleeve and arranged between the jacking fixed head base and the bottom of the jacking shaft fixed sleeve. The upper end of the jacking shaft is connected with a jacking fixed plate.

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