Lifting device, welding workbench and welding robot

Abstract

The utility model provides a lifting device, a welding workbench and a welding robot, and relates to the technical field of welding equipment. The lifting device is provided with a preset plane and comprises a pair of parallelogram connecting rod mechanisms, at least one driving mechanism and a mounting seat, the parallelogram connecting rod mechanisms are symmetrically arranged relative to the preset plane, and each parallelogram connecting rod mechanism is provided with a connecting rod end and a rack end which are opposite to each other; the connecting rod ends of the pair of parallelogram connecting rod mechanisms are oppositely and obliquely arranged; the moving tracks of the connecting rods of the pair of parallelogram connecting rod mechanisms are parallel to a preset plane, and the preset plane is parallel to a vertical plane; in the pair of parallelogram connecting rod mechanisms, the crank rod of at least one parallelogram connecting rod mechanism is connected with a driving mechanism, and the driving mechanism is used for driving the corresponding crank rod to rotate so as to drive the connecting rod to move; the mounting seat is connected with a connecting rod of the parallelogram connecting rod mechanism. The stability of the lifting device can be improved, and the situation that the welding device shakes is relieved.

Description

Technical Field

[0001] This application relates to the field of welding equipment technology, and in particular to a lifting device, a welding workbench, and a welding robot. Background Technology

[0002] Typically, when welding objects at high locations, a lifting mechanism is needed to raise the welding equipment to the corresponding elevation for welding. This is especially true for welding robots, which consist of a lifting device, a lifting mechanism, and a welding mechanism. The lifting device includes a lifting mechanism to transport the welding mechanism to the target position for welding operations. However, the lifting mechanism operates like a cantilever beam, and its end-effector deflection increases exponentially with height. This means that when welding targets at high locations, the welding equipment may wobble, affecting the welding quality. Utility Model Content

[0003] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a lifting device, a welding workbench and a welding robot, which can improve the stability of the lifting device, alleviate the shaking of the welding device and improve the welding quality.

[0004] This application provides the following technical solution:

[0005] In a first aspect, embodiments of this application provide a lifting device having a preset plane, the lifting device comprising:

[0006] A pair of parallelogram linkages, the pair of parallelogram linkages being symmetrically arranged about a preset plane, the parallelogram linkages having opposing link ends and frame ends, the link ends of the pair of parallelogram linkages being obliquely arranged towards each other; wherein, the running trajectory of the link of the pair of parallelogram linkages is parallel to the preset plane, and the preset plane is parallel to the vertical plane;

[0007] At least one drive mechanism is provided, wherein in the pair of parallelogram linkages, at least one crank of the parallelogram linkage is connected to the drive mechanism, and the drive mechanism is used to drive the corresponding crank to rotate, thereby moving the linkage.

[0008] Mounting base, the mounting base being connected to the link of the parallelogram linkage mechanism.

[0009] In some embodiments of the first aspect, the crank arm of the pair of parallelogram linkages is connected to the same drive mechanism.

[0010] In some embodiments of the first aspect, the parallelogram linkage further includes a rocker arm and an elastic element, one end of the elastic element being connected to the rocker arm and the other end of the elastic element being connected to the linkage; wherein the elastic element is in an elastic deformation state;

[0011] And / or, the parallelogram linkage mechanism further includes an elastic element, one end of which is connected to the crank rod, and the other end of which is connected to the connecting rod; wherein the elastic element is in an elastic deformation state.

[0012] In some embodiments of the first aspect, the elastic element is an elastic telescopic element that is in a stretched state.

[0013] In some embodiments of the first aspect, the mounting base has a mounting end face for mounting a load, the mounting end face and the connecting rod being arranged perpendicularly, the connecting rod being arranged vertically.

[0014] In some embodiments of the first aspect, the lifting device further includes a base, the drive mechanism is telescopic along the extension direction of the drive mechanism, the drive mechanism has a telescopic end and a fixed end, the telescopic end is hinged to the crank rod, the fixed end is hinged to the base, and the fixed end is horizontally away from the frame end.

[0015] Secondly, this application also provides a welding workbench, the welding workbench comprising:

[0016] A turntable, which can rotate horizontally;

[0017] As described in any of the above embodiments, the lifting device has the frame of the parallelogram linkage mechanism mounted on the turntable;

[0018] A welding device, which is mounted on the mounting base.

[0019] In some embodiments of the second aspect, the cross-section of the top of the turntable is smaller than the cross-section of the bottom of the turntable, and the frame of the parallelogram linkage is connected to the middle of the turntable.

[0020] In some embodiments of the second aspect, the welding apparatus includes:

[0021] Welding assembly, the welding assembly having a welding torch;

[0022] A robotic arm assembly has a base end and an execution end. The base end is disposed on the mounting base, and the welding assembly is disposed on the execution end. The robotic arm assembly can drive the execution end to move so as to adjust the position and posture of the welding torch.

[0023] Thirdly, this application also provides a welding robot, the welding robot comprising:

[0024] Movable chassis;

[0025] As described in any of the above embodiments, the turntable is mounted on the movable chassis.

[0026] In some embodiments of the third aspect, the welding robot further includes at least one liftable leg connected to the movable chassis; wherein, when there are multiple liftable legs, all the liftable legs are spaced apart on the periphery of the movable chassis.

[0027] In some embodiments of the third aspect, the movable chassis is provided with a counterweight structure for lowering the center of gravity of the welding robot.

[0028] In some embodiments of the third aspect, the welding robot further includes a remote controller electrically connected to the robotic arm assembly, the welding assembly, the power unit of the turntable, and the drive mechanism, respectively.

[0029] In some embodiments of the third aspect, the welding robot further includes a welding wire feeding device, the welding wire feeding device comprising:

[0030] A wire feeder, wherein the turntable is equipped with the wire feeder;

[0031] A wire storage tank is provided on the movable chassis;

[0032] A flexible wire guide tube, one end of which is connected to the wire storage tank and the other end of which is connected to the wire inlet of the wire feeder, allows welding wire to pass through.

[0033] The embodiments of this application have the following advantages:

[0034] This application provides a lifting device employing a pair of parallelogram linkages symmetrically arranged about a preset plane. The ends (free ends) of the linkages are designed to be offset towards each other, forming a stable geometric constraint. During movement, the linkages on both sides maintain a trajectory parallel to the preset plane, ensuring rigid alignment during lifting and avoiding deflection caused by a single-sided cantilever. At least one drive mechanism (such as a motor or hydraulic motor) drives a crank to rotate, causing the linkages of the parallelogram linkages to move synchronously. Due to the symmetrical linkage of the two sides, the driving force is evenly transmitted to the mounting base, reducing swaying caused by uneven force distribution. The mounting base is rigidly connected to the linkages on both sides, bearing symmetrically distributed loads during lifting and lowering. The characteristics of the parallelogram structure ensure that the mounting base remains horizontal at all times, and even during high-altitude operations, its vertical displacement remains linearly controllable, avoiding the exponential deflection growth of traditional cantilever beams.

[0035] Therefore, the symmetrical double-link structure counteracts the bending moment of a single-sided cantilever, significantly reducing the deflection at the lifting end. Especially during high-altitude welding, the sway of the welding mechanism (such as a welding torch or robot) is greatly reduced, improving welding accuracy. The opposing-skewed link layout creates spatial mechanical balance, enhancing the lifting device's resistance to lateral loads in the vertical plane, making it suitable for high-load or high-precision welding scenarios. The parallel motion trajectory of the parallelogram links ensures the straightness of the mounting base's lifting path, reducing positioning errors caused by nonlinear deformation in traditional lifting mechanisms, thereby improving the consistency of welding quality.

[0036] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram of the structure of a welding robot provided in an embodiment of this application is shown from one perspective;

[0039] Figure 2 This illustration shows a structural schematic diagram from another perspective of a welding robot provided in an embodiment of this application;

[0040] Figure 3 This illustration shows a structural schematic diagram from another perspective of a welding robot provided by an embodiment of this application;

[0041] Figure 4 This illustration shows a structural schematic diagram of a welding robot provided by an embodiment of the present application from yet another perspective.

[0042] Explanation of key component symbols:

[0043] 100 - Parallelogram linkage mechanism; 110 - Rocker arm; 120 - Crankshaft; 130 - Connecting rod; 140 - Frame; 150 - Elastic element; 160 - Preset plane;

[0044] 200 - Mounting base; 210 - Mounting end face;

[0045] 300-turntable;

[0046] 400 - Movable chassis;

[0047] 500 - Remote Controller;

[0048] 600-Wire feeder;

[0049] 700-Fiber Storage Tank;

[0050] 800 - Adjustable support legs;

[0051] 900 - Welding device; 910 - Welding assembly; 920 - Robotic arm assembly. Detailed Implementation

[0052] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0053] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0054] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0057] In related technologies, welding is a key process for ensuring structural stability and overall strength when welding objects at heights, especially during the construction of steel structure buildings. Taking steel structure factory buildings as an example, their main frame is usually composed of large steel beams, steel columns, and other components connected by high-strength welding. Because these buildings are generally characterized by their large height and wide span, welding operations often need to be carried out at different elevations, and the welding quality of high-altitude joints directly affects the safety performance of the building.

[0058] Currently, the industry commonly uses mobile welding equipment equipped with lifting devices to complete high-altitude welding tasks. This type of equipment typically consists of a lifting device, an adjustable lifting platform, and a welding system. Among these, welding robots, due to their high degree of automation and good process consistency, have become important equipment in modern steel structure construction. Their workflow is as follows: after being positioned at the target work station by the lifting device, the hydraulic or electric lifting mechanism raises the welding execution unit (including the welding torch, wire feeder, vision system, etc.) to the predetermined height for operation. However, existing technologies have revealed significant limitations in practical applications: when the lifting height exceeds a certain range (usually >8 meters), the welding mechanism exhibits significant swaying due to the following factors: cantilever structural mechanical defects – the lifting mechanism operates like a cantilever beam, with the end deflection increasing exponentially with increasing height; and the telescopic lifting mechanism has multiple sleeve gaps, causing the overall system stiffness to decrease with increasing height. This shaking can cause a series of welding quality problems: First, the welding torch position deviation will cause the molten pool to be unstable, resulting in defects such as undercut and lack of fusion in the weld; second, the inaccurate robot trajectory planning will cause the interlayer overlap rate of multi-layer and multi-pass welding to go out of control; more seriously, in the gas shielded welding process, the shaking of the welding torch will destroy the integrity of the protective gas curtain, causing the weld metal to oxidize.

[0059] like Figure 1 and Figure 2 As shown, in order to solve the above-mentioned technical problems, this application provides a lifting device. The lifting device has a preset plane 160 and includes a pair of parallelogram linkage mechanisms 100, at least one drive mechanism, and a mounting base 200. The pair of parallelogram linkage mechanisms 100 are symmetrically arranged about the preset plane 160. Each parallelogram linkage mechanism 100 has a corresponding connecting rod 130 end and a frame end. The connecting rod 130 ends of the pair of parallelogram linkage mechanisms 100 are obliquely arranged towards each other. The running trajectory of the connecting rod 130 of the pair of parallelogram linkage mechanisms 100 is parallel to the preset plane 160, and the preset plane 160 is parallel to the vertical plane.

[0060] In a pair of parallelogram linkage mechanisms 100, at least one of the crank rods 120 of the parallelogram linkage mechanism 100 is connected to a drive mechanism, which drives the corresponding crank rod 120 to rotate, thereby moving the connecting rod 130; the mounting base 200 is connected to the connecting rod 130 of the parallelogram linkage mechanism 100.

[0061] In these embodiments, the lifting device has a reference plane, defined as a preset plane 160, and the movement and positional relationship of all components are related to this preset plane 160. In this embodiment, the preset plane 160 is parallel to the vertical plane as an example. Of course, in other embodiments, the preset plane 160 may also be an inclined surface, and the angle between the preset plane 160 and the vertical plane may be 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, or 90°, etc.

[0062] A pair of parallelogram linkages 100: These two parallelogram linkages 100 are symmetrically arranged about a predetermined plane 160, and each linkage 130 mechanism includes opposing linkage 130 ends (free ends) and frame ends. In particular, the linkage 130 ends of the two linkages 130 mechanisms are offset towards each other to form a stable geometric constraint structure.

[0063] The parallelogram linkage mechanism 100 includes a crank 120, a connecting rod 130, a rocker arm 110, and a frame 140. The crank 120, connecting rod 130, rocker arm 110, and frame 140 are sequentially hinged end-to-end to form the parallelogram linkage mechanism 100. The crank 120 and connecting rod 130 are hinged to form a first hinge axis, the rocker arm 110 and connecting rod 130 are hinged to form a second hinge axis, the rocker arm 110 and frame 140 are hinged to form a third hinge axis, and the crank 120 and frame 140 are hinged to form a fourth hinge axis. The first, second, third, and fourth hinge axes are all perpendicular to a preset plane 160 and are parallel to each other. It should be noted that the lengths of the crank 120, connecting rod 130, rocker arm 110 and frame 140 are not specifically limited here. For those skilled in the art, it is common practice to set the corresponding lengths to form a parallelogram linkage mechanism 100.

[0064] Furthermore, by symmetrically arranging a pair of parallelogram linkage mechanisms 100 on both sides of the preset plane 160, the force can be effectively balanced, reducing the deflection problem caused by the single-sided cantilever. The running trajectory of the linkage 130 of the pair of parallelogram linkage mechanisms 100 is parallel to the preset plane 160, and the preset plane 160 itself is also parallel to the vertical plane, ensuring directional consistency and stability throughout the entire lifting process.

[0065] At least one drive mechanism is configured on one of the parallelogram linkage mechanisms 100, specifically connected to the crank 120. This drive mechanism (such as an electric motor or hydraulic motor) can drive the crank 120 to rotate, thereby moving the corresponding connecting rod 130. This drive method ensures that the two connecting rods 130 can move synchronously, making the mounting base 200 stable during lifting and lowering, and reducing swaying caused by uneven force.

[0066] For example, each parallelogram linkage 100 is individually connected to a drive mechanism. Of course, in other embodiments, one of the parallelogram linkages 100 is connected to a drive mechanism. As one embodiment, the drive mechanism may also be directly connected to the mounting base 200 to drive the mounting base 200 to move.

[0067] For example, the drive mechanism may be a servo motor, stepper motor, hydraulic motor, pneumatic motor, or servo motor, etc. The drive mechanism has a rotating shaft, which is connected to the crank 120, and the rotating shaft is coaxially connected to the fourth hinge shaft, or the rotating shaft is connected to the fourth hinge shaft through a transmission mechanism.

[0068] The mounting base 200 is fixedly connected to the end of the connecting rod 130 of the parallelogram linkage mechanism 100, and is used to support welding equipment (such as welding torches, welding robotic arms, etc.). Due to the adoption of the unique connecting rod 130 mechanism, the mounting base 200 can maintain a horizontal state even when working at heights, and has good linear controllability, avoiding the problem of end deflection increasing with height in traditional cantilever beam structures.

[0069] In some embodiments, the crank 120 of a pair of parallelogram linkages 100 is connected to the same drive mechanism.

[0070] In these embodiments, the cranks 120 of a pair of parallelogram linkages 100 can be connected to the same drive mechanism, which helps ensure that the linkages 130 on both sides can move synchronously, thereby improving the stability and positioning accuracy of the entire lifting device. In this configuration, a drive mechanism (e.g., a servo motor or hydraulic motor) simultaneously drives the cranks 120 in the pair of parallelogram linkages 100 to rotate via a transmission mechanism (e.g., gears, chains, belts, etc.).

[0071] Obviously, since the two cranks 120 are driven by the same drive source, they will rotate at the same speed and in the same direction, which ensures that the two parallelogram linkages 100 can extend or retract synchronously.

[0072] Furthermore, the synchronous movement of the two linkages 130 ensures that the mounting base 200 remains horizontal and moves smoothly throughout the entire lifting process, avoiding tilting or swaying problems caused by asynchronous movement on both sides.

[0073] Therefore, the single-drive source design reduces vibration and instability caused by uneven driving forces on both sides, enhancing the rigidity and stability of the entire system. Compared to a dual-drive source design, using a single drive source reduces the number of drive components, simplifies the mechanical structure, and lowers maintenance costs. Precise control of the single drive source enables high-precision synchronous operation of the two linkage mechanisms, thereby improving the accuracy and consistency of welding operations. Reducing the number of drive components lowers the overall cost of the equipment while improving the system's reliability and durability.

[0074] For example, transmission method selection: In order to achieve effective power transmission, it is necessary to select a suitable transmission method according to the actual situation, such as gear transmission, chain transmission, or synchronous belt transmission, to ensure that the two cranks 120 can be driven efficiently and synchronously. As for how to select it, that is the conventional approach for those skilled in the art.

[0075] In some embodiments, the parallelogram linkage mechanism 100 further includes a rocker arm 110 and an elastic element 150, one end of which is connected to the rocker arm 110 and the other end of which is connected to the connecting rod 130; wherein the elastic element 150 has an elastic deformation state.

[0076] In these embodiments, the parallelogram linkage 100 not only includes basic components such as the crank 120, rocker arm 110, and connecting rod 130, but also incorporates an elastic element 150 to further optimize its performance. This design increases the system's flexibility and adaptability, while also helping to absorb vibrations or shocks, protecting the equipment and improving operational accuracy.

[0077] In the parallelogram linkage mechanism 100, one end of an elastic element 150 is connected to a rocker arm 110, and the other end is connected to a connecting rod 130. Thus, when the connecting rod 130 moves, the elastic element 150 can be stretched or compressed as needed.

[0078] The elastic element 150 can undergo elastic deformation under stress, meaning that it can allow a certain degree of deformation while maintaining structural integrity, thus acting as a buffer. Under the action of the elastic deformation of the elastic element 150, the gaps between the connecting rod 130, rocker arm 110, and crank rod 120 can be eliminated. In other words, the elastic element 150 can absorb some vibration or impact during movement, reducing the vibration transmitted to the welding equipment, thereby improving welding accuracy, quality, and stability. Put another way, manufacturing errors or assembly gaps that are difficult to avoid in actual production can be compensated to a certain extent by the appropriate deformation of the elastic element 150, ensuring the smoothness and accuracy of the entire device's operation.

[0079] Due to the presence of the elastic element 150, the system can automatically adjust to minor asymmetrical loads or uneven ground to ensure that the mounting base 200 (i.e. the part that carries the welding equipment) remains as level and stable as possible.

[0080] like Figure 3 As shown, in some embodiments, the parallelogram linkage mechanism 100 also has an elastic element 150, one end of which is connected to the crank rod 120 and the other end of which is connected to the connecting rod 130; wherein, the elastic element 150 has an elastic deformation state.

[0081] In these embodiments, the parallelogram linkage 100 further optimizes its performance by introducing an elastic element 150. Specifically, one end of this elastic element 150 is connected to the crank 120, and the other end is connected to the connecting rod 130, allowing the elastic element 150 to undergo elastic deformation during device operation. One end of the elastic element 150 is fixed to the crank 120, and the other end is connected to the connecting rod 130. This means that when a drive mechanism (such as a motor) rotates the crank 120, the elastic element 150 can stretch or compress according to motion requirements.

[0082] The design of the elastic element 150 allows it to undergo elastic deformation under stress, which not only helps absorb internal and external vibrations and shocks but also adapts to a certain degree of structural changes. The elastic element 150 can act as a buffer during movement, reducing direct impacts between mechanical components and protecting the entire system from damage caused by vibration. It is particularly suitable for welding operations requiring high precision.

[0083] The presence of the elastic element 150 can effectively alleviate minor displacement problems caused by manufacturing errors, assembly gaps, or uneven loads, thereby improving the smoothness and accuracy of the entire lifting device.

[0084] For example, the elastic element 150 can be a torsion spring, an elastic rubber strip, a pneumatic spring, etc.

[0085] like Figure 3 As shown, in some embodiments, the elastic element 150 is an elastic telescopic element, which is in a stretched state.

[0086] In these embodiments, the elastic element 150 is a resilient telescopic element, and this resilient telescopic element is typically held in a stretched state during operation. Such a design can provide specific advantages and functions, particularly in applications requiring vibration absorption, compensation for minor displacements, or maintenance of appropriate tension between components.

[0087] In this configuration, the elastic element 150 is specifically designed to elongate (stretch) and shorten (compress) under stress, but remains in a pre-stretched state during normal operation. This means that even without external loads, the elastic element bears a certain initial tensile force. This helps ensure that appropriate tension is always maintained between system components, reducing the possibility of loosening and improving the overall structural stability.

[0088] In precision operations such as welding, maintaining constant tension between components is crucial for ensuring operational accuracy. Pre-stretched elastic expansion joints can help maintain this condition and prevent positional deviations due to slack.

[0089] Elastic expansion joints still have a certain deformation capacity when stretched, which means they can effectively absorb vibrations and impacts from the drive mechanism or other sources, protecting welding equipment from damage and improving welding quality.

[0090] By applying a pre-existing tension force, the elastic telescopic component can compensate for minor errors that may occur during manufacturing and gaps during assembly, ensuring that the movement of the linkage 130 mechanism is smoother and more accurate.

[0091] For example, the elastic telescopic component is a telescopic spring, an elastic rubber band, or an elastic rubber strip, etc.

[0092] like Figure 3 As shown, in some embodiments, the mounting base 200 has a mounting end face 210 for mounting a load. The mounting end face 210 and the connecting rod 130 are arranged perpendicularly, and the connecting rod 130 is arranged vertically.

[0093] In these embodiments, the mounting base 200 is provided with a mounting end face 210 for fixing and connecting welding equipment or other loads (such as welding torches, laser heads, tool clamps, etc.). The mounting end face 210 is configured as a planar structure. For example, after the welding torch is mounted on the mounting end face 210, it is vertically positioned in conjunction with the connecting rod 130 to provide a reference surface (i.e., the mounting end face 210), facilitating positioning and ensuring the horizontality of the welding torch.

[0094] The mounting end face 210 is arranged perpendicular to the connecting rod 130 to ensure that the mounting direction of the load (e.g., welding mechanism) and the movement direction of the connecting rod 130 maintain a reasonable spatial relationship, which is beneficial for adjusting the operating posture. The design of the mounting end face 210 being perpendicular to the connecting rod 130 allows the load to be installed in a positive posture (e.g., horizontal or at a set angle), which facilitates the matching of the working direction of the welding equipment with the workpiece surface.

[0095] Furthermore, the vertically arranged connecting rod 130 cooperates with the vertically installed end face 210, which can effectively reduce the risk of swaying or overturning caused by eccentric torque, and is especially suitable for high-altitude operation scenarios.

[0096] For example, a welding robot: the mounting end face 210 is used to mount a welding torch or laser welding head to ensure that it is always in the correct welding posture.

[0097] For example, in an automated production line: as part of a lifting platform, it moves inspection, assembly, or spraying tools up and down.

[0098] like Figure 3 and Figure 4 As shown, in some embodiments, the lifting device further includes a base, and the drive mechanism is capable of extending and retracting along the extension direction of the drive mechanism. The drive mechanism has a telescopic end and a fixed end. The telescopic end is hinged to the crank 120, and the fixed end is hinged to the base. The fixed end is horizontally away from the frame end.

[0099] In these embodiments, the solution achieves effective driving and control of the parallelogram linkage mechanism 100 by setting the drive mechanism as a telescopic structure and connecting it to the base and crank 120 respectively using a hinged connection.

[0100] The drive mechanism (such as an electric actuator, hydraulic cylinder, or pneumatic cylinder) has a telescopic function and can output linear displacement in its own extension direction.

[0101] Connection method at both ends of the drive mechanism: The telescopic end of the drive mechanism is connected to the crank 120 via a hinge structure, ensuring that the crank 120 can rotate around its fulcrum during drive. The fixed end of the drive mechanism is connected to the base via a hinge, forming a stable fulcrum.

[0102] The fixed end is hinged to the base and is horizontally away from the frame end of the linkage 130 mechanism. This layout helps to optimize the lever arm distribution and provide additional support.

[0103] When the drive mechanism extends or retracts, its telescopic end pushes or pulls the crank 120 to rotate around its fulcrum, thereby causing the entire parallelogram linkage mechanism 100 to deform and realize the vertical movement of the connecting rod 130. Because the parallelogram linkage mechanism 100 is symmetrically arranged and the structures on both sides work together, the mounting base 200 maintains stable lifting and lowering.

[0104] For example, the base and the rack 140 are connected, with the base located on the front side of the rack 140. Alternatively, the two can be integrated into one unit.

[0105] like Figure 3 As shown, in some embodiments, this application also provides a welding workbench, which includes a turntable 300, a lifting device, and a welding device 900. The turntable 300 is horizontally rotatable. The frame 140 of the parallelogram linkage mechanism 100 is mounted on the turntable 300. The welding device 900 is mounted on the mounting base 200.

[0106] In these embodiments, the turntable 300 is capable of rotating horizontally about a vertical axis to support and drive the workpiece to be welded, facilitating welding operations from different angles. Of course, it can also be used to weld workpieces at multiple stations separately, improving efficiency. For example, the turntable 300 may be an electric turntable 300, a pneumatic turntable 300, etc.

[0107] Lifting device (as described above): The lifting device described in any of the above embodiments is adopted, wherein the frame end of the parallelogram linkage mechanism 100 is fixedly mounted on the turntable 300.

[0108] The welding device 900 is mounted on the mounting base 200 of the lifting device and moves up and down together with the mounting base 200 to adjust the welding height and posture. Typically, the welding device 900 has a welding torch.

[0109] For example, the welding apparatus 900 may be selected from at least one of the following:

[0110] Arc welding equipment: uses an electric arc as a heat source to melt and fuse filler material onto the workpiece to form a weld. Examples include MIG (Metal Inert Gas) welding, TIG (Tungsten Inert Gas) welding, and SMAW (Manual Arc Welding).

[0111] Spot welding equipment: Pressure is applied through two electrodes and current is passed through the workpiece, generating heat at the contact point to complete the welding. For example, resistance spot welding.

[0112] Laser welding device 900: Uses a high-energy-density laser beam as a heat source for localized heating welding.

[0113] Plasma welding apparatus 900: uses a plasma arc as a heat source, providing higher temperature and concentration than ordinary TIG welding, etc.

[0114] like Figure 3 As shown, in some embodiments, the cross-section of the top of the turntable 300 is smaller than the cross-section of the bottom of the turntable 300, and the frame 140 of the parallelogram linkage mechanism 100 is connected to the middle of the turntable 300.

[0115] In these embodiments, the turntable 300 adopts a form where the top cross-section is smaller than the bottom cross-section, and the frame 140 of the parallelogram linkage mechanism 100 is connected to the middle of the turntable 300, which helps to improve structural stability and optimize the center of gravity distribution.

[0116] This design, often referred to as a conical or trapezoidal shape, provides a more stable support base because the larger contact area at the bottom increases friction with the ground or other supporting surfaces, thereby improving overall stability.

[0117] For applications that require heavy loads or high stability, it can effectively prevent the risk of tipping over, especially during high-speed rotation or dynamic operation.

[0118] Fixing the frame end of the parallelogram linkage mechanism 100 to the center of the turntable 300, rather than its edge, allows for more even force distribution across the entire lifting device, reducing instability caused by eccentric loads. This arrangement helps optimize the system's center of gravity distribution, resulting in a smoother lifting process, and is particularly suitable for applications requiring high-precision positioning.

[0119] like Figure 3 As shown, in some embodiments, the welding apparatus 900 includes a welding assembly 910 and a robotic arm assembly 920. The welding assembly 910 has a welding torch; the robotic arm assembly 920 has a base end and an execution end. The base end is disposed on the mounting base 200, and the welding assembly 910 is disposed at the execution end. The robotic arm assembly 920 can drive the execution end to move so as to adjust the position and posture of the welding torch.

[0120] In these embodiments, by mounting the welding torch at the end of the robotic arm assembly 920 and using the robotic arm assembly 920 to adjust the position and orientation of the welding torch, precise welding of workpieces with complex shapes can be achieved.

[0121] The welding torch is the core tool used for welding operations. It should be noted that it also includes the wire feeder 600 mechanism, etc. The gas supply mechanism and the welding torch are mounted on different mounting faces 210.

[0122] The base end of the robotic arm assembly 920 is fixed on the mounting base 200, serving as the basic support point for the robotic arm assembly 920;

[0123] The position of the end effector mounting welding assembly 910 (such as a welding torch) is determined. The drive unit of the robotic arm assembly 920 typically consists of multiple joints and servo motors, enabling multi-degree-of-freedom movement and thus flexibly adjusting the position and orientation of the welding torch.

[0124] The robotic arm assembly 920 can move the welding torch to any position within the work area through multi-axis linkage; it can not only change the spatial position of the welding torch, but also adjust its angle and direction to meet the needs of different welding surfaces.

[0125] For example, the robotic arm assembly 920 is a three-axis robotic arm, a four-axis robotic arm, or a six-axis robotic arm, etc.

[0126] like Figure 3 As shown, in some embodiments, this application also provides a welding robot, which includes a movable chassis 400 and a welding worktable, with a turntable 300 disposed on the movable chassis 400.

[0127] In these embodiments, the movable chassis 400 serves as the mobile platform for the entire robot and has a walking mechanism (such as wheeled, tracked, or Mecanum wheels) that enables the welding workbench to move flexibly on the ground.

[0128] The welding workbench is mounted on the movable chassis 400 and includes:

[0129] Turntable 300: Can rotate horizontally, used to support and rotate the lifting device, and adjust the orientation of the welding device 900;

[0130] Lifting device (as described above): It adopts a lifting structure with a parallelogram linkage mechanism 100 to ensure that the welding device 900 still has good stability and accuracy when working at height;

[0131] Welding device 900: Installed on the mounting base 200 of the lifting device, it can move up and down with the lifting device to adjust the welding height.

[0132] The turntable 300 is fixedly installed on the movable chassis 400, allowing the entire welding worktable to move freely within the space. Combined with the rotation function of the turntable 300 and the height adjustment capability of the lifting device, it enables welding operations on the workpiece at all angles and in multiple positions.

[0133] For ease of understanding, the working principle is as follows: By controlling the travel path of the movable chassis 400, the welding robot is moved to the target welding position. The turntable 300 is activated, causing the lifting device to rotate to the target angle; the lifting device is then controlled to raise or lower the welding device 900 to the appropriate welding height. The welding device 900 (such as a welding torch, laser head, etc.) is activated to perform automated welding operations on the workpiece within the workstation.

[0134] For example, the turntable 300 is connected to the movable chassis 400 via a support bearing, and the movable chassis 400 is equipped with a drive motor for rotating the turntable 300.

[0135] In some embodiments, the welding robot further includes at least one liftable leg 800, which is connected to a movable chassis 400; wherein, when there are multiple liftable legs 800, all the liftable legs 800 are spaced apart on the periphery of the movable chassis 400.

[0136] These embodiments can significantly enhance the stability and adaptability of the robot, especially in uneven working environments or environments requiring additional support.

[0137] The adjustable outriggers 800 are primarily used to provide additional stability support for the welding robot during welding operations, which is especially important when working on uneven ground. Additionally, they help adjust the robot's level, ensuring that the welding table and turntable 300 operate at their optimal condition.

[0138] When using a single adjustable 800 outrigger, it is typically positioned at the chassis's center of gravity or a key support point to provide primary support.

[0139] When using multiple adjustable outriggers 800 (usually three or four), these outriggers are evenly distributed around the movable chassis 400, forming a stable support surface. This allows the entire device to remain level and stable even on uneven ground by adjusting the height of each outrigger.

[0140] Therefore, once the welding robot has moved to the designated location, the adjustable outriggers 800 are first lowered to contact the ground, and the height of each outrigger is adjusted according to the actual terrain to ensure the chassis is level. During welding operations, especially when dealing with heavy workpieces or high-precision welding tasks, the adjustable outriggers 800 effectively distribute the load and reduce errors caused by vibration or external interference. After completing the welding task, the outriggers can be retracted, restoring the robot's mobility for rapid transfer to the next work location.

[0141] For example, the adjustable outrigger 800 can be a hydraulically adjustable outrigger or an electrically adjustable outrigger, etc.

[0142] In some embodiments, the movable chassis 400 is provided with a counterweight structure to lower the center of gravity of the welding robot.

[0143] These embodiments significantly improve the robot's stability and balance, which is particularly important when performing high-precision welding tasks or operating on uneven ground. The main function of the counterweight structure is to lower the overall center of gravity of the welding robot by increasing the weight of the chassis, thereby improving its stability and anti-tipping ability. This is especially critical for robots that need to operate on complex terrain or weld heavy workpieces at heights.

[0144] For example, the counterweights are concentrated in a specific area of ​​the chassis (such as the center) to ensure that the entire system maintains a good balance.

[0145] For example, if multiple smaller counterweights are used, they can be distributed around the chassis, which not only lowers the center of gravity but also enhances the stability of the overall structure.

[0146] Therefore, by rationally configuring the counterweight structure, the center of gravity of the welding robot can be kept as low as possible, reducing the risk of overturning caused by external forces (such as wind, collisions, etc.).

[0147] In some embodiments, the welding robot also includes a remote controller 500, which is electrically connected to the power unit and drive mechanism of the robotic arm assembly 920, the welding assembly 910, and the turntable 300, respectively.

[0148] In these embodiments, operators can precisely control the welding robot from a safe distance, greatly improving operational flexibility and safety. This is especially beneficial in special situations, such as confined spaces or where welding gases are toxic.

[0149] The remote controller 500 allows operators to control the welding robot in all directions via wireless or wired means, including but not limited to the movement of the robotic arm, the adjustment of welding parameters, the angle control of the turntable 300, and the height adjustment of the lifting device.

[0150] The remote controller 500 establishes connections with the various components of the robot via cables or wireless communication modules (such as Wi-Fi, Bluetooth, Zigbee, etc.).

[0151] Typically equipped with a touchscreen, buttons, or other input devices, it allows operators to send commands and monitor system status. Integrated sensor data feedback functionality displays the robot's working status, location information, and fault alarms in real time.

[0152] All key components (robotic arm assembly 920, welding assembly 910, turntable 300 power unit and drive mechanism) are centrally managed by the remote controller 500 to ensure coordinated operation of all parts. Operators can finely adjust parameters such as welding path, welding speed, current, and voltage through the remote controller 500 to meet the needs of different workpieces.

[0153] In case of abnormal situations, the operator can immediately issue an emergency stop command through the remote controller 500 to ensure the safety of equipment and personnel.

[0154] like Figure 3 As shown, in some embodiments, the welding robot further includes a wire feeding device, which includes a wire feeder 600, a wire storage tank 700, and a flexible wire guide tube. The turntable 300 is equipped with the wire feeder 600. The movable chassis 400 is equipped with the wire storage tank 700. One end of the flexible wire guide tube is connected to the wire storage tank 700, and the other end of the flexible wire guide tube is connected to the wire inlet of the wire feeder 600. The flexible wire guide tube allows the welding wire to pass through.

[0155] These embodiments enable stable and continuous feeding of welding wire, improving the automation and efficiency of the welding process, and are particularly suitable for long-term, large-scale mobile welding operations.

[0156] The wire feeder 600 is mounted on the turntable 300, close to the installation position of the welding assembly 910. It is used to continuously and stably feed the welding wire into the welding gun (welding assembly 910) at a set speed, ensuring the continuity and stability of the welding process. It can be an electric wire feeder 600 with speed control functionality, allowing for precise adjustment in conjunction with welding parameters.

[0157] The wire storage jar 700 is fixedly mounted on the movable chassis 400 and is used to store disc-shaped or coiled welding wire. The wire storage jar 700 has an internal guiding structure or tensioning device to prevent the welding wire from tangling or getting stuck. The capacity can be designed as a standard or large capacity according to the welding task requirements, supporting long-term continuous operation.

[0158] One end of the flexible wire guide tube is connected to the wire outlet of the wire storage tank 700, and the other end is connected to the wire inlet of the wire feeder 600. The flexible wire guide tube is made of a composite material with both rigidity and flexibility, allowing the welding wire to pass smoothly and adapting to path changes caused by the welding robot's movement, lifting, and rotation. The inner wall of the wire guide tube is smooth, reducing the resistance to wire movement; the outer surface has a wear-resistant layer, improving its service life.

[0159] Before welding begins, the welding wire is drawn from the wire storage tank 700 and transported to the inlet of the wire feeder 600 via a flexible wire guide tube. The wire feeder 600 then feeds the wire into the welding gun at a speed set according to parameters such as welding current and voltage. The entire conveying process is automated under the coordination of the control system, ensuring a stable and reliable supply of welding wire.

[0160] Because the flexible wire guide tube has good bending adaptability, the normal feeding of welding wire will not be affected even if the welding robot is moving, lifting, or rotating 300 degrees on the turntable.

[0161] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0162] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0163] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A lifting device, characterized in that The lifting device has a preset plane, and the lifting device includes: A pair of parallelogram linkages, the pair of parallelogram linkages being symmetrically arranged about a preset plane, the parallelogram linkages having opposing link ends and frame ends, the link ends of the pair of parallelogram linkages being obliquely arranged towards each other; wherein, the running trajectory of the link of the pair of parallelogram linkages is parallel to the preset plane, and the preset plane is parallel to the vertical plane; At least one drive mechanism is provided, wherein in the pair of parallelogram linkages, at least one crank of the parallelogram linkage is connected to the drive mechanism, and the drive mechanism is used to drive the corresponding crank to rotate, thereby moving the linkage. Mounting base, the mounting base being connected to the link of the parallelogram linkage mechanism.

2. The lift device of claim 1, wherein, The crank arm of the pair of parallelogram linkages is connected to the same drive mechanism.

3. The lift device of claim 1, wherein, The parallelogram linkage mechanism also includes a rocker arm and an elastic element, one end of which is connected to the rocker arm and the other end of which is connected to the linkage; wherein the elastic element is in an elastic deformation state; And / or, the parallelogram linkage mechanism further includes an elastic element, one end of which is connected to the crank rod, and the other end of which is connected to the connecting rod; wherein the elastic element is in an elastic deformation state.

4. The lift device of claim 3, wherein, The elastic element is an elastic telescopic element, and the elastic telescopic element is in a stretched state.

5. The lift device of claim 1, wherein, The mounting base has a mounting end face for mounting a load. The mounting end face is perpendicular to the connecting rod, and the connecting rod is vertically positioned.

6. The lift device of claim 1, wherein, The lifting device also includes a base, and the driving mechanism is capable of extending and retracting along the extension direction of the driving mechanism. The driving mechanism has a telescopic end and a fixed end. The telescopic end is hinged to the crank rod, and the fixed end is hinged to the base. The fixed end is horizontally away from the frame end.

7. A welding station characterized by, The welding workbench includes: A turntable, which can rotate horizontally; The lifting device as described in any one of claims 1 to 6, wherein the frame of the parallelogram linkage mechanism is mounted on the turntable; A welding device, which is mounted on the mounting base.

8. The welding table of claim 7, wherein, The cross-section of the top of the turntable is smaller than the cross-section of the bottom of the turntable, and the frame of the parallelogram linkage mechanism is connected to the middle of the turntable.

9. The welding table of claim 7, wherein, The welding apparatus includes: Welding assembly, the welding assembly having a welding torch; A robotic arm assembly has a base end and an execution end. The base end is disposed on the mounting base, and the welding assembly is disposed on the execution end. The robotic arm assembly can drive the execution end to move so as to adjust the position and posture of the welding torch.

10. A welding robot, characterized in that, The welding robot includes: Movable chassis; The welding workbench as described in any one of claims 7 to 9, wherein the turntable is disposed on the movable chassis.

11. The welding robot of claim 10, wherein, The welding robot also includes at least one liftable leg, which is connected to the movable chassis; wherein, when there are multiple liftable legs, all the liftable legs are spaced apart on the periphery of the movable chassis.

12. The welding robot of claim 10, wherein, The movable chassis is equipped with a counterweight structure to lower the center of gravity of the welding robot.

13. The welding robot of claim 10, wherein, The welding robot also includes a remote controller, which is electrically connected to the robotic arm assembly, the welding assembly, the power unit of the turntable, and the drive mechanism.

14. The welding robot of claim 10, wherein, The welding robot also includes a welding wire feeding device, which comprises: A wire feeder, wherein the turntable is equipped with the wire feeder; A wire storage tank is provided on the movable chassis; A flexible wire guide tube, one end of which is connected to the wire storage tank and the other end of which is connected to the wire inlet of the wire feeder, allows welding wire to pass through.

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