High-precision multi-dimensional welding robot

Abstract

The utility model provides a high-precision multidimensional welding robot, which relates to the technical field of welding robots and comprises a main mounting rack, the main body of the main mounting rack is an L-shaped rack body, the top of the main mounting rack is slidably provided with a movable arm seat matched with a guide rail, and the outer side of the top of the movable arm seat is rotatably provided with a swing arm; a lifting arm is slidably arranged at the outer end of the swing arm, an elevation arm is hinged to the bottom of the lifting arm, a support is fixedly arranged at the bottom of the elevation arm, and a middle sliding block is fixedly arranged at the bottom of the support. An arc-shaped resistor is arranged, the swinging angle can be monitored, a second servo motor drives a swinging arm to rotate, swinging can be conducted, and an electric cylinder is used for pushing a positioning friction block to press the swinging arm to conduct fixing; and during rotation of the swing arm, the trigger block slides in a manner of being attached to the arc-shaped resistor, the resistance of the arc-shaped resistor is adjusted, the swing angle can be calculated and monitored through resistance change feedback, and the problem that an existing welding robot is inconvenient to monitor dimensional movement is solved.

Description

A high-precision multi-dimensional welding robot Technical Field

[0001] This utility model belongs to the field of welding robot technology, and more specifically, it relates to a high-precision multidimensional welding robot. Background Technology

[0002] Welding robots replace manual welding operations. With precise motion control, they achieve accurate positioning of welding tools, providing stable welding quality. They are widely used in automobile manufacturing, machining and other fields, significantly improving welding efficiency and quality while reducing labor costs and labor intensity.

[0003] Based on the above, the welding robots currently in use rely on movement to control position, which makes it inconvenient to monitor the welding position during movement to ensure the normal operation of the welding work. They also lack the functions of controlling position and angle, as well as the function of monitoring dimensional movement. Summary of the Invention

[0004] To address the aforementioned technical problems, this utility model provides a high-precision multidimensional welding robot. This addresses the issues raised in the background section regarding existing welding robots, which rely on movement to control position, making it inconvenient to monitor the welding position during movement to ensure normal welding operations. Furthermore, these robots lack position and angle control functions, as well as dimensional motion monitoring capabilities.

[0005] The purpose and effectiveness of this high-precision multidimensional welding robot are achieved through the following specific technical means:

[0006] A high-precision multidimensional welding robot includes a main mounting frame. The main mounting frame has an L-shaped body. A movable arm seat is slidably mounted on the top of the main mounting frame with guide rails. A swing arm is rotatably mounted on the outer side of the top of the movable arm seat. A lifting arm is slidably mounted on the outer end of the swing arm. An elevation arm is hinged to the bottom of the lifting arm. A bracket is fixedly mounted on the bottom of the elevation arm. A central slider is fixedly mounted on the bottom of the bracket. Side rails are slidably mounted on both sides of the central slider. End plates are fixedly mounted on the front and rear ends of the two sets of side rails. A hollow threaded tube is fixedly mounted between the two sets of end plates. A welding torch is fixedly mounted on the outer side of the end plate near the main mounting frame. Resistance strips are fixedly mounted in the middle of the inner walls of both side rails. A circuit is connected to one end of the two sets of resistance strips. Contact pieces are mounted on both sides of the central slider with spring rods. The contact pieces are in contact with the resistance strips. A circuit is installed inside the central slider to connect the two sets of contact pieces. A rotating nut is rotatably mounted in the middle of the central slider. The rotating nut is threadedly connected to the threaded tube.

[0007] Furthermore, a first lead screw is rotatably mounted at the top center of the main mounting frame, and a first servo motor capable of driving the first lead screw is fixedly mounted on one side of the top of the main mounting frame; a nut block is provided at the bottom of the moving arm seat and threadedly connected to the first lead screw.

[0008] Furthermore, a tooling table is fixedly installed in the main mounting frame, and four sets of pneumatic pistons are fixedly installed around the top of the tooling table. Tooling blocks are fixedly installed on the extension and retraction ends of the pneumatic pistons.

[0009] Furthermore, an electric cylinder is fixedly mounted on the upper part of the movable arm base, and a positioning friction block is fixedly mounted on the telescopic end of the electric cylinder; the hinge of the swing arm has a toothed structure on the outside and contacts the positioning friction block; a second servo motor is set in the middle of the movable arm base, and the second servo motor is connected to the hinge shaft of the swing arm by a bevel gear transmission; an arc-shaped resistor is fixedly mounted on the outside of the hinge of the movable arm base, and the arc-shaped resistor has a double-layer structure and is connected by a line; a trigger block is fixedly mounted on the bottom of the swing arm, and the trigger block is in contact with the arc-shaped resistor.

[0010] Furthermore, the lifting arm is externally rotatably provided with a second lead screw, and a third servo motor capable of driving the second lead screw is fixedly provided at the top of the lifting arm; the second lead screw is threadedly connected to the swing arm.

[0011] Furthermore, an electronic level and a fourth servo motor are fixedly installed at the hinge of the elevation arm; the shaft of the fourth servo motor is fixedly connected to the elevation arm.

[0012] Furthermore, a fifth servo motor is fixedly installed in the bottom bracket of the elevation arm, and the fifth servo motor is connected to the rotating screw nut by a bevel gear transmission.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] An arc-shaped resistor is installed to monitor the swing angle. The swing arm is rotated by a second servo motor and can swing. The swing arm is fixed by using an electric cylinder to push the positioning friction block to tighten it. During the rotation of the swing arm, the trigger block slides against the arc-shaped resistor. The resistance of the arc-shaped resistor is adjusted, and the swing angle can be calculated and monitored by the feedback of the resistance change.

[0015] An electronic level is installed to monitor the welding elevation angle. The elevation arm can be rotated by a fourth servo motor to adjust the angle. The elevation angle can be monitored and calculated by the changes in the electronic level, and then adjusted in conjunction with the control program.

[0016] The rotating nut controls the feed of the welding torch. The fifth servo motor is started to drive the rotating nut to rotate. The rotating nut rotates outside the threaded tube, which can push the threaded tube to move, thereby driving the side rail and the welding torch to move and adjust the position. The resistance bar slides outside the contact piece. By measuring the change in the resistance value of the resistance bars on both sides, the position of the welding torch can be calculated, thereby achieving continuous monitoring. Attached Figure Description

[0017] Figure 1 is a three-dimensional structural diagram of this utility model.

[0018] Figure 2 is a schematic diagram of the isometric structure of this utility model.

[0019] Figure 3 is a schematic diagram of the working state structure of this utility model.

[0020] Figure 4 is a three-dimensional disassembly diagram of this utility model.

[0021] Figure 5 is a partial enlarged structural diagram of A in Figure 4 of this utility model.

[0022] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0023] 1. Main mounting frame; 101. First lead screw; 102. First servo motor; 2. Tooling table; 201. Pneumatic piston; 202. Tooling block; 3. Moving arm seat; 301. Electric cylinder; 302. Positioning friction block; 303. Second servo motor; 304. Arc resistor; 4. Swing arm; 401. Trigger block; 5. Lifting arm; 501. Second lead screw; 502. Third servo motor; 6. Elevation arm; 601. Electronic level; 7. Fourth servo motor; 8. Fifth servo motor; 9. Intermediate slider; 901. Rotating lead screw nut; 902. Contact piece; 10. Side rail; 11. Resistance strip; 12. End plate; 13. Threaded pipe; 14. Welding torch. Detailed Implementation

[0024] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples.

[0025] Example 1:

[0026] As shown in Figures 1 to 5:

[0027] This utility model provides a high-precision multidimensional welding robot, including a main mounting frame 1. The main body of the main mounting frame 1 is an L-shaped frame. A movable arm seat 3 is slidably mounted on the top of the main mounting frame 1 in conjunction with a guide rail. A swing arm 4 is rotatably mounted on the outer side of the top of the movable arm seat 3. A lifting arm 5 is slidably mounted on the outer end of the swing arm 4. An elevation arm 6 is hinged to the bottom of the lifting arm 5. A bracket is fixedly mounted on the bottom of the elevation arm 6. A middle slider 9 is fixedly mounted on the bottom of the bracket. Side rails 10 are slidably mounted on both sides of the middle slider 9. The front and rear ends of the two sets of side rails 10 are fixedly mounted with... End plate 12, hollow threaded tube 13 is fixedly installed between two sets of end plates 12, welding gun 14 is fixedly installed on the outside of end plate 12 near the main mounting frame 1; resistor strip 11 is fixedly installed in the middle of the inner wall of the two side rails 10, and the two sets of resistor strip 11 are connected by a circuit at one end; contact piece 902 is installed on both sides of the middle slider 9 in cooperation with the spring rod, and the contact piece 902 is attached to the resistor strip 11; the middle slider 9 is connected by a circuit to the two sets of contact pieces 902; a rotating nut 901 is rotatably installed in the middle of the middle slider 9, and the rotating nut 901 is threadedly connected to the threaded tube 13.

[0028] The main mounting frame 1 has a first lead screw 101 rotatably mounted at the top center, and a first servo motor 102 capable of driving the first lead screw 101 is fixedly mounted on one side of the top of the main mounting frame 1; the bottom of the moving arm seat 3 is provided with a nut block that is threadedly connected to the first lead screw 101.

[0029] The main mounting frame 1 is fixedly equipped with a tooling table 2. Four sets of pneumatic pistons 201 are fixedly arranged around the top of the tooling table 2. Tooling blocks 202 are fixedly arranged on the telescopic ends of the pneumatic pistons 201.

[0030] Among them, an electric cylinder 301 is fixedly mounted on the upper part of the movable arm base 3, and a positioning friction block 302 is fixedly mounted on the telescopic end of the electric cylinder 301; the hinge of the swing arm 4 has a toothed structure on the outside and contacts the positioning friction block 302; a second servo motor 303 is set in the middle of the movable arm base 3, and the second servo motor 303 is connected to the hinge shaft of the swing arm 4 by a bevel gear transmission; an arc-shaped resistor 304 is fixedly mounted on the outside of the hinge of the movable arm base 3, and the arc-shaped resistor 304 has a double-layer structure and is connected by a line; a trigger block 401 is fixedly mounted on the bottom of the swing arm 4, and the trigger block 401 is in contact with the arc-shaped resistor 304.

[0031] The lifting arm 5 is externally rotatably equipped with a second lead screw 501, and a third servo motor 502 capable of driving the second lead screw 501 is fixedly installed on the top of the lifting arm 5; the second lead screw 501 is threadedly connected to the swing arm 4.

[0032] An electronic level 601 and a fourth servo motor 7 are fixedly installed at the hinge of the elevation arm 6; the shaft of the fourth servo motor 7 is fixedly connected to the elevation arm 6.

[0033] The fifth servo motor 8 is fixedly installed in the bottom bracket of the elevation arm 6, and the fifth servo motor 8 is connected to the rotating screw nut 901 by bevel gear transmission.

[0034] As shown in Figures 1-5, when movement to different positions is required, it is controlled by a program.

[0035] The first servo motor 102 drives the first lead screw 101 to rotate, and the first lead screw 101 can drive the moving arm 3 to move.

[0036] The second servo motor 303 drives the swing arm 4 to rotate, enabling it to swing. The electric cylinder 301 pushes the positioning friction block 302 to press the swing arm 4 tightly, thus fixing it. During the rotation of the swing arm 4, the trigger block 401 slides against the arc-shaped resistor 304, adjusting the resistance of the arc-shaped resistor 304. The swing angle can be calculated and monitored by the feedback of the change in resistance.

[0037] The third servo motor 502 is started to drive the second lead screw 501 to rotate, which can adjust the height of the lifting arm 5;

[0038] The angle can be adjusted by rotating the elevation arm 6 driven by the fourth servo motor 7, and the elevation angle can be monitored and calculated by the electronic level 601.

[0039] The fifth servo motor 8 is started to drive the rotating nut 901 to rotate. The rotating nut 901 rotates outside the threaded tube 13, which can push the threaded tube 13 to move, thereby driving the side rail 10 and the welding torch 14 to move, adjust their positions, and realize multi-dimensional welding.

[0040] Example 2:

[0041] Based on Example 1, the resistance bar 11 slides outside the contact piece 902. By measuring the change in resistance value of the resistance bars 11 on both sides, the position of the welding torch 14 can be calculated, thereby achieving detection feedback. The movement of the moving arm base 3 and the lifting arm 5 can be monitored in the same way.

[0042] The specific usage and function of this embodiment are as follows:

[0043] In this utility model, when in use, the workpiece is placed above the tooling table 2 for positioning, and then the pneumatic piston 201 is used to move closer to the tooling block 202 and fix it in the center.

[0044] When movement to different locations is required, it is controlled by a program.

[0045] The first servo motor 102 drives the first lead screw 101 to rotate, and the first lead screw 101 can drive the moving arm 3 to move.

[0046] The second servo motor 303 drives the swing arm 4 to rotate, enabling it to swing. The electric cylinder 301 pushes the positioning friction block 302 to press the swing arm 4 tightly, thus fixing it. During the rotation of the swing arm 4, the trigger block 401 slides against the arc-shaped resistor 304, adjusting the resistance of the arc-shaped resistor 304. The swing angle can be calculated and monitored by the feedback of the change in resistance.

[0047] The third servo motor 502 is started to drive the second lead screw 501 to rotate, which can adjust the height of the lifting arm 5;

[0048] The angle can be adjusted by rotating the elevation arm 6 driven by the fourth servo motor 7, and the elevation angle can be monitored and calculated by the electronic level 601.

[0049] The fifth servo motor 8 is started to drive the rotating nut 901 to rotate. The rotating nut 901 rotates outside the threaded tube 13, which can push the threaded tube 13 to move, thereby driving the side rail 10 and the welding torch 14 to move and adjust their positions.

[0050] The resistance bar 11 slides outside the contact piece 902. By measuring the change in resistance value of the resistance bars 11 on both sides, the position of the welding torch 14 can be calculated, thereby achieving detection feedback.

Claims

1. A high-precision multi-dimensional welding robot, characterized by, include: The main mounting frame (1) has an L-shaped frame body. A movable arm seat (3) is slidably mounted on the top of the main mounting frame (1) in conjunction with the guide rail. A swing arm (4) is rotatably mounted on the outer side of the top of the movable arm seat (3). A lifting arm (5) is slidably mounted on the outer end of the swing arm (4). An elevation arm (6) is hinged to the bottom of the lifting arm (5). A bracket is fixedly mounted on the bottom of the elevation arm (6). A middle slider (9) is fixedly mounted on the bottom of the bracket. Side rails (10) are slidably mounted on both sides of the middle slider (9). End plates (12) are fixedly mounted on the front and rear ends of the two sets of side rails (10). A hollow threaded tube (13) is fixedly installed between the two sides of the main mounting bracket (1). A welding gun (14) is fixedly installed on the outside of the end plate (12) near the main mounting bracket (1). A resistor strip (11) is fixedly installed in the middle of the inner wall of the two side rails (10). A circuit is set at one end of the two sets of resistor strips (11) to connect them. Contact pieces (902) are set on both sides of the middle slider (9) in conjunction with the spring rod. The contact pieces (902) are attached to the resistor strips (11). A circuit is set inside the middle slider (9) to connect the two sets of contact pieces (902). A rotating nut (901) is rotated in the middle of the middle slider (9). The rotating nut (901) is threadedly connected to the threaded tube (13).

2. The high-precision multi-dimensional welding robot as described in claim 1, characterized in that: The main mounting bracket (1) has a first lead screw (101) rotatably mounted at the top center, and a first servo motor (102) capable of driving the first lead screw (101) is fixedly mounted on one side of the top of the main mounting bracket (1); the bottom of the moving arm seat (3) is provided with a nut block that is threadedly connected to the first lead screw (101).

3. The high-precision multidimensional welding robot as described in claim 1, characterized in that: The main mounting frame (1) is fixedly provided with a tooling table (2), and four sets of pneumatic pistons (201) are fixedly provided around the top of the tooling table (2). Tooling blocks (202) are fixedly provided at the telescopic ends of the pneumatic pistons (201).

4. The high-precision multi-dimensional welding robot as claimed in claim 1, wherein: An electric cylinder (301) is fixedly mounted on the upper part of the movable arm base (3), and a positioning friction block (302) is fixedly mounted on the telescopic end of the electric cylinder (301); the hinge of the swing arm (4) has a toothed structure on the outside and contacts the positioning friction block (302); a second servo motor (303) is set in the middle of the movable arm base (3), and the second servo motor (303) is connected to the hinge shaft of the swing arm (4) by bevel gear transmission; an arc resistor (304) is fixedly mounted on the outside of the hinge of the movable arm base (3), and the arc resistor (304) has a double-layer structure and is connected by a line; a trigger block (401) is fixedly mounted on the bottom of the swing arm (4), and the trigger block (401) fits against the arc resistor (304).

5. The high-precision multidimensional welding robot as described in claim 1, characterized in that: The lifting arm (5) is externally rotatably provided with a second lead screw (501), and a third servo motor (502) capable of driving the second lead screw (501) is fixedly provided on the top of the lifting arm (5); the second lead screw (501) is threadedly connected to the swing arm (4).

6. The high-precision multi-dimensional welding robot as claimed in claim 1, wherein: An electronic level (601) and a fourth servo motor (7) are fixedly installed at the hinge of the elevation arm (6); the shaft of the fourth servo motor (7) is fixedly connected to the elevation arm (6).

7. The high-precision multi-dimensional welding robot as claimed in claim 1, wherein: The fifth servo motor (8) is fixedly installed in the bottom bracket of the elevation arm (6), and the fifth servo motor (8) is connected to the rotating screw nut (901) by bevel gear transmission.

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