Automatic welding system of mechanical arm type stud welding device

Abstract

The utility model particularly relates to an automatic welding system of a mechanical arm type stud welding device, which comprises a welding device and a to-be-welded workpiece layout area, the to-be-welded workpiece layout area comprises a laser emitting position and a plurality of to-be-welded positions, the welding device is provided with a control module and a laser receiving module, the laser emitting position is provided with a laser emitting module, and the laser receiving module is provided with a laser receiving module. The positions of the laser emission position and the multiple to-be-welded positions are fixed, the specific distribution condition of the multiple to-be-welded positions is preset in the control module, the laser emission module emits laser to a to-be-welded workpiece layout area, and the welding device can receive the laser emitted by the laser emission module in the to-be-welded workpiece layout area. The control module can recognize the relative position of the welding device and the welding starting point based on the laser received by the laser receiving module of the welding device, the control module can control the welding device to conduct welding at the welding starting point or other to-be-welded positions, and positioning welding can be conducted on a target welding point easily and rapidly.

Description

Technical Field

[0001] This invention relates to the field of stud welding technology, and more specifically to an automated welding system for a robotic arm-type stud welding device. Background Technology

[0002] Stud welding involves welding a columnar stud onto a flat plate using a high current. The area of ​​the flat plate must be larger than the welding area of ​​the stud. This reliable and mature technology is used for welding studs, heat sink studs, automotive screws, and other fasteners to steel structures. Automated welding can be achieved when the workpiece is fixed or the operating environment is relatively flat.

[0003] In steel structure production bases, I-beams and box girders exceeding 2 meters in height and 10 meters in length require the welding of studs to the inner sides, top, bottom, left, and right. Currently, side welding and overhead welding still require experienced welders who, while wearing full protective gear to avoid burns and with limited mobility, perform the welding work. This slows down construction, impacts production schedules, and reduces economic benefits. There is an urgent need for an automated welding device that is easily movable, convenient to operate, and capable of 360° welding operations on the work surface. Summary of the Invention

[0004] This invention provides an automated welding system for a robotic arm-type stud welding device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An automated welding system for a robotic arm-type stud welding device includes a welding device and a workpiece layout area. The workpiece layout area includes a laser emitting position and several welding stations. The welding device is equipped with a control module and a laser receiving module. The laser emitting position is equipped with a laser emitting module. The positions of the laser emitting position and the several welding stations are fixed. The specific distribution of the welding stations is preset in the control module. Each welding station includes a welding start position. The laser emitting module emits a laser into the workpiece layout area. The welding device can receive the laser emitted by the laser emitting module within the workpiece layout area. Based on the laser received by the laser receiving module of the welding device, the control module can identify the relative position of the welding device and the welding start point. The control module can then control the welding device to move to the welding start point or other welding stations for welding. By adopting the above technical solution, target welding points can be positioned and welded simply and quickly.

[0007] Furthermore, the welding device includes a tracked chassis, a robotic arm, a welding torch, and a power supply mechanism. The tracked chassis has a base plate, and the robotic arm and power supply mechanism are both connected to the base plate. The welding torch is connected to the free end of the robotic arm, and the laser receiving module is mounted on the welding torch. By adopting the above technical solution, the tracks have high friction with the ground, preventing slippage, ensuring a stable center of gravity, strong load-bearing capacity, and off-road capability, enabling automated welding operations in various complex terrains.

[0008] Furthermore, the robotic arm is a planar multi-segment rotary robotic arm. The planar multi-segment rotary robotic arm is connected to a base plate via a column, which is fixed to the base plate. The column is equipped with a slide rail, a slider that slides up and down on the slide rail, and a lifting motor for controlling the slider's movement. One end of the planar multi-segment rotary robotic arm is fixedly connected to the slider. The column is vertically positioned, and the planar multi-segment rotary robotic arm is horizontally positioned. By adopting the above technical solution, the lifting motor controls the slider to quickly move the robotic arm up and down.

[0009] Furthermore, the planar multi-segment rotary robotic arm includes a first robotic arm, a second robotic arm, and a third robotic arm. The first robotic arm is fixed to the slider, the second robotic arm is hinged to the first robotic arm, and the third robotic arm is hinged to the second robotic arm. A third motor is fixedly installed at the end of the third robotic arm away from the second robotic arm. The output end of the third motor is horizontally positioned and connected to a welding torch connecting plate. The third motor can drive the welding torch connecting plate to rotate vertically. The welding torch is connected to the welding torch connecting plate, and the number of welding torches is greater than or equal to two. By adopting the above technical solution, the planar multi-segment rotary robotic arm controls the welding torch's degree of freedom in the horizontal plane, and the third motor controls the welding torch's degree of freedom in the vertical plane, enabling the welding torch to perform welding operations on the work surface at 360°.

[0010] Furthermore, it also includes an auxiliary magazine, which is suspended from the lower end of a sliding mounting frame. The sliding mounting frame is slidably connected to the slide rail of the column. A sliding drive motor is mounted on the sliding mounting frame, and a lifting gear is fitted onto the motor output end. A lifting rack is located on the adjacent side of the slide rail on the column. The lifting gear meshes with the lifting rack. The auxiliary magazine slides on the column and can slide to the side of the robotic arm to provide studs for the welding torch. When the studs in the auxiliary magazine are used up, it can slide down to the bottom for replenishment. By adopting the above technical solution, the auxiliary magazine reduces the steps of sliding up and down to retrieve studs by the planar multi-segment rotary robotic arm, significantly improving welding efficiency.

[0011] Furthermore, the robotic arm is an omnidirectional lifting robotic arm, directly connected to the base plate. The welding torch is fixedly connected to the free end of the robotic arm. A control cabinet for controlling the omnidirectional lifting robotic arm is also provided on the base plate. A welding torch connecting plate is fixedly connected to the free end of the omnidirectional lifting robotic arm. A track is provided on the side of the welding torch connecting plate away from the robotic arm, and the welding torch is slidably connected to the track. The number of welding torches is greater than or equal to two. By adopting the above technical solution, the omnidirectional lifting robotic arm can directly control the welding torch at its free end in both the horizontal and vertical planes. The welding torch can perform 360° welding operations on the working surface. Multiple welding torches can simultaneously weld multiple rows of welding points, and the spacing between the welding torches can be adjusted according to the spacing between the welding points.

[0012] Furthermore, the device also includes a stud clip device, comprising a clip cavity and a clip support. The clip cavity includes an inclined section and a horizontal section. The inclined section consists of two parallel strips, and the horizontal section is U-shaped, with both ends connected to the lower ends of the two strips of the inclined section. The clip support includes a first support and a second support. The front of the clip cavity is suspended on the first support, and the rear of the clip cavity is suspended on the second support. By adopting the above technical solution, the welding torch only needs to be moved above the horizontal section to remove studs each time.

[0013] Furthermore, the first support includes four first columns, a first rectangular connecting frame, a first connecting clamp, a vibration motor, and a vibration motor mounting plate. The four first connecting columns are located directly below the four corners of the first rectangular connecting frame to provide support. The vibration motor mounting plate is fixedly connected to the first rectangular connecting frame, and the vibration motor is mounted on the vibration motor mounting plate. The upper end of the first connecting clamp is eccentrically connected to the motor shaft of the vibration motor, and the lower end of the first connecting clamp is fixedly connected to the magazine cavity. The second support includes four second columns, a second rectangular connecting frame, a second connecting clamp, a connecting horizontal bar, a connecting vertical bar, a vibration motor, and a vibration motor mounting plate. The four second connecting columns are located directly below the four corners of the second rectangular connecting frame to provide support. The connecting horizontal bar is fixedly connected to the second rectangular connecting frame. The upper end of the connecting vertical bar is hinged to the lower end of the connecting horizontal bar, and the lower end of the connecting vertical bar is hinged to the upper end of the second connecting clamp. The lower end of the second connecting clamp is fixedly connected to the magazine cavity. By adopting the above technical solution, it is possible to prevent the bolt from getting stuck in the magazine cavity.

[0014] Furthermore, the automatic welding system of the robotic arm-type stud welding device also includes a stud and ceramic ring assembly machine. This machine comprises a stud pusher, a stud flow channel, a vibratory feeder, a ceramic ring feed channel, an electric clamp, and an output feed channel. The input end of the stud flow channel is connected to the stud pusher, the input end of the ceramic ring feed channel is connected to the vibratory feeder, and the output end of the ceramic ring feed channel is connected to the input end of the output feed channel, conveying the ceramic rings to the input end. The electric clamp holds the studs at the output end of the stud flow channel and assembles them with the ceramic rings at the input end of the output feed channel. The output end of the output feed channel is connected to the upper end of the inclined section of the stud clip device. By adopting the above technical solution, only studs and ceramic rings need to be fed into the stud and ceramic ring assembly machine, which can then feed the studs with assembled ceramic rings to the upper end of the inclined section of the clip device, providing a continuous supply of studs for the clip device.

[0015] Furthermore, the welding torch includes a motor, a lead screw, a lead screw slider, a main shaft, a ceramic ring clamping unit, and a stud clamping unit. The motor shaft of the motor is connected to the lead screw, driving the lead screw to rotate. The lead screw slider is threadedly connected to the lead screw and can move up and down on the lead screw. The main shaft is hung on the lead screw slider, and the main shaft and the lead screw slider can slide relative to each other. The upper end of the stud clamping unit is fixedly connected to the lower end of the main shaft. By adopting the above technical solution, the relative sliding arrangement of the slider and the main shaft ensures that the slider remains stationary when the main shaft is lifted by the stud. When the slider rises, it first rises to contact the main shaft connecting plate, and then drives the main shaft and the stud to rise. This ensures that the arc-starting distance of studs with and without arc-starting points is the same, the combustion space is consistent, and the uniformity of welding quality is improved.

[0016] To make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Appendix Figure 1 The three-dimensional representation of the welding apparatus of the present invention, Example 1. Figure 1 ;

[0019] Appendix Figure 2 The three-dimensional representation of the welding apparatus of the present invention, Example 1. Figure 2 ;

[0020] Appendix Figure 3The three-dimensional representation of the welding apparatus of the present invention, Example 1. Figure 3 ;

[0021] Appendix Figure 4 The three-dimensional representation of the welding apparatus of the present invention, Example 1. Figure 4 ;

[0022] Appendix Figure 5 Appendix Figure 4 Enlarged view of point A;

[0023] Appendix Figure 6 : Schematic diagram of the magazine cavity and magazine support structure of the welding device of the present invention;

[0024] Appendix Figure 7 : A perspective view of Embodiment 2 of the welding apparatus of the present invention;

[0025] Appendix Figure 8 : Three-dimensional representation of the welding apparatus of the present invention, Example 2 Figure 2 ;

[0026] Appendix Figure 9 Appendix Figure 8 Enlarged view of point A;

[0027] Appendix Figure 10 : A schematic diagram of the clip switch of the welding device of the present invention;

[0028] Appendix Figure 11 The present invention relates to a three-dimensional tracked chassis vehicle using a welding device. Figure 1 ;

[0029] Appendix Figure 12 The present invention relates to a three-dimensional tracked chassis vehicle using a welding device. Figure 2 ;

[0030] Appendix Figure 13 The present invention relates to a three-dimensional tracked chassis vehicle using a welding device. Figure 3 ;

[0031] Appendix Figure 14 The present invention relates to a three-dimensional tracked chassis vehicle using a welding device. Figure 4 ;

[0032] Appendix Figure 15 : A schematic diagram of the internal structure of the welding torch in the welding device of this invention;

[0033] Appendix Figure 16 : External schematic diagram of the welding torch of the welding device of the present invention;

[0034] Appendix Figure 17 Appendix Figure 16 Enlarged view of point A;

[0035] Appendix Figure 18: Schematic diagram of the multi-welding gun of the welding device of the present invention;

[0036] Appendix Figure 19 Diagram showing the usage state of the welding apparatus used in this invention.

[0037] Reference numerals: 102. Drive motor; 103. Gear; 104. Track; 105. Driven wheel; 106. Connecting crossbar; 107. Connecting vertical bar; 108. Connecting upright; 1109. Safety frame; 1131. First receiver; 1132. Second receiver; 1133. Third receiver; 1134. Laser light; 113. Battery; 114. Emergency stop switch; 115. Radar module; 116. Turn indicator light; 117. Lighting; 118. Safety pin. All indicator lights; 119. Lifting ring; 1110. Safety rope; 1111. Circular ring; 10. Stud pusher; 11. Stud flow channel; 12. Vibratory feeder; 13. Ceramic ring feed channel; 14. Electric clamp; 15. Output feed channel; 2. Base plate; 20. Column; 201. Slider; 202. Lifting motor; 21. Auxiliary magazine; 22. Sliding mounting bracket; 23. Slide rail; 24. Sliding drive motor; 241. Lifting gear; 242. Lifting rack; 25. Stud ceramic ring assembly 26. Output end of the machine; 26. Magazine switch; 261. Switch motor; 262. Switch gear; 263. Parallel rack; 3. Omnidirectional lifting robotic arm; 4. Welding torch; 40. Motor; 41. Welding torch connecting plate; 42. Track; 43. Laser receiving module; 44. Spindle; 45. Stud clamping unit; 46. Ceramic ring clamping unit; 47. Connecting plate; 48. Lead screw slider; 49. Lead screw; 5. Stud magazine device; 51. Magazine cavity; 52. Magazine bracket; 54. First 55. Second support; 541. First column; 542. First rectangular connecting frame; 543. First connecting clamp; 544. Vibration motor; 545. Vibration motor mounting plate; 551. Second column; 552. Second rectangular connecting frame; 553. Second connecting clamp; 554. Connecting horizontal bar; 555. Connecting vertical bar; 61. First robotic arm; 62. Second robotic arm; 63. Third robotic arm; 64. First motor; 65. Second motor; 66. Third motor. Detailed Implementation

[0038] 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 connection; 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; and they can refer to the internal connection 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.

[0039] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. Example 1

[0040] An automatic welding system for a robotic arm-type stud welding device includes a welding device and a workpiece layout area. The workpiece layout area includes a laser emitting position and several welding positions. The welding device is equipped with a control module and a laser receiving module 43. The laser emitting position is equipped with a laser emitting module. The positions of the laser emitting position and the several welding positions are fixed. The specific distribution of the welding positions is preset in the control module. The welding positions include a welding start position. The laser emitting module emits a laser into the workpiece layout area. The welding device can receive the laser emitted by the laser emitting module within the workpiece layout area. Based on the laser received by the laser receiving module 43 of the welding device, the control module can identify the relative position of the welding device and the welding start point. The control module can then control the welding device to move to the welding start point or other welding positions for welding.

[0041] like Figure 1-14As shown, the welding device includes a tracked chassis, an omnidirectional lifting robotic arm 3 for welding, a welding torch 4, a control cabinet 7, a power supply mechanism 9, and a stud clip device 5. The laser receiving module 43 is mounted on the welding torch 4, and the control module is mounted on the control cabinet 7. The tracked chassis is moved to the workpiece layout area, and the robotic arm is controlled to move the welding torch 4 above the workpiece layout area, allowing the receiving module on the welding torch 4 to receive the laser emitted by the laser emitting module. Within the workpiece layout area, the positions of the laser emission position, the welding starting point, and all welding positions are fixed. After detecting the planar position of the welding torch 4 using laser detection, the control module moves the welding torch 4 above the welding starting point based on the distance between the welding torch 4 and the planar position of the welding starting point to weld the starting point. When welding other welding positions, the welding torch 4 is first moved above the welding starting point following the above steps. The control system then identifies the distance between the starting point and other welding positions based on the pre-set distribution of the welding positions and moves the welding torch 4 to those positions for welding. Optionally, after the welding torch 4 receives the laser in the layout area of ​​the workpiece to be welded, the control module calculates the distance between the welding torch 4 and all the workpieces to be welded based on the position of the welding torch 4 and the specific distribution of the workpieces to be welded, and directly moves the welding torch 4 to the workpiece to be welded for welding, without having to pass through the welding start point for each welding.

[0042] The laser emitting module emits a linear laser beam toward the welding start point. When the welding torch 4 receives the linear laser beam, the welding torch 4, the laser emitting position, and the welding start point are on the same straight line. By using the laser emission speed and the time difference between emitting and receiving the laser, the control module can calculate the distance between the welding torch 4 and the laser emitting module, and can also calculate the distance between the welding torch 4 and all the welding positions.

[0043] like Figure 11 , 12 As shown, the tracked chassis includes a drive motor 102, gears 103, tracks 104, a base plate 2, and driven wheels 105. Multiple driven wheels 105 are provided. The gears 103 are connected to the drive motor 102, which drives the gears 103 to rotate. The tracks 104 are fitted over the gears 103 and driven wheels 105. Two tracks 104 are provided and connected by a connecting assembly. The connecting assembly includes connecting crossbars 106, connecting vertical bars 107, and connecting uprights 108. Two connecting crossbars 106 are provided. The gears 103 and driven wheels 105 within the two tracks 104 are connected to both ends of the connecting crossbars 106. The two connecting crossbars 106 are connected to both ends of the connecting vertical bars 107. Connecting uprights 108 are located above both ends of the connecting crossbars 106. The base plate 2 is mounted on the connecting uprights 108.

[0044] The stud clip device 5, the omnidirectional lifting robotic arm 3 for welding, the control cabinet 7, and the power supply mechanism 9 are all fixedly connected to the base plate 2. The welding torch 4 is connected to one free end of the omnidirectional lifting robotic arm 3. The control cabinet 7 is used to control the omnidirectional lifting robotic arm 3. The omnidirectional lifting robotic arm 3 can align the welding torch 4 with various working surfaces. When welding is required on the inner side or top surface of the object being welded, the omnidirectional lifting robotic arm 3 can rise into the interior of the object to complete the welding operation on the side and top surfaces. It can also weld various other working surfaces. The tracks have high friction with the ground, a stable center of gravity, strong load-bearing capacity, and off-road capability, enabling it to adapt to various complex terrains. The base plate 2, located on the track wheels, is made of high-strength steel and supports the stud feed mechanism, ceramic ring feed mechanism, clip device, robotic arm, control cabinet 7, and power supply mechanism 9.

[0045] The omnidirectional lifting robotic arm 3 has a welding torch connecting plate 41 fixedly connected to its free end. A track 42 is provided on the welding torch connecting plate 41, and the welding torch 4 is slidably connected to the track 42. Multiple welding torches 4 can be installed. The maximum number of welding torches 4 is determined by the robotic arm's weighing capacity; one welding torch 4 weighs approximately six kilograms.

[0046] In this embodiment, two welding torches 4 are preferred. After determining the spacing between the welding points, the distance between the two welding torches 4 is manually or electrically adjusted to be consistent with the distance between the welding points. Then, the robotic arm moves the two welding torches 4 to the stud clip device 5 to remove the studs. After both welding torches 4 have removed the studs, the robotic arm moves the welding torches 4 to the welding point and starts welding to complete the welding.

[0047] like Figure 6As shown, the bolt clip device 5 includes a clip cavity 51 and a clip bracket 52. The clip cavity 51 includes an inclined portion and a horizontal portion. The inclined portion is composed of two parallel strips, and the horizontal portion is U-shaped. The two ends of the horizontal portion are connected to the lower ends of the two strips of the inclined portion. The clip bracket 52 includes a first bracket 54 and a second bracket 55. The first bracket 54 includes four first columns 541, a first rectangular connecting frame 542, a first connecting clip 543, a vibration motor 544, and a vibration motor mounting plate 545. The four first columns 541 are located directly below the four corners of the first rectangular connecting frame 542 to provide support for the first rectangular connecting frame 542. The vibration motor mounting plate 545 is fixedly connected to the first rectangular connecting frame 542, and the vibration motor 544 is mounted on the vibration motor mounting plate 545. The upper end of the first connecting clip 543 is eccentrically connected to the motor shaft of the vibration motor 544, and the lower end of the first connecting clip 543 is fixedly connected to the clip cavity 51. The second support 55 includes four second columns 551, a second rectangular connecting frame 552, a second connecting clamp 553, a connecting horizontal bar 554, and a connecting vertical bar 555. The four second columns 551 are located directly below the four corners of the second rectangular connecting frame 552 to provide support for the second rectangular connecting frame 552. The connecting horizontal bar 554 is fixedly connected to the second rectangular connecting frame 552. The upper end of the connecting vertical bar 555 is hinged to the lower end of the connecting horizontal bar 554. The lower end of the connecting vertical bar 555 is hinged to the upper end of the second connecting clamp 553. The lower end of the second connecting clamp 553 is fixedly connected to the magazine cavity 51.

[0048] like Figure 3-5 As shown, the automatic welding system of the robotic arm stud welding device also includes a stud and ceramic ring assembly machine. The stud and ceramic ring assembly machine includes a stud pusher 10, a stud flow channel 11, a vibratory feeder 12, a ceramic ring feed channel 13, an electric clamp 14, and an output feed channel 15. The input end of the stud flow channel 11 is connected to the stud pusher 10, the input end of the ceramic ring feed channel 13 is connected to the vibratory feeder 12, and the output end of the ceramic ring feed channel 13 is connected to the input end of the output feed channel 15, conveying the ceramic rings to the input end of the output feed channel 15. The electric clamp 14 clamps the studs at the output end of the stud flow channel 11 and assembles them with the ceramic rings at the input end of the output feed channel 15. The output end of the output feed channel 15 is connected to the upper end of the inclined portion of the stud clip device 5. The specific technologies for the automatic loading, feeding, and assembly of the stud and ceramic ring assembly machine have been disclosed in the prior art and will not be repeated here.

[0049] like Figure 15As shown, the welding torch 4 includes a motor 40, a lead screw 49, a lead screw slider 48, a main shaft 44, a ceramic ring clamping unit 46, and a stud clamping unit 45. The motor shaft of the motor 40 is connected to the lead screw 49, driving the lead screw 49 to rotate. The lead screw slider 48 is threadedly connected to the lead screw 49, and the lead screw slider 48 can move up and down on the lead screw 49. The main shaft 44 is hung on the lead screw slider 48, and the main shaft 44 and the lead screw slider 48 can slide relative to each other. The upper end of the stud clamping unit 45 is fixedly connected to the lower end of the main shaft 44. The upper end of the main shaft 44 has a mounting groove for the lead screw slider 48, the height of which is greater than the height of the lead screw slider 48, allowing the lead screw slider 48 to slide within the mounting groove.

[0050] First, install the stud clamping unit 45 and the ceramic ring clamping unit 46 with the stud and ceramic ring, respectively. The ceramic ring is located on the upper part of the stud. Figure 16-17 As shown, let h1 be the distance between the bottom surface of the ceramic ring and the bottom surface of the stud (excluding the arc initiation point), and h2 be the height of the arc initiation point;

[0051] Then, after the stud contacts the welding point, the welding gun assembly is moved downward until the ceramic ring clamping unit 46 contacts the workpiece. During this process, the lead screw slider 48 continues to move downward, and the main shaft 44 is held in place by the stud and does not move. When the ceramic ring clamping unit 46 contacts the welding point, the downward movement of the welding gun 4 stops. The height of the downward movement of the welding gun 4 is equal to the distance between the main shaft 44 and the lead screw slider 48. The distance between the main shaft 44 of the stud with an arc initiation point and the lead screw slider 48 is h1+h2, and the distance between the main shaft 44 of the stud without an arc initiation point and the lead screw slider 48 is h1.

[0052] Let the optimal arc-starting distance be h2+h3, where h3 is the distance between the bottom surface of the arc-starting point and the surface of the workpiece when the arc is started. Rotate the lead screw 49 to raise the lead screw slider 48 to a height of h1+h2+h3.

[0053] No arc initiation point: When the lead screw slider 48 rises by h1, it contacts the connecting plate 47 of the spindle 44 of the stud without an arc initiation point. Subsequently, when the lead screw slider 48 continues to rise by h2+h3, the lead screw slider 48 drives the spindle 44 and the stud to rise by h2+h3 as well. At this time, the height at which the electric arc is induced at the bottom of the stud and the surface of the workpiece is h2+h3.

[0054] Including the arc initiation point: When the lead screw slider 48 is raised by h1+h2, it contacts the connecting plate 47 of the main shaft 44 containing the arc initiation point. Then, when the lead screw slider 48 continues to be raised by h3, the lead screw slider 48 drives the main shaft 44 and the pin to be raised by h3 as well. At this time, the height of the arc initiation at the bottom of the pin (excluding the arc initiation point) and the surface of the substrate is h2+h3.

[0055] At this point, the distance between the base plate of the stud and the surface of the substrate, whether or not there is an arc initiation point, is the same, and the combustion space is consistent. When electricity is applied, an electric arc is generated to melt the bottom of the stud and the surface of the substrate, forming a molten pool. Subsequently, the motor 40 is started to reverse the lead screw 49, the lead screw slider 48 descends, and the main shaft 44 and the stud are pressed into the molten pool due to gravity, completing the welding. Example 2

[0056] like Figure 7 As shown, a welding device includes the tracked chassis vehicle described in Embodiment 1, a planar multi-segment rotary robotic arm, a welding torch 4, a stud and ceramic ring assembly machine, a control module, and a power supply mechanism 9. The power supply mechanism 9 is connected to the base plate 2, and the welding torch 4 is connected to the free end of the planar multi-segment rotary robotic arm. The planar multi-segment rotary robotic arm is connected to the base plate 2 via a column 20, which is fixed to the base plate 2. The column 20 is equipped with a slider 201 that can slide up and down and a lifting motor 202 for controlling the up and down movement of the slider 201. One end of the planar multi-segment rotary robotic arm is fixedly connected to the slider 201. The column 20 is vertically arranged, and the planar multi-segment rotary robotic arm is horizontally arranged. A welding torch connecting plate 41 is fixedly connected to the free end of the robotic arm, and the welding torch 4 is slidably connected to the welding torch connecting plate 41. A laser receiving module 43 is mounted on the welding torch. Multiple welding torches 4 can be provided. The specific structure of the welding torch and the stud and ceramic ring assembly machine is the same as that described in Embodiment 1. The maximum number of welding torches 4 is determined by the weighing capacity of the robotic arm; one welding torch 4 weighs approximately six kilograms. In this embodiment, two welding torches 4 are preferred. The distance between the two welding torches 4 can be adjusted manually or electrically to match the distance between the welding points. Since the welding points are mostly arranged in two rows, using two welding torches 4 can efficiently complete the welding and also ensure that the robotic arm can bear the weight of the welding torches 4.

[0057] like Figure 7 As shown, the column 20 is equipped with a slider 201 that can slide up and down and a lifting motor 102 for controlling the up and down movement of the slider 201. The robotic arm is fixedly connected to the slider 201. The column 20 is vertically arranged, and the robotic arm is horizontally arranged. The robotic arm includes a first robotic arm 61, a second robotic arm 62, and a third robotic arm 63. The first robotic arm 61 is fixedly fixed to the slider 201. A first motor 64 is fixedly installed at the end of the first robotic arm 61 away from the slider 201. A second motor 65 is fixedly installed at the end of the second robotic arm 62 away from the first robotic arm 61. The second robotic arm 62 is hinged to the first robotic arm 61, and the third robotic arm 63 is hinged to the second robotic arm 62. The welding torch connecting plate 41 includes a welding torch 4 connecting part and a robotic arm connecting part. One end of the robotic arm connecting part is fixedly connected to the welding torch 4 connecting part, and the other end of the robotic arm connecting part is hinged to the third robotic arm 63. A third motor 66 is fixedly installed at the end of the third robotic arm 63 away from the second robotic arm 62.

[0058] The first robotic arm 61 has a groove, the second robotic arm 62 is connected to the groove, the third robotic arm 63 is connected to the lower end of the second robotic arm 62, and the welding torch connecting plate 41 is connected to the lower end of the third robotic arm 63. The width of the first robotic arm 61 is greater than the width of the second robotic arm 62, and the width of the second robotic arm 62 is greater than the width of the third robotic arm 63.

[0059] like Figure 8-10 As shown, the welding device also includes an auxiliary magazine 21, which is suspended from the lower end of a sliding mounting frame 22. The sliding mounting frame 22 is slidably connected to the slide rail 23 of the column 20. A sliding drive motor 24 is provided on the sliding mounting frame 22, and a lifting gear 241 is sleeved on the output end of the motor. A lifting rack 242 is provided on the adjacent side of the slide rail 23 on the column 20. The lifting gear 241 meshes with the lifting rack 242. The auxiliary magazine 21 slides on the column 20 via the sliding drive motor 24. The auxiliary magazine 21 can slide to the side of the robotic arm to provide studs for the welding torch 4. When the studs in the auxiliary magazine 21 are used up, it can slide down to the bottom to replenish the studs. The auxiliary magazine 21 is located on the side of the robotic arm. When the robotic arm slides up and down, the auxiliary magazine 21 can also slide up and down by a separate sliding drive motor 24 to ensure that the auxiliary magazine 21 provides studs for welding. After the auxiliary magazine 21 has used up its bolts, it can slide down to the bottom. At this time, the input end of the auxiliary magazine 21 is connected to the output end 25 of the bolt and ceramic ring assembly machine. Bolts can be replenished through the bolt and ceramic ring assembly machine or manually.

[0060] The output end 25 of the stud and ceramic ring assembly machine is equipped with a clip switch 26. The clip switch 26 includes a switch motor 261. The end of the motor shaft of the switch motor 261 is set upward, and the end of the motor shaft is equipped with a switch gear 262. Parallel racks 263 that mesh with the switch gear 262 are provided on both sides of the switch gear 262. In the initial state, the parallel racks 263 on the side closer to the auxiliary clip 21 are located at the output end 25 of the stud and ceramic ring assembly machine to hold the stud, and the parallel racks 263 on the side away from the auxiliary clip 21 are located on the outside of the output end 25 of the stud and ceramic ring assembly machine. The spacing of the parallel racks 263 is adapted to the diameter of the stud head.

[0061] When the input end of the auxiliary magazine 21 is connected to the output end 25 of the stud ring assembly machine, the switch motor 261 is started, and the switch gear 262 rotates. The parallel rack 263 on the side close to the auxiliary magazine 21 slowly moves away from the output end 25 of the stud ring assembly machine. The last stud of the stud ring assembly machine at the output end 25 falls into the auxiliary magazine 21 under the action of gravity. At the same time, the parallel rack 263 on the side away from the auxiliary magazine 21 extends from the outside of the output end 25 of the stud ring assembly machine into the output end 25 of the stud ring assembly machine and jams the remaining studs. After the last stud at the output end 25 of the stud ring assembly machine falls into the auxiliary magazine 21, the switching motor 261 reverses, driving the switching gear 262 to reverse as well. The parallel rack 263, moving away from the auxiliary magazine 21, slowly moves away from the output end 25 of the stud ring assembly machine. Under gravity, the studs at the output end 25 slide down. Simultaneously, the parallel rack 263, near the auxiliary magazine 21, extends from the outside of the output end 25 and into the output end 25, locking all the studs in place, returning to its original position. Repeating these steps allows the studs to be sequentially loaded into the auxiliary magazine 21.

[0062] The auxiliary magazine 21 is also equipped with a magazine switch 26 at the output end, which is used to control the pin at the end of the auxiliary magazine 21 to be in a horizontal state so that the welding gun 4 can pick up the pin.

[0063] When welding is required, the welding device is moved to the work area by a tracked chassis vehicle. The lifting motor 102 is started, and the slider 101 slides to move the robotic arm and welding torch 4 vertically to a suitable welding height above the welding work surface. The first motor 64, the second motor 65, and the third motor 66 are started to control the robotic arm and welding torch 4 in coordination, so that the welding torch 4 is directly above the auxiliary magazine. The welding torch 4 removes the nails. Both welding torches 4 do this separately. After both welding torches 4 have removed the nails, the first motor 64, the second motor 65, and the third motor 66 are started again to control the robotic arm and welding torch 4 in coordination, so that the welding torch 4 is directly above the welding point. The welding torch 4 then performs the welding operation. By continuously repeating the above steps, welding operations at different heights can be completed.

[0064] like Figure 13 , 14 As shown, the tracked chassis also includes a laser receiving plate, which is mounted on the base plate 2. The laser receiving plate includes a first receiver 1131, a second receiver 1132, and a third receiver 1133 arranged in parallel on the left and right sides. The second receiver 1132 is located in the center, and the first receiver 1131 and the third receiver 1133 are located on both sides of the second receiver 1132. A laser lamp 1134 for emitting linear laser light is fixed at a point outside the tracked chassis.

[0065] The tracked chassis vehicle normally travels in a straight line. When it reaches a welding point where welding is required, ... Figure 4As shown, if the second receiver 1132 of the tracked chassis receives light from the light source, it indicates that the tracked chassis has not deviated and welding work can proceed. If the first receiver 1131 and the third receiver 1133 receive light from the light source, it indicates that the tracked chassis has deviated. At this time, the tracked chassis can start a 360° rotation mode to rotate in place. When the second receiver 1132 receives the laser emitted by the laser lamp 1134, the rotation stops and welding work can proceed. When the tracked chassis moves with large fluctuations, it is not necessary to detect whether the second receiver 1132 receives the laser; it is sufficient to detect that the entire laser receiving plate receives the laser. If someone blocks the laser, something obstructs it, or the chassis moves too far to receive the light, or the mechanism loses power, the tracked chassis will stop and trigger the alarm device. After the obstacle is manually removed, normal operation can continue.

[0066] The base plate 2 is also equipped with a radar module 115. This radar module includes a forward / backward radar for detecting obstacles in front and behind, and an underground radar for detecting whether the ground is open or hollow. Four forward / backward radars and four underground radars are provided, symmetrically positioned at the left and right ends of the front and rear sides of the base plate 2. The forward / backward radars detect obstacles in advance; if obstacles are found, movement stops until the obstacles are manually cleared before resuming. The underground radars are positioned more prominently than the tracked walking mechanism, detecting whether there is an open space in front of the tracked walking mechanism. If an open space is found, the tracked chassis stops, preventing the tracked chassis from falling from high-rise buildings during high-rise operations and ensuring the safety of personnel and equipment.

[0067] The base plate 2 is equipped with a safety frame 1109 for protecting the tracked chassis. The safety frame 1109 is arched and symmetrically arranged on the upper left and right sides of the base plate 2. Since the work area typically contains a large number of workpieces, the safety frame 1109 effectively prevents the stud welding device from colliding with other workpieces.

[0068] The safety frame 1109 is equipped with an emergency stop switch 114 for quickly stopping the tracked chassis vehicle. Multiple emergency stop switches 114 are provided, and each switch is located on the safety frame 1109 near the bottom plate 2. If the tracked chassis vehicle malfunctions, pressing the emergency stop switch 114 will stop the vehicle's operation.

[0069] The base plate 2 is equipped with multiple lighting lamps 117 for nighttime illumination, symmetrically arranged at the left and right ends of the front and rear sides of the base plate 2. The base plate 2 is also equipped with turn indicator lights 116, symmetrically arranged at the left and right ends of the front and rear sides of the base plate 2. The safety frame 1109 is equipped with multiple safety indicator lights 118 for warning passengers to stay away from the tracked chassis vehicle in operation, located at the top of the safety frame 1109.

[0070] The safety frame 1109 is equipped with lifting rings 119 to facilitate the movement of the tracked chassis vehicle between multiple floors. Multiple lifting rings 119 are provided and are located on the front and rear sides of the top of the safety frame 1109. The tracked chassis vehicle can be moved between multiple floors by lifting the lifting rings 19 using a crane.

[0071] The base plate 2 has a circular ring 1111 on both sides in the middle. The tracked chassis has a safety rope 1110 on both sides or one side. One end of the circular ring 1111 is connected to an emergency stop switch 114, and the other end of the circular ring 1111 is sleeved on the outside of the safety rope 1110. The safety rope 1110 is fixed in a straight line on one side. The circular ring 1111 is sleeved on the outside of the safety rope 1110 but does not directly contact it. When the tracked chassis is traveling in a straight line, the circular ring 1111 is parallel to the safety rope 1110 and does not collide. When the tracked chassis deviates from the straight line, the circular ring 1111 collides with the safety rope 1110, and the other end of the circular ring 1111 triggers the emergency stop switch 114, stopping the tracked chassis and ensuring equipment safety.

[0072] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An automatic welding system for a robotic arm-type stud welding device, characterized in that, The system includes a welding device and a workpiece layout area. The workpiece layout area includes a laser emitting position and several welding positions. The welding device is equipped with a control module and a laser receiving module (43). The laser emitting position is equipped with a laser emitting module. The positions of the laser emitting position and several welding positions are fixed. The specific distribution of the several welding positions is preset in the control module. The several welding positions include a welding start position. The laser emitting module emits a laser to the workpiece layout area. The welding device can receive the laser emitted by the laser emitting module in the workpiece layout area. The control module can identify the relative position of the welding device and the welding start point based on the laser received by the laser receiving module (43) of the welding device. The control module can then control the welding device to weld at the welding start point or other welding positions.

2. The automatic welding system of the robotic arm stud welding device according to claim 1, characterized in that, The welding device includes a tracked chassis, a robotic arm, a welding torch (4), and a power supply mechanism (9). The tracked chassis is provided with a base plate (2). The robotic arm and the power supply mechanism (9) are both connected to the base plate (2). The welding torch (4) is connected to the free end of the robotic arm. The laser receiving module (43) is located on the welding torch (4).

3. The automatic welding system of the robotic arm stud welding device according to claim 2, characterized in that, The robotic arm is a planar multi-segment rotary robotic arm. The planar multi-segment rotary robotic arm is connected to the base plate (2) via a column (20). The column (20) is fixed on the base plate (2). The column (20) is provided with a slide rail (23), a slider (201) that slides up and down on the slide rail (23), and a lifting motor (202) for controlling the slider (201) to move up and down. One end of the planar multi-segment rotary robotic arm is fixedly connected to the slider (201). The column (20) is set vertically, and the planar multi-segment rotary robotic arm is set horizontally.

4. The automatic welding system of the robotic arm stud welding device according to claim 3, characterized in that, The planar multi-segment rotary robotic arm includes a first robotic arm (61), a second robotic arm (62), and a third robotic arm (63). The first robotic arm (61) is fixed on the slider. The second robotic arm (62) is hinged to the first robotic arm (61). The third robotic arm (63) is hinged to the second robotic arm (62). A third motor (66) is fixedly installed at the end of the third robotic arm (63) away from the second robotic arm (62). The output end of the third motor (66) is horizontally set. The output end of the third motor (66) is connected to a welding gun connecting plate (41). The third motor (66) can drive the welding gun connecting plate (41) to rotate in a vertical parallel direction. The welding gun (4) is connected to the welding gun connecting plate (41). The number of welding guns (4) is greater than or equal to two.

5. The automatic welding system of the robotic arm stud welding device according to claim 3, characterized in that, It also includes an auxiliary magazine (21), which is suspended at the lower end of a sliding mounting frame (22). The sliding mounting frame (22) is slidably connected to the slide rail (23) of the column (20). A sliding drive motor (24) is provided on the sliding mounting frame (22). A lifting gear (241) is sleeved on the output end of the motor. A lifting rack (242) is provided on the adjacent side of the slide rail on the column. The lifting gear (241) meshes with the lifting rack (242). The auxiliary magazine (21) slides on the column (20). The auxiliary magazine (21) can slide to the side of the robotic arm to provide studs for the welding gun (4). When the studs of the auxiliary magazine (21) are used up, it can slide down to the bottom to replenish the studs.

6. The automatic welding system of the robotic arm stud welding device according to claim 2, characterized in that, The robotic arm is an omnidirectional lifting robotic arm (3). The omnidirectional lifting robotic arm (3) is directly connected to the base plate (2). The welding gun is fixedly connected to the free end of the omnidirectional lifting robotic arm (3). The base plate (2) is also provided with a control cabinet (7) for controlling the omnidirectional lifting robotic arm (3). The free end of the omnidirectional lifting robotic arm (3) is fixedly connected to a welding gun connecting plate (41). The welding gun connecting plate (41) is provided with a track (42) on the side away from the robotic arm. The welding gun (4) is slidably connected to the track (42). The number of welding guns (4) is greater than or equal to two.

7. The automatic welding system of the robotic arm stud welding device according to claim 6, characterized in that, It also includes a bolt clip device, which includes a clip cavity (51) and a clip bracket. The clip cavity (51) includes an inclined part (511) and a horizontal part (512). The inclined part (511) is composed of two parallel strips. The horizontal part (512) is U-shaped. The two ends of the horizontal part (512) are connected to the lower ends of the two strips of the inclined part (511). The clip bracket includes a first bracket (54) and a second bracket (55). The front side of the clip cavity (51) is suspended on the first bracket (54), and the rear side of the clip cavity (51) is suspended on the second bracket (55).

8. The automatic welding system of the robotic arm stud welding device according to claim 7, characterized in that, The first bracket (54) includes four first columns (541), a first rectangular connecting frame (542), a first connecting clamp (543), a vibration motor (544), and a vibration motor mounting plate (545). The four first columns (541) are located directly below the four corners of the first rectangular connecting frame (542) to provide support for the first rectangular connecting frame (542). The vibration motor mounting plate (545) is fixedly connected to the first rectangular connecting frame (542). The vibration motor (544) is mounted on the vibration motor mounting plate (545). The upper end of the first connecting clamp (543) is eccentrically connected to the motor shaft of the vibration motor (544), and the lower end of the first connecting clamp (543) is connected to the magazine cavity (51). The second bracket (55) is fixedly connected to the second support (55), which includes four second columns (551), a second rectangular connecting frame (552), a second connecting clamp (553), a connecting horizontal bar (554), and a connecting vertical bar (555). The four second columns (551) are located directly below the four corners of the second rectangular connecting frame (552) to provide support for the second rectangular connecting frame (552). The connecting horizontal bar (554) is fixedly connected to the second rectangular connecting frame (552). The upper end of the connecting vertical bar (555) is hinged to the lower end of the connecting horizontal bar (554). The lower end of the connecting vertical bar (555) is hinged to the upper end of the second connecting clamp (553). The lower end of the second connecting clamp (553) is fixedly connected to the magazine cavity (51).

9. The automatic welding system of the robotic arm stud welding device according to claim 8, characterized in that, It also includes a stud and ceramic ring assembly machine, which includes a stud pusher (10), a stud flow channel (11), a vibratory feeder (12), a ceramic ring material channel (13), an electric clamp (14), and an output material channel (15). The input end of the stud flow channel (11) is connected to the stud pusher (10), the input end of the ceramic ring material channel (13) is connected to the vibratory feeder (12), the output end of the ceramic ring material channel (13) is connected to the input end of the output material channel (15) and conveys the ceramic ring to the input end of the output material channel (15). The electric clamp (14) clamps the stud at the output end of the stud flow channel (11) and assembles it with the ceramic ring at the input end of the output material channel (15). The output end of the output material channel (15) is connected to the upper end of the inclined part (511) of the stud spring clip device (5).

10. The automatic welding system of the robotic arm stud welding device according to claim 1, characterized in that, The welding torch (4) includes a motor (40), a lead screw (49), a lead screw slider (48), a main shaft (44), a ceramic ring clamping unit (46), and a stud clamping unit (45). The motor shaft of the motor (40) is connected to the lead screw (49) to drive the lead screw (49) to rotate. The lead screw slider (48) is threadedly connected to the lead screw (49). The lead screw slider (48) can move up and down on the lead screw (49). The main shaft (44) is hung on the lead screw slider (48). The main shaft (44) and the lead screw slider (48) can slide relative to each other. The upper end of the stud clamping unit (45) is fixedly connected to the lower end of the main shaft (44).

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