Walking welding robot

Abstract

The utility model discloses a kind of walking welding robots, including platform, platform one end is connected with stand, the other end is connected with diagonal brace, first guide mechanism is installed in platform, first sliding table is installed in first guide mechanism, first drive mechanism is connected with first sliding table, second guide mechanism is installed in first sliding table, second drive mechanism is installed in first sliding table, second sliding table is installed in second guide mechanism, and is connected with second drive mechanism, manipulator is installed in second sliding table, and welding torch is connected in manipulator.Platform is extended from the upper side of stand to the side of stand and forms overhanging structure, and positioning of platform is strengthened by diagonal brace, and larger movement space is left for the box to be welded, interference with the movement of box is avoided, and manipulator and welding torch with two degrees of freedom are hoisted by platform, can be welded to box at different angles and directions, compared with artificial welding, greatly improve welding precision and welding efficiency.

Description

Technical Field

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

[0002] Welding of enclosure-type parts is a critical and common process in the manufacturing industry. Enclosure-type parts are widely used in various types of machinery, industrial facilities, and electronic equipment, and their welding quality directly affects the performance, reliability, and service life of the entire product.

[0003] Currently, manual welding remains the mainstream choice in the actual production process of welding box-type parts. This traditional welding method mainly relies on the manual skills of welders. Welders need to hold the welding equipment for a long time and perform precise operations on various welding parts of the box-type parts in a relatively complex working environment that may have certain space constraints.

[0004] However, manual welding has many obvious drawbacks. On the one hand, the welding process often requires welders to maintain a high level of concentration and precise operating techniques, and prolonged work can place a great physical burden on workers, leading to a significant increase in labor intensity. On the other hand, because manual operation is affected by a combination of subjective factors such as worker skill level, physical condition, and fatigue, as well as environmental factors, it is difficult to maintain a stable and efficient welding speed. This results in low overall welding efficiency, making it difficult to meet the requirements of large-scale production in terms of production cycle and capacity, and to some extent, restricting the development of related industries and the improvement of product quality. Utility Model Content

[0005] This application provides a walking welding robot that replaces manual welding with mechanized welding, thereby reducing labor costs and improving welding quality.

[0006] This application provides a walking welding robot, including:

[0007] Columns;

[0008] The platform is connected to the column at one end.

[0009] The diagonal brace is connected to the column and also to the other end of the platform;

[0010] A first guiding mechanism is installed on the platform;

[0011] The first slide is installed on the first guide mechanism;

[0012] A first drive mechanism is connected to the first slide and is used to drive the first slide to move along a first direction;

[0013] The second guide mechanism is installed on the lower end face of the first slide.

[0014] The second drive mechanism is mounted on the upper end of the first slide;

[0015] A speed-changing mechanism is disposed in the second drive mechanism;

[0016] The second slide is mounted on the second guide mechanism and connected to the second drive mechanism. The second drive mechanism is used to drive the second slide to move along the second direction.

[0017] The robotic arm is mounted on the lower end of the second slide.

[0018] The welding torch is connected to the robotic arm.

[0019] The beneficial effects of the above embodiments are as follows: Through the unique support structure design, the platform extends from above the column to one side of the column and forms a suspended structure. The platform is reinforced by diagonal bracing, leaving a large space for the box to be welded, avoiding interference with the movement of the box. Furthermore, the platform is equipped with a robotic arm and welding gun with two degrees of freedom, which can weld the box at different angles and directions. Compared with manual welding, this greatly improves the welding accuracy and welding efficiency.

[0020] Based on the above embodiments, the embodiments of this application can be further improved as follows:

[0021] In one embodiment of this application, the diagonal brace is an arc-shaped structure. The beneficial effects of this step are: the arc-shaped diagonal brace can reduce stress concentration, decrease vibration, and improve space utilization.

[0022] In one embodiment of this application, both the first guiding mechanism and the second guiding mechanism are structures composed of guide rails and sliders. The beneficial effect of this step is that the guide rails and sliders have high guiding accuracy and low friction, which can meet the accuracy requirements of welding robots.

[0023] In one embodiment of this application: both the first drive mechanism and the second drive mechanism are structures composed of a motor and a lead screw and nut. The beneficial effect of this step is that by adopting a combined drive structure of a motor and a lead screw and nut, the high-precision linear transmission characteristics of the lead screw pair convert the rotational motion of the motor into the precise linear displacement of the slide table, meeting the high-precision welding requirements of narrow weld seams in box-type parts.

[0024] In one embodiment of this application, the speed-changing mechanism is a gear-based structure. The beneficial effect of this step is that the gear transmission is smooth and reliable, meeting the precision requirements of the welding robot.

[0025] In one embodiment of this application, it further includes a cover plate, which is disposed on the upper end of the platform. The beneficial effect of this step is that it forms a protective structure for the components on the upper end of the platform, effectively preventing the accumulation of contaminants such as welding spatter and metal dust on the platform. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of this utility model 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. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0027] Figure 1 A three-dimensional structural diagram of a walking welding robot;

[0028] Figure 2 A partial structural diagram of a walking welding robot;

[0029] Figure 3 This is a schematic diagram of the cover plate.

[0030] The components include: 1. Column, 2. Platform, 3. Diagonal brace, 4. First guide mechanism, 5. First slide, 6. First drive mechanism, 7. Second guide mechanism, 8. Second drive mechanism, 9. Speed ​​change mechanism, 10. Second slide, 11. Robot arm, 12. Welding torch, 13. Cover plate, and 14. Elastic limit mechanism. Detailed Implementation

[0031] In this application, unless otherwise expressly specified and limited, the terminology used should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of different terms in this utility model according to the specific circumstances, and the scope of the specific meaning should be limited to achieving the function of this application.

[0032] In the description of this application, it should be understood that the directional terms or positional relationships described are based on the orientation or positional relationships shown in the accompanying drawings, or based on the orientation or positional relationships in actual use, and are only for the purpose of facilitating the description of the contents of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0033] Example 1

[0034] like Figure 1 , 2As shown, a walking welding robot includes: a column 1, a platform 2, a diagonal brace 3, a first guide mechanism 4, a first slide 5, a first drive mechanism 6, a second guide mechanism 7, a second drive mechanism 8, a speed change mechanism 9, a second slide 10, a robotic arm 11, and a welding torch 12. One end of the platform 2 is connected to the column 1, the diagonal brace 3 is connected to the column 1, and the diagonal brace 3 is also connected to the other end of the platform 2. The first guide mechanism 4 is installed on the platform 2, the first slide 5 is installed on the first guide mechanism 4, the first drive mechanism 6 is connected to the first slide 5 and is used to drive the first slide 5 to move along a first direction, the second guide mechanism 7 is installed on the lower end face of the first slide 5, the second drive mechanism 8 is installed on the upper end of the first slide 5, the speed change mechanism 9 is disposed on the second drive mechanism 8, the second slide 10 is installed on the second guide mechanism 7 and connected to the second drive mechanism 8, the second drive mechanism 8 is used to drive the second slide 10 to move along a second direction, the robotic arm 11 is installed on the lower end of the second slide 10, and the welding torch 12 is connected to the robotic arm 11.

[0035] Specifically, such as Figure 1 As shown, there are two symmetrically arranged columns 1, with platform 2 connected between them. Each column 1 includes a base plate, a top plate, vertical rods, and horizontal rods. The base plate is connected to the ground. There are two vertical rods connected to the base plate, and several horizontal rods are arranged vertically at intervals and connected between the columns 1. The top plate is connected to the upper end of the vertical rods. The lower rear end of platform 2 has a connecting plate that connects to the top plate. The vertical rods and horizontal rods work together to improve the structural strength of the columns 1, and the top plate and connecting plate work together to facilitate the connection between platform 2 and columns 1.

[0036] Specifically, both the first and second directions are parallel to the horizontal plane, and the first and second directions are perpendicular to each other.

[0037] Specifically, the robotic arm 11 and welding torch 12 are FANUC welding robotic arms, which can be purchased directly.

[0038] Through a unique support structure design, the platform 2 extends from above the column 1 to one side of the column 1 to form a suspended structure. The platform 2 is reinforced by the diagonal brace 3, leaving a large space for the box to be welded and avoiding interference with the movement of the box. The platform 2 is equipped with a robot arm 11 with two degrees of freedom and a welding gun 12, which can weld the box at different angles and directions. Compared with manual welding, the welding accuracy and welding efficiency are greatly improved.

[0039] Example 2

[0040] Based on Example 1, such as Figure 1 As shown, the diagonal brace 3 has an arc-shaped structure.

[0041] The arc-shaped structure has the following advantages: (1) Improved structural stability: The geometric characteristics of the arc-shaped brace 3 enable it to achieve uniform stress distribution through the arc-shaped profile when bearing the dynamic load generated by the welding operation. Compared with the straight brace 3, it can reduce the risk of local stress concentration and significantly enhance the structural stiffness of the connection node between the column 1 and the platform 2, thereby suppressing the attitude deviation of the welding gun 12 caused by mechanical vibration during the welding process and ensuring the accuracy of the welding trajectory.

[0042] (2) Optimization of fatigue resistance: The arc-shaped transition structure effectively eliminates the stress mutation point at the traditional right-angle connection, reduces the risk of structural failure caused by metal fatigue, and reduces the frequency of equipment maintenance.

[0043] (3) Enhanced spatial adaptability: The streamlined shape of the arc-shaped diagonal brace 3 ensures the support strength while reducing the space occupied by the robot's motion envelope, enabling the equipment to adapt to welding scenarios with narrow working gaps or complex workpiece layouts.

[0044] Example 3

[0045] Based on Example 1 or 2, such as Figure 1 , 2 As shown, both the first guide mechanism 4 and the second guide mechanism 7 are structures composed of guide rails and sliders.

[0046] Specifically, such as Figure 1 , 2 As shown, the first guide mechanism 4 includes: a first guide rail and a first slider. There are two first guide rails arranged along a first direction. The first guide rails are installed on the upper surface of the platform 2, and the first slider is installed on the lower surface of the first slide table 5 and is slidably disposed on the first guide rails.

[0047] Specifically, such as Figure 1 , 2 As shown, the second guide mechanism 7 includes: a second guide rail and a second slider. There are two second guide rails arranged along the second direction. The second guide rails are installed on the lower end face of the first slide table 5, and the second slider is installed on the upper end face of the second slide table 10 and is slidably disposed on the second guide rails.

[0048] The guide rail slider has high guiding accuracy and low friction, which can meet the accuracy requirements of welding robots.

[0049] Example 4

[0050] Based on Embodiment 1, 2, or 3, such as Figure 1 , 2 As shown, both the first drive mechanism 6 and the second drive mechanism 8 are structures composed of a motor and a lead screw nut.

[0051] Specifically, such as Figure 1 , 2As shown, the first drive mechanism 6 includes: a first motor, a first lead screw, and a first nut. The first motor is mounted on the upper end of the platform 2, the first nut is mounted on the upper end face of the first slide table 5, the first lead screw is rotatably connected to the platform 2 and connected to the output shaft of the first motor, and the first lead screw is also connected to the first nut in a transmission connection.

[0052] Specifically, such as Figure 1 , 2 As shown, the second drive mechanism 8 includes a second motor, a second lead screw, and a second nut. The second motor is mounted on the upper end of the first slide table 5, the first nut is mounted on the lower end face of the first slide table 5, the second lead screw is rotatably connected to the lower end face of the first slide table 5 and is driven by the second motor through the speed change mechanism 9, and the second lead screw is also driven by the second nut.

[0053] The combined drive structure of motor and lead screw nut is adopted. Through the high-precision linear transmission characteristics of the lead screw pair, the rotational motion of the motor is converted into the precise linear displacement of the slide table, which meets the high-precision welding requirements of narrow weld seams of box-type parts.

[0054] Example 5

[0055] Based on Example 4, such as Figure 1 , 2 As shown, the speed change mechanism 9 is a structure composed of gears.

[0056] Specifically, such as Figure 1 , 2 As shown, the gear transmission mechanism includes a first gear and a second gear. The first gear is mounted on the output shaft of the second motor, and the second gear is mounted on the second screw. The first gear meshes with the second gear, and the diameter of the first gear is twice that of the second gear.

[0057] The speed change mechanism 9 enables the second slide 10 to move at an increased speed in the second direction, which can effectively adapt to the rapid turning in the second direction and the high-frequency small displacement adjustment in actual welding production.

[0058] Example 6

[0059] Based on Example 4 or 5, such as Figure 3 As shown, the walking welding robot also includes a cover plate 13, which is placed on the upper end of the platform 2 and houses the second motor.

[0060] Specifically, such as Figure 3As shown, the upper end of platform 2 has reinforcing ribs, and cover plate 13 has an elastic limiting mechanism 14. The elastic limiting mechanism 14 includes: a ball, a compression spring, a sliding plate, a limiting bolt, and a limiting nut. The ball is slidably disposed in a groove on the side wall of cover plate 13. The compression spring (cylindrical compression spring) is disposed in the groove and applies elastic force to the ball, causing part of the ball structure to extend out of the groove. The sliding plate is slidably disposed in the groove and is disposed on the other side of the compression spring relative to the ball. The limiting bolt is threaded to cover plate 13 and extends into the groove and contacts the sliding plate. By rotating the limiting bolt, its extension into the groove is changed. The depth of the groove can be adjusted to change the position of the slider, thereby adjusting the pressure of the compression spring on the ball. The limit nut is threadedly connected to the limit bolt, and the limit nut presses the pressure plate to form an anti-loosening structure. The surface of the rib plate has a limit groove with a matching shape to the ball. When the ball enters the limit groove, the cover plate 13 is stably installed on the platform 2. Since the platform 2 will move with the welding position, the platform 2 is relatively close to the welding position. By setting the cover plate 13 to form a protective structure for the components at the upper end of the platform 2, it can effectively prevent welding spatter, metal dust and other contaminants from accumulating on the platform 2.

[0061] The above are merely embodiments of this utility model. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, based on the guidance provided in this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of this utility model. These should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent.

Claims

1. A walking welding robot characterized by comprising: include: Columns; The platform is connected to the column at one end. The diagonal brace is connected to the column and also to the other end of the platform; A first guiding mechanism is installed on the platform; The first slide is installed on the first guide mechanism; A first drive mechanism is connected to the first slide and is used to drive the first slide to move along a first direction; The second guide mechanism is installed on the lower end face of the first slide table; The second drive mechanism is mounted on the upper end of the first slide; A speed-changing mechanism is disposed in the second drive mechanism; The second slide is mounted on the second guide mechanism and connected to the second drive mechanism, which drives the second slide to move along the second direction. The robotic arm is mounted on the lower end of the second slide. The welding torch is connected to the robotic arm.

2. The walking welding robot according to claim 1, characterized in that, The diagonal brace is an arc-shaped structure.

3. The walking welding robot according to claim 1, characterized in that, Both the first guide mechanism and the second guide mechanism are structures composed of guide rails and sliders.

4. The walking welding robot according to claim 1, characterized in that, Both the first drive mechanism and the second drive mechanism are structures composed of a motor and a lead screw and nut.

5. The walking welding robot according to claim 1, characterized in that, The speed-changing mechanism is a structure composed of gears.

6. The walking welding robot according to claim 1, characterized in that, Also includes: A cover plate is provided on the upper end of the platform.

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