An all-time, all-area automatic welding robot

Abstract

The utility model discloses a kind of full-time, full-area automatic welding robot, including mobile trolley and X axis, Y axis and Z axis drive assembly set on it.The Z axis drive assembly is realized coarse adjustment and fine adjustment by Z axis telescopic pipe and moving assembly;Y axis drive assembly adopts three-stage sleeve shaft structure, and is driven by motor and speed reducer to gradually extend and retract.The mobile trolley bottom is provided with adjustable support rod to ensure working level, and horizontal rotary device and vertical rotary device can be selected to adjust welding angle.Through three-axis linkage and AGV trolley movement, realize omnidirectional welding of large workpiece, weld consistency is high, significantly improve welding efficiency and quality.

Description

Technical Field

[0001] This utility model relates to the field of automatic welding technology, and more specifically, to an all-time, all-domain automated welding robot. Background Technology

[0002] In modern industrial manufacturing, the production of structural components for many large and extra-large equipment requires extensive welding work. These components weigh several tons, tens of tons, or even hundreds of tons, and their geometric dimensions range from several meters to tens of meters. They are also difficult to turn over or move. The amount of welding is enormous, taking anywhere from a few days to more than ten days or even over a month. Scaffolding is often erected during welding (as in industries such as nuclear power, hydroelectric power manufacturing, and shipbuilding). Welders must work on scaffolding, limiting their working area, resulting in extremely low welding efficiency and difficulty in controlling weld quality.

[0003] Chinese Patent Publication No. CN113275811A, published on August 20, 2021, describes a utility model entitled "All-Time, All-Area Automated Welding Robot." This robot utilizes a first, second, and third power unit to move the welding head, enabling automatic welding within its movement range. During welding, a fourth power unit rotates the welding head, allowing for angle adjustment. These two adjustments to the welding head position allow it to move within a specific area. However, the robot's working range is limited, resulting in low welding efficiency when welding large workpieces. Utility Model Content

[0004] This invention overcomes the shortcomings of existing welding robots, such as limited working range and low welding efficiency when welding large workpieces. It provides a full-time, full-range automated welding robot whose welding head can move over a wider range, significantly improving welding efficiency and ensuring welding quality, resulting in higher overall strength of the welded workpiece.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a full-time, full-domain automated welding robot, including a mobile vehicle and a welding drive assembly. The welding drive assembly is mounted on the mobile vehicle and includes an X-axis drive assembly, a Y-axis drive assembly and a Z-axis drive assembly. The Z-axis drive assembly is mounted at the output end of the X-axis drive assembly, the Y-axis drive assembly is mounted at the output end of the Z-axis drive assembly, and a welding head is mounted at the output end of the Y-axis drive assembly.

[0006] This invention features a welding drive assembly mounted on a mobile vehicle. This assembly comprises an X-axis drive assembly, a Y-axis drive assembly, and a Z-axis drive assembly. These three axes work together to achieve free extension and retraction, adapting to various welding needs and facilitating the welding of large workpieces. Furthermore, in conjunction with the mobile vehicle, it enables omnidirectional welding along the circumference of large workpieces, significantly improving welding efficiency and reducing welding time compared to manual welding. Moreover, workpieces welded using this invention maintain weld consistency, enhancing the overall welding quality.

[0007] Preferably, the Z-axis drive assembly includes a Z-axis telescopic tube and a Z-axis moving assembly. The Z-axis telescopic tube is fixedly installed at the output end of the X-axis drive assembly, and the Z-axis moving assembly is installed at the output end of the Z-axis telescopic tube. The Y-axis drive assembly is installed at the output end of the Z-axis moving assembly.

[0008] The Z-axis drive assembly in this embodiment consists of two structures: a Z-axis telescopic tube and a Z-axis moving assembly located at the output end of the Z-axis telescopic tube. The cooperation between the Z-axis telescopic tube and the Z-axis drive assembly increases the range of movement in the vertical direction. The Z-axis telescopic tube provides a "coarse adjustment" function, while the ball screw structure used in the Z-axis drive assembly allows for more precise control of the movement position, enabling a "fine adjustment" function. The combination of "fine adjustment" and "coarse adjustment" improves welding efficiency and allows for a larger welding range.

[0009] Preferably, a horizontal rotation device is provided on the X-axis drive assembly, and the Z-axis drive assembly is located at the output end of the horizontal rotation device.

[0010] The Z-axis drive assembly rotates horizontally, enabling it to adapt to more complex welding workpieces, reduce the number of times the moving carriage needs to move, and improve welding efficiency.

[0011] Preferably, the output end of the Z-axis drive assembly is provided with a vertical rotation device, and the Y-axis drive assembly is located at the output end of the vertical rotation device.

[0012] By rotating the vertical rotary motor, the pitch angle of the Y-axis drive assembly can be adjusted to increase the welding range, adapt to more complex welding workpieces, reduce the number of times the mobile carriage moves, and improve welding efficiency.

[0013] Preferably, the bottom of the mobile trolley is equipped with a one-button balancing device, which includes several telescopic support devices that can be adjusted individually. After the mobile trolley moves to the work site, the extension and retraction of several telescopic support devices are controlled to realize the one-button horizontal adjustment of the mobile trolley.

[0014] During welding, the telescopic support device can support the moving vehicle, improve the stability of the entire device during operation, and by controlling the extension and retraction of several telescopic support devices, the moving vehicle can be made horizontal, providing a horizontal work surface for subsequent welding work.

[0015] Preferably, the X-axis drive assembly includes an X-axis slide rail arranged along the length of the moving vehicle, an X-axis slider that cooperates with the slide rail, a sliding platform provided on the X-axis slider, and both the Z-axis drive assembly and the Y-axis drive assembly are provided on the sliding platform.

[0016] In this embodiment, the slide rail is driven by a ball screw structure. Specifically, a screw is provided along the length of the moving vehicle, and a screw motor is provided at the end of the screw to drive the screw to rotate. The slider cooperates with the screw, and the slider can reciprocate along the length of the moving vehicle by rotating the screw motor in both directions.

[0017] Preferably, the X-axis slide rails are arranged on both sides of the width direction of the moving vehicle, and the X-axis sliders are arranged on both sides of the width direction of the sliding platform.

[0018] The slide rails on both sides of the sliding platform are perfectly matched with the two sides of the moving vehicle in the width direction, thereby improving the stability of movement.

[0019] Preferably, the Y-axis drive assembly includes a primary rotating shaft, a secondary rotating shaft, and a tertiary rotating shaft arranged sequentially from the inside to the outside; the primary rotating shaft is connected to a power unit, which drives the primary rotating shaft to rotate.

[0020] A primary nut is provided on the primary shaft to cooperate with it, and a first connecting sleeve is provided on the primary nut to rotate relative to it;

[0021] A secondary nut is provided on the secondary shaft to cooperate with it. The secondary shaft is fixedly connected to the first connecting sleeve. A second connecting sleeve is provided on the secondary nut to rotate relative to it.

[0022] The three-stage rotating shaft is equipped with a three-stage nut that mates with it. The three-stage rotating shaft is fixedly connected to the second connecting sleeve. The three-stage nut is equipped with a three-stage mounting plate. The three-stage mounting plate is equipped with a three-stage sleeve. The welding head is located on the three-stage sleeve.

[0023] After being reduced in speed by a reducer, the motor's output drives the primary shaft to rotate. The primary shaft, through a first connecting sleeve, drives the secondary shaft to rotate, and the secondary shaft, through a second connecting sleeve, drives the tertiary shaft to rotate. During the rotation of the primary shaft, the primary nut moves along it. This movement, via the first and second connecting sleeves, causes the secondary shaft to move synchronously, rotating in unison. The secondary nut, engaging with the secondary shaft, moves along it. This movement, via the second connecting sleeve, drives the tertiary shaft to move synchronously, rotating in unison, and the nut moves along it. Thus, when the motor rotates, the primary, secondary, and tertiary shafts extend outwards synchronously.

[0024] Preferably, a first-stage mounting plate is provided on the first-stage nut, a first-stage sleeve is provided on the first-stage mounting plate, an outer tube is provided on the first-stage sleeve, a slider is provided on the outer tube, and a slide rail is provided on the outer wall of the first-stage sleeve along its length.

[0025] The inner wall of the primary sleeve is provided with a slider, and the outer wall of the secondary sleeve is provided with a slide rail that cooperates with the slider.

[0026] The inner wall of the secondary sleeve is equipped with a slider, and the outer wall of the tertiary sleeve is equipped with a slide rail that cooperates with the slider.

[0027] By combining the slide rail and the slider, the stability of each axis during extension and retraction can be improved.

[0028] Preferably, the power unit includes an electric motor and a speed reducer.

[0029] The motor and reducer provide power to the Y-axis drive assembly, enabling the extension and retraction of each axis.

[0030] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model sets a welding drive assembly on a mobile vehicle. The welding drive assembly consists of an X-axis drive assembly, a Y-axis drive assembly, and a Z-axis drive assembly. Through the cooperation of the three-way devices, it can achieve free extension and retraction, which can meet various welding needs and facilitate the welding of large workpieces. In addition, with the use of the mobile vehicle, it can achieve all-round welding in the circumferential direction of large workpieces. Moreover, the workpieces welded by this application can maintain the consistency of the weld seam and improve the overall welding quality.

[0031] By setting up horizontal and vertical rotation devices, the rotation angle of the Z-axis drive assembly 26 and the pitch angle of the Y-axis drive assembly 25 can be adjusted to increase the welding range, adapt to more complex welding workpieces, reduce the number of moves of the moving carriage 28, and improve welding efficiency. Attached Figure Description

[0032] Figure 1This is the front view of this utility model.

[0033] Figure 2 This is a side view of the present invention.

[0034] Figure 3 This is a top view of the present invention.

[0035] Figure 4 This is a structural diagram of the Z-axis telescopic tube of this utility model when it does not extend and the Z-axis moving component moves to the top.

[0036] Figure 5 This is a structural diagram of the Z-axis telescopic tube of this utility model when it extends and the Z-axis moving component moves to the top.

[0037] Figure 6 This is a schematic diagram of the Y-axis drive assembly of this utility model.

[0038] In the diagram: 1. Motor, 2. Reducer, 3. Coupling, 4. Reducer housing, 5. Bearing, 6. Primary nut, 7. Primary mounting plate, 8. First connecting sleeve, 9. First retaining ring, 10. Secondary nut, 11. Secondary mounting plate, 12. Secondary connecting sleeve, 13. Secondary retaining ring, 14. Tertiary nut, 15. Tertiary mounting plate, 16. Outer tube, 17. Primary sleeve, 18. Slider, 19. Secondary sleeve, 20. Tertiary... 21. Sleeve, 22. Primary shaft, 23. Secondary shaft, 24. Tertiary shaft, 25. X-axis drive assembly, 26. X-axis slide rail, 27. X-axis slider, 28. Sliding platform, 29. Y-axis drive assembly, 20. Z-axis drive assembly, 21. Z-axis telescopic tube, 22. Z-axis moving assembly, 23. Welding head, 24. Moving carriage, 25. Telescopic support rod, 26. Horizontal rotation device, 37. Vertical rotation device. Detailed Implementation

[0039] The technical solution of this utility model will be further described in detail below through specific embodiments and with reference to the accompanying drawings:

[0040] Example 1: Refer to Figures 1 to 6 As shown, a full-time, full-domain automated welding robot includes a mobile vehicle 28 and a welding drive assembly mounted on the mobile vehicle 28. The welding drive assembly includes an X-axis drive assembly 24, a Y-axis drive assembly 25, and a Z-axis drive assembly 26. The Z-axis drive assembly 26 is located at the output end of the X-axis drive assembly 24, and the Y-axis drive assembly 25 is located at the output end of the Z-axis drive assembly 26. A welding head 27 is provided at the output end of the Y-axis drive assembly 25.

[0041] This utility model provides a welding drive assembly on a mobile carriage 28. The welding drive assembly consists of an X-axis drive assembly 24, a Y-axis drive assembly 25, and a Z-axis drive assembly 26. Through the cooperation of the three-way devices, it can achieve free extension and retraction, which can meet various welding needs and facilitate the welding of large workpieces. In addition, when used with the mobile carriage 28, it can achieve all-round welding in the circumferential direction of large workpieces. Moreover, the workpieces welded by this application can maintain the consistency of the weld seam and improve the overall welding quality.

[0042] In one embodiment, the mobile vehicle 28 is an AGV (Automated Guided Vehicle), which can automatically guide and drive the welding drive assembly to move around the workpiece for all-around welding. Additionally, the welding head 27 in this embodiment is a six-axis welding robot, which is more flexible during welding and can handle more complex welding areas, thereby improving overall work efficiency.

[0043] In one embodiment, the X-axis drive assembly 24 includes an X-axis slide rail 241 arranged along the length of the moving vehicle 28, an X-axis slider 242 cooperating with the X-axis slide rail 241, and a sliding platform 243 arranged on the X-axis slider 242. The Z-axis drive assembly 26 and the Y-axis drive assembly 25 are both arranged on the sliding platform 243. In this embodiment, the slide rail is driven by a ball screw structure. Specifically, a ball screw is arranged along the length of the moving vehicle 28, and a ball screw motor is arranged at the end of the ball screw to drive the ball screw to rotate. The slider cooperates with the ball screw, and the reciprocating movement of the slider along the length of the moving vehicle 28 can be realized by the forward and reverse rotation of the ball screw motor.

[0044] X-axis slide rails 241 are disposed on both sides of the moving carriage 28 in the width direction, and X-axis sliders 242 are disposed on both sides of the sliding platform 243 in the width direction. The slide rails on both sides of the sliding platform 243 cooperate with the two sides of the moving carriage 28 in the width direction, thereby improving the stability of movement.

[0045] In one embodiment, the Z-axis drive assembly 26 includes a Z-axis telescopic tube 261 fixedly disposed at the output end of the X-axis drive assembly 24 and a Z-axis moving assembly 262 disposed at the output end of the Z-axis telescopic tube 261; the Y-axis drive assembly 25 is disposed at the output end of the Z-axis moving assembly 262.

[0046] The Z-axis drive assembly 26 is mounted on the sliding platform 243. When the sliding platform 243 moves along the X-axis slide rail 241, the Z-axis drive assembly 26 moves synchronously, thus achieving synchronous movement of the Z-axis drive assembly 26 and the Y-axis drive assembly 25. Furthermore, in this embodiment, the Z-axis drive assembly 26 consists of two structures: a Z-axis telescopic tube 261 and a Z-axis moving assembly 262 located at the output end of the Z-axis telescopic tube 261. The cooperation between the Z-axis telescopic tube 261 and the Z-axis drive assembly 26 increases the range of movement in the vertical direction. The Z-axis telescopic tube 261 enables a "coarse adjustment" function, while the ball screw structure used in the Z-axis drive assembly 26 allows for more precise control of the movement position, enabling a "fine adjustment" function. The combination of "fine adjustment" and "coarse adjustment" improves welding efficiency and allows for a larger welding range.

[0047] In one embodiment, a one-key balancing device is provided at the bottom of the mobile trolley 28. This device includes several individually adjustable telescopic support devices. After the mobile trolley 28 moves to the work location, the extension and retraction of these telescopic support devices are controlled to achieve one-key horizontal adjustment of the trolley. In this embodiment, the telescopic support device is a telescopic support rod 281. During welding, the extension and retraction of these telescopic support rods 281 are controlled to level the mobile trolley 28. In this embodiment, four support rods are provided at the bottom of the mobile trolley 28, located at the four corners of the trolley. During welding, the support rods provide support for the mobile trolley 28, improving the stability of the entire device. Furthermore, by controlling the extension and retraction of the telescopic support rods 281, the mobile trolley 28 is leveled, providing a horizontal work surface for subsequent welding work.

[0048] In one embodiment, the Y-axis drive assembly 25 and the Z-axis drive assembly 26 have similar structures. Taking the structure of the Y-axis drive assembly 25 as an example, the Y-axis drive assembly 25 includes a first-stage rotating shaft 21, a second-stage rotating shaft 22 and a third-stage rotating shaft 23 arranged sequentially from the inside to the outside; the end of the first-stage rotating shaft 21 is connected to a power device; the power device includes a motor 1 and a reducer 2.

[0049] A primary nut 6 is provided on the primary rotating shaft 21 to cooperate with it, and a first connecting sleeve 8 is provided on the primary nut 6 to rotate relative to it.

[0050] A secondary nut 10 is provided on the secondary shaft 22 to cooperate with it. The secondary shaft 22 is connected to the first connecting sleeve 8 through the first fixing ring 9. A second connecting sleeve 12 is provided on the secondary nut 10 to rotate relative to it.

[0051] A third-stage nut 14 is provided on the third-stage rotating shaft 23 to mate with it. The third-stage rotating shaft 23 is connected to the second connecting sleeve 12 through the second fixing ring 13. A third-stage mounting plate 15 is provided on the third-stage mounting plate 14, and a third-stage sleeve 20 is provided on the third-stage mounting plate 15. The welding head 27 is provided on the third-stage sleeve 20. The first-stage rotating shaft 21 is connected to the reducer 2 through a coupling 3. The reducer 2 is mounted on the outer tube 16 through a reducer base 4. A bearing 5 is provided between the reducer base 4 and the first-stage rotating shaft 21.

[0052] In operation, the output of motor 1 is reduced in speed by reducer 2, driving the primary shaft 21 to rotate. The primary shaft 21 drives the secondary shaft 22 to rotate via the first connecting sleeve 8, and the secondary shaft 22 drives the tertiary shaft 23 to rotate via the second connecting sleeve 12. During the rotation of the primary shaft 21, the primary nut 6 can move along the primary shaft 21. When the primary shaft 21 moves, it drives the secondary shaft 22 to move synchronously via the first and second connecting sleeves 8, causing the secondary shaft 22 to rotate synchronously. The secondary nut 10 cooperates with the secondary shaft 22 and can move along the secondary shaft 22. The movement of the secondary shaft 22 drives the tertiary shaft 23 to move synchronously via the second connecting sleeve 12, causing the tertiary shaft 23 to rotate synchronously. The tertiary nut 14 moves along the tertiary shaft 23. Thus, when motor 1 rotates, the primary shaft 21, secondary shaft 22, and tertiary shaft 23 can extend outward synchronously.

[0053] In addition, to improve the stability of the movement of each axis, a first-stage mounting plate 7 is provided on the first-stage nut 6, a first-stage sleeve 17 is provided on the first-stage mounting plate 7, an outer tube 16 is provided outside the first-stage sleeve 17, a slider is provided on the outer tube 16, and a slide rail is provided on the outer side wall of the first-stage sleeve 17 along its length. The outer tube 16 is used to install the motor 1 and the reducer 2, and the outer tube 16 is fixed to the output end of the Z-axis movement assembly 262.

[0054] The inner wall of the primary sleeve 17 is provided with a slider 18, the secondary nut 10 is provided with a secondary mounting plate 11, the secondary sleeve 19 is provided on the secondary mounting plate 11, and the outer wall of the secondary sleeve 19 is provided with a slide rail that cooperates with the slider 18.

[0055] The inner wall of the secondary sleeve 19 is provided with a slider 18, the tertiary nut 14 is provided with a tertiary mounting plate 15, the tertiary sleeve 20 is provided on the tertiary mounting plate 15, and the outer wall of the tertiary sleeve 20 is provided with a slide rail that cooperates with the slider 18.

[0056] The cooperation between the slide rail and the slider 18 can improve the stability of each stage of shaft extension and retraction.

[0057] This utility model provides a welding drive assembly on a mobile carriage 28. The welding drive assembly consists of an X-axis drive assembly 24, a Y-axis drive assembly 25, and a Z-axis drive assembly 26. Through the cooperation of the three-way devices, it can achieve free extension and retraction, which can meet various welding needs and facilitate the welding of large workpieces. In addition, when used with the mobile carriage 28, it can achieve all-round welding in the circumferential direction of large workpieces. Moreover, the workpieces welded by this application can maintain the consistency of the weld seam and improve the overall welding quality.

[0058] Example 2: Refer to Figures 1 to 6 As shown, a full-time, full-domain automated welding robot includes a mobile vehicle 28 and a welding drive assembly mounted on the mobile vehicle 28. The welding drive assembly includes an X-axis drive assembly 24, a Y-axis drive assembly 25, and a Z-axis drive assembly 26. The Z-axis drive assembly 26 is located at the output end of the X-axis drive assembly 24, and the Y-axis drive assembly 25 is located at the output end of the Z-axis drive assembly 26. A welding head 27 is provided at the output end of the Y-axis drive assembly 25.

[0059] This utility model provides a welding drive assembly on a mobile carriage 28. The welding drive assembly consists of an X-axis drive assembly 24, a Y-axis drive assembly 25, and a Z-axis drive assembly 26. Through the cooperation of the three-way devices, it can achieve free extension and retraction, which can meet various welding needs and facilitate the welding of large workpieces. In addition, when used with the mobile carriage 28, it can achieve all-round welding in the circumferential direction of large workpieces. Moreover, the workpieces welded by this application can maintain the consistency of the weld seam and improve the overall welding quality.

[0060] In one embodiment, the mobile vehicle 28 is an AGV (Automated Guided Vehicle), which can automatically guide and drive the welding drive assembly to move around the workpiece for all-around welding. Additionally, the welding head 27 in this embodiment is a six-axis welding robot, which is more flexible during welding and can handle more complex welding areas, thereby improving overall work efficiency.

[0061] In one embodiment, the X-axis drive assembly 24 includes an X-axis slide rail 241 arranged along the length of the moving vehicle 28, an X-axis slider 242 cooperating with the X-axis slide rail 241, and a sliding platform 243 arranged on the X-axis slider 242. The Z-axis drive assembly 26 and the Y-axis drive assembly 25 are both arranged on the sliding platform 243. In this embodiment, the slide rail is driven by a ball screw structure. Specifically, a ball screw is arranged along the length of the moving vehicle 28, and a ball screw motor is arranged at the end of the ball screw to drive the ball screw to rotate. The slider cooperates with the ball screw, and the reciprocating movement of the slider along the length of the moving vehicle 28 can be realized by the forward and reverse rotation of the ball screw motor.

[0062] X-axis slide rails 241 are disposed on both sides of the moving carriage 28 in the width direction, and X-axis sliders 242 are disposed on both sides of the sliding platform 243 in the width direction. The slide rails on both sides of the sliding platform 243 cooperate with the two sides of the moving carriage 28 in the width direction, thereby improving the stability of movement.

[0063] In one embodiment, the Z-axis drive assembly 26 includes a Z-axis telescopic tube 261 fixedly disposed at the output end of the X-axis drive assembly 24 and a Z-axis moving assembly 262 disposed at the output end of the Z-axis telescopic tube 261; the Y-axis drive assembly 25 is disposed at the output end of the Z-axis moving assembly 262.

[0064] The Z-axis drive assembly 26 is mounted on the sliding platform 243. When the sliding platform 243 moves along the X-axis slide rail 241, the Z-axis drive assembly 26 moves synchronously, thus achieving synchronous movement of the Z-axis drive assembly 26 and the Y-axis drive assembly 25. Furthermore, in this embodiment, the Z-axis drive assembly 26 consists of two structures: a Z-axis telescopic tube 261 and a Z-axis moving assembly 262 located at the output end of the Z-axis telescopic tube 261. The cooperation between the Z-axis telescopic tube 261 and the Z-axis drive assembly 26 increases the range of movement in the vertical direction. The Z-axis telescopic tube 261 enables a "coarse adjustment" function, while the ball screw structure used in the Z-axis drive assembly 26 allows for more precise control of the movement position, enabling a "fine adjustment" function. The combination of "fine adjustment" and "coarse adjustment" improves welding efficiency and allows for a larger welding range.

[0065] In one embodiment, a one-key balancing device is provided at the bottom of the mobile trolley 28. This device includes several individually adjustable telescopic support devices. After the mobile trolley moves to the work location, the extension and retraction of these telescopic support devices are controlled to achieve one-key horizontal adjustment of the mobile trolley 28. In this embodiment, the telescopic support device is a telescopic support rod 281. During welding, the extension and retraction of these telescopic support rods 281 are controlled to achieve horizontal positioning of the mobile trolley 28. In this embodiment, four support rods are provided at the bottom of the mobile trolley 28, located at the four corners of the trolley. During welding, the support rods provide support for the mobile trolley 28, improving the stability of the entire device. Furthermore, by controlling the extension and retraction of the telescopic support rods 281, the mobile trolley 28 is leveled, providing a horizontal work surface for subsequent welding work.

[0066] In one embodiment, the Y-axis drive assembly 25 and the Z-axis drive assembly 26 have similar structures. Taking the structure of the Y-axis drive assembly 25 as an example, the Y-axis drive assembly 25 includes a first-stage rotating shaft 21, a second-stage rotating shaft 22 and a third-stage rotating shaft 23 arranged sequentially from the inside to the outside; the end of the first-stage rotating shaft 21 is connected to a power device; the power device includes a motor 1 and a reducer 2.

[0067] A primary nut 6 is provided on the primary rotating shaft 21 to cooperate with it, and a first connecting sleeve 8 is provided on the primary nut 6 to rotate relative to it.

[0068] A secondary nut 10 is provided on the secondary shaft 22 to cooperate with it. The secondary shaft 22 is connected to the first connecting sleeve 8 through the first fixing ring 9. A second connecting sleeve 12 is provided on the secondary nut 10 to rotate relative to it.

[0069] A third-stage nut 14 is provided on the third-stage rotating shaft 23 to mate with it. The third-stage rotating shaft 23 is connected to the second connecting sleeve 12 through the second fixing ring 13. A third-stage mounting plate 15 is provided on the third-stage mounting plate 14, and a third-stage sleeve 20 is provided on the third-stage mounting plate 15. The welding head 27 is provided on the third-stage sleeve 20. The first-stage rotating shaft 21 is connected to the reducer 2 through a coupling 3. The reducer 2 is mounted on the outer tube 16 through a reducer base 4. A bearing 5 is provided between the reducer base 4 and the first-stage rotating shaft 21.

[0070] In operation, the output of motor 1 is reduced in speed by reducer 2, driving the primary shaft 21 to rotate. The primary shaft 21 drives the secondary shaft 22 to rotate via the first connecting sleeve 8, and the secondary shaft 22 drives the tertiary shaft 23 to rotate via the second connecting sleeve 12. During the rotation of the primary shaft 21, the primary nut 6 can move along the primary shaft 21. When the primary shaft 21 moves, it drives the secondary shaft 22 to move synchronously via the first and second connecting sleeves 8, causing the secondary shaft 22 to rotate synchronously. The secondary nut 10 cooperates with the secondary shaft 22 and can move along the secondary shaft 22. The movement of the secondary shaft 22 drives the tertiary shaft 23 to move synchronously via the second connecting sleeve 12, causing the tertiary shaft 23 to rotate synchronously. The tertiary nut 14 moves along the tertiary shaft 23. Thus, when motor 1 rotates, the primary shaft 21, secondary shaft 22, and tertiary shaft 23 can extend outward synchronously.

[0071] In addition, to improve the stability of the movement of each axis, a first-stage mounting plate 7 is provided on the first-stage nut 6, a first-stage sleeve 17 is provided on the first-stage mounting plate 7, an outer tube 16 is provided outside the first-stage sleeve 17, a slider is provided on the outer tube 16, and a slide rail is provided on the outer side wall of the first-stage sleeve 17 along its length. The outer tube 16 is used to install the motor 1 and the reducer 2, and the outer tube 16 is fixed to the output end of the Z-axis movement assembly 262.

[0072] The inner wall of the primary sleeve 17 is provided with a slider 18, the secondary nut 10 is provided with a secondary mounting plate 11, the secondary sleeve 19 is provided on the secondary mounting plate 11, and the outer wall of the secondary sleeve 19 is provided with a slide rail that cooperates with the slider 18.

[0073] The inner wall of the secondary sleeve 19 is provided with a slider 18, the tertiary nut 14 is provided with a tertiary mounting plate 15, the tertiary sleeve 20 is provided on the tertiary mounting plate 15, and the outer wall of the tertiary sleeve 20 is provided with a slide rail that cooperates with the slider 18.

[0074] The cooperation between the slide rail and the slider 18 can improve the stability of each stage of shaft extension and retraction.

[0075] This implementation is similar in structure to that in Example 1, except that a horizontal rotation device 29 is provided on the X-axis drive assembly 24, and the Z-axis drive assembly 26 is fixedly installed at the output end of the horizontal rotation device 29.

[0076] The horizontal rotation device 29 includes a horizontal rotation motor and a horizontal rotation reducer mounted on the sliding platform 243. The Z-axis drive assembly 26 is mounted on the output end of the horizontal rotation reducer. By rotating the horizontal rotation motor, the Z-axis drive assembly 26 can rotate in the horizontal direction, which can adapt to more complex welding workpieces, reduce the number of moves of the moving carriage 28, and improve welding efficiency.

[0077] In one embodiment, the output end of the Z-axis drive assembly 26 is provided with a vertical rotation device 30, and the Y-axis drive assembly 25 is fixedly disposed at the output end of the vertical rotation device 30.

[0078] The vertical rotation device 30 includes a vertical rotation motor located at the output end of the Z-axis drive assembly 26. The output end of the vertical rotation motor is connected to a vertical rotation reducer. The Y-axis drive assembly 25 is fixedly located at the output end of the vertical rotation reducer. By rotating the vertical rotation motor, the pitch angle of the Y-axis drive assembly 25 can be adjusted to increase the welding range, accommodate more complex welding workpieces, reduce the number of movements of the moving carriage 28, and improve welding efficiency.

[0079] This utility model provides a welding drive assembly on a mobile carriage 28. The welding drive assembly consists of an X-axis drive assembly 24, a Y-axis drive assembly 25, and a Z-axis drive assembly 26. Through the cooperation of the three-way devices, it can achieve free extension and retraction, which can meet various welding needs and facilitate the welding of large workpieces. In addition, when used with the mobile carriage 28, it can achieve all-round welding in the circumferential direction of large workpieces. Moreover, the workpieces welded by this application can maintain the consistency of the weld seam and improve the overall welding quality.

[0080] The embodiments described above are merely preferred solutions of this utility model and are not intended to limit this utility model in any way. Other variations and modifications are possible without departing from the technical solutions described in the claims.

Claims

1. A fully automated welding robot capable of operating in all time and all areas, characterized in that: The mobile carriage (28) and welding drive assembly are mounted on the mobile carriage (28). The welding drive assembly includes an X-axis drive assembly (24), a Y-axis drive assembly (25) and a Z-axis drive assembly (26). The Z-axis drive assembly (26) is mounted on the output end of the X-axis drive assembly (24), the Y-axis drive assembly (25) is mounted on the output end of the Z-axis drive assembly (26), and a welding head (27) is mounted on the output end of the Y-axis drive assembly (25).

2. The all-time, all-domain automated welding robot according to claim 1, characterized in that, The Z-axis drive assembly (26) includes a Z-axis telescopic tube (261) and a Z-axis moving assembly (262). The Z-axis telescopic tube (261) is fixedly installed at the output end of the X-axis drive assembly (24), and the Z-axis moving assembly (262) is installed at the output end of the Z-axis telescopic tube (261). The Y-axis drive assembly (25) is installed at the output end of the Z-axis moving assembly (262).

3. The all-time, all-domain automated welding robot according to claim 1, characterized in that, The X-axis drive assembly (24) is equipped with a horizontal rotary device (29), and the Z-axis drive assembly (26) is located at the output end of the horizontal rotary device (29).

4. The all-time, all-domain automated welding robot according to any one of claims 1 to 3, characterized in that, The output end of the Z-axis drive assembly (26) is provided with a vertical rotation device (30), and the Y-axis drive assembly (25) is provided at the output end of the vertical rotation device (30).

5. The all-time, all-domain automated welding robot according to any one of claims 1 to 3, characterized in that, The bottom of the mobile vehicle (28) is equipped with a one-key balancing device, which includes several telescopic support devices that can be adjusted individually. After the mobile vehicle (28) moves to the work site, the extension and retraction of several telescopic support devices are controlled to realize the one-key horizontal adjustment of the mobile vehicle.

6. The all-time, all-domain automated welding robot according to any one of claims 1 to 3, characterized in that, X The axis drive assembly (24) includes an X-axis slide rail (241) arranged along the length of the moving vehicle (28), an X-axis slider (242) cooperating with the slide rail, a sliding platform (243) arranged on the X-axis slider (242), and both the Z-axis drive assembly (26) and the Y-axis drive assembly (25) are arranged on the sliding platform (243).

7. The all-time, all-domain automated welding robot according to claim 6, characterized in that, X The X-axis slide rails are set on both sides of the width direction of the moving car (28), and the X-axis sliders are set on both sides of the width direction of the sliding platform (243).

8. The all-time, all-domain automated welding robot according to any one of claims 1 to 3, characterized in that, The Y-axis drive assembly (25) includes a first-stage rotating shaft (21), a second-stage rotating shaft (22), and a third-stage rotating shaft (23) arranged sequentially from the inside to the outside; the first-stage rotating shaft (21) is connected to a power device, which drives the first-stage rotating shaft (21) to rotate. A primary nut (6) is provided on the primary shaft (21) to cooperate with it, and a first connecting sleeve (8) is provided on the primary nut (6) to rotate relative to it. A secondary nut (10) is provided on the secondary shaft (22) to cooperate with it. The secondary shaft (22) is fixedly connected to the first connecting sleeve (8). A second connecting sleeve (12) is provided on the secondary nut (10) to rotate relative to it. The three-stage rotating shaft (23) is provided with a three-stage nut (14) that mates with it. The three-stage rotating shaft (23) is fixedly connected to the second connecting sleeve (12). The three-stage nut (14) is provided with a three-stage mounting plate (15). The three-stage mounting plate (15) is provided with a three-stage sleeve (20). The welding head (27) is provided on the three-stage sleeve (20).

9. The all-time, all-domain automated welding robot according to claim 8, characterized in that, A first-level mounting plate (7) is provided on the first-level nut (6), a first-level sleeve (17) is provided on the first-level mounting plate (7), an outer tube (16) is provided on the first-level sleeve (17), a slider is provided on the outer tube (16), and a slide rail is provided on the outer side wall of the first-level sleeve (17) along its length direction. A slider (18) is provided on the inner wall of the first-stage sleeve (17), and a slide rail that cooperates with the slider (18) is provided on the outer wall of the second-stage sleeve (19). The inner wall of the secondary sleeve (19) is provided with a slider (18), and the outer wall of the tertiary sleeve (20) is provided with a slide rail that cooperates with the slider (18).

10. The all-time, all-domain automated welding robot according to claim 8, characterized in that, The power unit includes a motor (1) and a speed reducer (2).

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