A manipulator for multi-angle rotary welding

Abstract

The utility model provides a kind of manipulator for multi-angle rotary welding, including manipulator body, the side of the manipulator is provided with the welding station for placing welding workpiece, the tail end of the manipulator body is fixedly connected with first motor, the output of the first motor is fixedly connected with carousel, carousel is fixedly connected with mounting plate on, mounting plate is detachably connected with annular track on, movable block that can rotate along annular track ring is arranged in annular track, welding torch for welding workpiece is fixedly connected with movable block on.The utility model provides a kind of manipulator for multi-angle rotary welding, and carousel is driven by first motor to drive annular track whole rotation, cooperate movable block and move along the circumferential motion of annular track, realize welding torch around workpiece axis continuous rotation and inclination angle adjustment, without relying on workpiece rotary table, single manipulator can complete complex trajectory welding, improve weld continuity.

Description

Technical Field

[0001] This utility model relates to the field of welding equipment, specifically to a robotic arm for multi-angle rotary welding. Background Technology

[0002] As a core piece of equipment in the field of automated welding, the flexibility and multi-angle operation capability of welding robots directly determine the welding accuracy and efficiency of complex structural parts. Traditional welding robots mostly adopt multi-joint serial structures or fixed track sliding designs to achieve welding torch posture adjustment through multi-degree-of-freedom combinations. However, in scenarios such as continuous circumferential welding and curved surface welding, there are still problems such as limited motion trajectory and cumbersome adjustment steps.

[0003] In existing technologies, especially for welding applications requiring continuous circumferential rotation along the workpiece, such as pipe circumferential welds and flange welding, a common approach is to use a robot arm in conjunction with a rotary table. The robot arm holds the welding torch in position, while the rotary table rotates the workpiece to complete the welding. However, when the welding path requires synchronized adjustment of the welding torch angle, the robot arm must frequently start and stop to match the rotary table angle, leading to discontinuous welding trajectories and uneven heat input, significantly impacting welding efficiency and accuracy.

[0004] In view of this, a robotic arm for multi-angle rotary welding is proposed. Utility Model Content

[0005] The purpose of this invention is to solve the problem that existing multi-angle rotary welding robots are not convenient for continuous circumferential rotary welding, and to provide a robot for multi-angle rotary welding.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a robotic arm for multi-angle rotary welding, comprising a robotic arm body, a welding table for placing welding workpieces is provided on one side of the robotic arm, a first motor is fixedly connected to the end of the robotic arm body, a turntable is fixedly connected to the output end of the first motor, a mounting plate is fixedly connected to the turntable, a ring track is detachably connected to the mounting plate, a movable block capable of rotating in a ring along the ring track is provided inside the ring track, and a welding torch for welding workpieces is fixedly connected to the movable block.

[0007] Preferably, a limiting block is fixedly connected to the annular track, and multiple limiting rods are elastically provided on the mounting plate by means of springs. The limiting block is provided with multiple limiting grooves that are adapted to the size of the limiting rods.

[0008] Preferably, two limiting rods are provided on the mounting plate, two limiting grooves are provided on the limiting block, the tops of the two limiting rods are fixedly connected, and when the two limiting rods move to the highest point, the limiting block can be separated from the mounting plate.

[0009] Preferably, a second motor is fixedly connected to the annular track, a gear is fixedly connected to the output end of the second motor, a rotating ring is provided at the bottom of the movable block, and a plurality of teeth are provided on the rotating ring to mesh with the gear.

[0010] Preferably, a connecting block is fixedly connected to the rotating ring, a slider is fixedly connected to the top of the connecting block, and a groove adapted to the size of the slider is provided on the annular track.

[0011] Preferably, the slider has a T-shaped cross-section, and the groove is arranged along the annular track, so that when the rotating ring rotates, it can drive the slider to rotate along the groove.

[0012] Preferably, the welding torch and the movable block are arranged vertically in the horizontal direction, so that when the movable block moves in a circular motion along the annular track, it can drive the welding torch to rotate around the workpiece to be welded.

[0013] Compared with the prior art, this utility model has the following beneficial effects:

[0014] 1. The robotic arm for multi-angle rotary welding provided by this utility model uses a first motor to drive a turntable, which in turn drives the entire circular track to rotate. In conjunction with the movable block moving circumferentially along the circular track, it enables the welding torch to rotate continuously 360° around the workpiece axis and adjust its tilt angle. It eliminates the need for a workpiece rotary table; a single robotic arm can complete complex trajectory welding, eliminating the delay problem of coordinated control between the robotic arm and the rotary table in traditional solutions, and improving weld continuity. It is particularly suitable for scenarios requiring continuous rotary welding, such as pipe circumferential welds and flanges.

[0015] 2. The robotic arm for multi-angle rotary welding provided by this utility model adopts a composite motion mechanism of gear meshing transmission and slide guide, which effectively avoids weld seam deviation caused by welding torch vibration. At the same time, the elastic fit design of the limiting rod and the limiting groove ensures quick assembly and disassembly of the circular track while improving positioning accuracy and significantly reducing rework rate.

[0016] 3. The circular track of the robotic arm for multi-angle rotary welding provided by this utility model is detachably connected to the mounting plate through a limiting block. Combined with the elastic locking mechanism of the spring limiting rod, it reduces disassembly and assembly time and greatly reduces downtime maintenance losses. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0018] Figure 1This is a three-dimensional structural diagram of an embodiment of the present utility model.

[0019] Figure 2 This is a bottom view of an embodiment of the present invention.

[0020] Figure 3 This is an exploded view of the mounting plate and limiting block according to an embodiment of the present invention.

[0021] Figure 4 This is an exploded view of the annular track and rotating ring according to an embodiment of the present invention.

[0022] Figure 5 This is a cross-sectional schematic diagram of a ring track according to an embodiment of the present invention.

[0023] In the picture:

[0024] 1. Robotic arm body; 2. Welding table; 3. First motor; 31. Turntable; 4. Mounting plate; 41. Limiting rod; 42. Spring; 5. Circular track; 51. Limiting block; 52. Limiting groove; 53. Second motor; 54. Gear; 6. Rotary ring; 7. Tooth; 8. Connecting block; 9. Slider; 10. Slide groove; 11. Movable block; 12. Welding torch. Detailed Implementation

[0025] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0026] Please see Figure 1-5 .

[0027] This utility model relates to a robotic arm for multi-angle rotary welding, comprising a robotic arm body 1, a welding table 2 for placing the workpiece to be welded on one side of the robotic arm, a first motor 3 fixedly connected to the end of the robotic arm body 1, a turntable 31 fixedly connected to the output end of the first motor 3, a mounting plate 4 fixedly connected to the turntable 31, a circular track 5 detachably connected to the mounting plate 4, a movable block 11 capable of rotating in a circle along the circular track 5 within the circular track 5, and a welding torch 12 for welding the workpiece fixedly connected to the movable block 11. This configuration, by fixing the welding table 2 on one side of the robotic arm body 1, allows the workpiece to be welded to be stably placed within the robotic arm's working range. Simultaneously, the turntable 31, mounting plate 4, and circular track 5 at the end of the robotic arm constitute an independent rotation system. This configuration separates the positioning of the workpiece from the movement of the welding torch 12, avoiding the errors between the robotic arm and the workpiece rotation table in traditional solutions. It is particularly suitable for workpieces with large sizes or weights, as only unilateral movement of the robotic arm is required to complete the circumferential welding, reducing equipment footprint and energy consumption.

[0028] Secondly, a limiting block 51 is fixedly connected to the annular track 5, and multiple limiting rods 41 are elastically set on the mounting plate 4 by springs 42. Multiple limiting grooves 52 adapted to the size of the limiting rods 41 are opened on the limiting block 51. The limiting block 51 is fixed on the annular track 5, and the limiting rods 41 are elastically set on the mounting plate 4 by springs 42. The quick locking of the annular track 5 is achieved by the insertion of the limiting rods 41 and the limiting grooves 52. The preload of the spring 42 can adapt to the slight deviation during track installation, ensuring no gap or shaking after locking. In addition, the constraint can be released by simply lifting the limiting rods 41 during disassembly without additional tools, which greatly reduces the changeover time. This elastic locking mechanism is particularly suitable for harsh working conditions such as dust and oil, and is more corrosion-resistant and has lower maintenance costs than bolt fixing.

[0029] Secondly, there are two limit rods 41 on the mounting plate 4, and two limit grooves 52 are opened on the limit block 51. The tops of the two limit rods 41 are fixedly connected. When the two limit rods 41 move to the highest point, the limit block 51 can be separated from the mounting plate 4. This arrangement can form a linkage structure through the fixed connection at the tops of the two limit rods 41. A single pressing operation can simultaneously release the limit on both sides, avoiding the tediousness of having to operate one by one at multiple locking points.

[0030] Furthermore, a second motor 53 is fixedly connected to the annular track 5, and a gear 54 is fixedly connected to the output end of the second motor 53. A rotating ring 6 is provided at the bottom of the movable block 11, and multiple teeth 7 that mesh with the gear 54 are provided on the rotating ring 6. This arrangement can ensure smooth transmission under high load and reduce the slippage of the welding torch 12.

[0031] In addition, a connecting block 8 is fixedly connected to the rotating ring 6, and a slider 9 is fixedly connected to the top of the connecting block 8. A groove 10 adapted to the size of the slider 9 is opened on the annular track 5. The cooperation between the slider 9 and the groove 10 can form a radial constraint, allowing the slider 9 to slide circumferentially along the annular track 5, thus completely solving the defect of traditional roller guide rails being prone to derailment.

[0032] The slider 9 has a T-shaped cross section and the slide groove 10 is set along the annular track 5, so that when the rotating ring 6 rotates, it can drive the slider 9 to rotate along the slide groove 10. Through the circumferential arrangement of the slide groove 10 along the annular track 5, the slider 9 can move continuously, breaking through the stroke limit of the linear guide rail.

[0033] Specifically, the welding torch 12 and the movable block 11 are vertically arranged in the horizontal direction, so that when the movable block 11 moves in a circular motion along the annular track 5, it can drive the welding torch 12 to rotate around the workpiece to be welded. The welding torch 12 is installed perpendicular to the movable block 11, ensuring that the tip of the welding torch 12 always points to the axis of the workpiece. No matter where the movable block 11 is in the annular track 5, the working distance between the welding torch 12 and the surface of the workpiece is constant. This arrangement can avoid the inconsistent penetration depth caused by angular deviation in traditional oscillating welding, while allowing the welding torch 12 to be fixed in posture.

[0034] Working principle:

[0035] When the robotic arm of this invention is in operation, the first motor 3 drives the turntable 31 to rotate the mounting plate 4 and the annular track 5 as a whole, providing the welding torch 12 with the freedom to rotate around the workpiece axis. At the same time, the second motor 53 drives the movable block 11 to slide circumferentially along the annular track 5 through the meshing of the gear 54 and the teeth 7 of the rotating ring 6, so that the welding torch 12 can adjust its rotation angle while revolving around the workpiece. In addition, the cooperation between the T-shaped slider 9 and the annular groove 10 constrains the radial displacement of the movable block 11, ensuring that the sliding trajectory is accurate and without deviation. The elastic locking mechanism of the limiting rod 41 and the limiting groove 52 ensures that the welding torch 12 can rotate around the workpiece while adjusting its rotation angle. Under vibration, the ring track 5 and the mounting plate 4 are rigidly connected. During the welding process, the welding torch 12 is always installed perpendicular to the movable block 11, so that its tip always points to the workpiece axis during the ring movement. The constant working distance between the welding torch 12 and the workpiece surface is controlled by the preset track radius. The whole system realizes the continuous spiral or multi-angle variable trajectory movement of the welding torch 12 around the workpiece through the coordinated control of the first motor 3 and the second motor 53. It does not need to rely on an external rotary table, which not only eliminates the coordination error between the robot and the workpiece rotary table, but also adapts to the rapid changeover requirements of workpieces of different sizes through modular quick-release design.

[0036] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. A robotic arm for multi-angle rotary welding, comprising a robotic arm body (1), characterized in that: A welding table (2) for placing welding workpieces is provided on one side of the robot arm. A first motor (3) is fixedly connected to the end of the robot arm body (1). A turntable (31) is fixedly connected to the output end of the first motor (3). A mounting plate (4) is fixedly connected to the turntable (31). A ring track (5) is detachably connected to the mounting plate (4). A movable block (11) capable of rotating in a ring along the ring track (5) is provided inside the ring track (5). A welding torch (12) for welding workpieces is fixedly connected to the movable block (11).

2. The robotic arm for multi-angle rotary welding as described in claim 1, characterized in that: A limiting block (51) is fixedly connected to the annular track (5). Multiple limiting rods (41) are elastically provided on the mounting plate (4) by springs (42). Multiple limiting grooves (52) adapted to the size of the limiting rods (41) are provided on the limiting block (51).

3. The robotic arm for multi-angle rotary welding as described in claim 2, characterized in that: Two limiting rods (41) are provided on the mounting plate (4), and two limiting grooves (52) are provided on the limiting block (51). The tops of the two limiting rods (41) are fixedly connected. When the two limiting rods (41) move to the highest point, the limiting block (51) can be separated from the mounting plate (4).

4. The robotic arm for multi-angle rotary welding as described in claim 1, characterized in that: A second motor (53) is fixedly connected to the annular track (5), and a gear (54) is fixedly connected to the output end of the second motor (53). A rotating ring (6) is provided at the bottom of the movable block (11), and a plurality of teeth (7) that mesh with the gear (54) are provided on the rotating ring (6).

5. The robotic arm for multi-angle rotary welding as described in claim 4, characterized in that: A connecting block (8) is fixedly connected to the rotating ring (6), and a slider (9) is fixedly connected to the top of the connecting block (8). A groove (10) adapted to the size of the slider (9) is provided on the annular track (5).

6. The robotic arm for multi-angle rotary welding as described in claim 5, characterized in that: The slider (9) has a T-shaped cross section and the groove (10) is arranged along the annular track (5), so that when the rotating ring (6) rotates, it can drive the slider (9) to rotate along the groove (10).

7. The robotic arm for multi-angle rotary welding as described in claim 1, characterized in that: The welding torch (12) and the movable block (11) are arranged vertically in the horizontal direction, so that when the movable block (11) moves in a circular motion along the circular track (5), it can drive the welding torch (12) to rotate around the workpiece to be welded.

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