Four-axis robot for spot welding of patch panels

Abstract

The utility model relates to the field of automobile parts welding technology discloses a kind of four-axis robots for patch panel spot welding, including big horizontal shift matching component, the movable end of big horizontal shift matching component is fixedly connected with gun entering shaft component, the movable end of gun entering shaft component is fixedly installed with welding torch lifting component, the lifting end of welding torch lifting component is fixedly installed with angle adjusting component, fixed fixed arm and movable movable arm are set, for installing two welding torch main bodies, two welding torch main bodies can work simultaneously, also can according to welding needs, single welding torch main body works, by electric telescopic rod extension and retraction, drive movable arm rotation, and then adjust the angle and position of welding torch main body on movable arm, cooperate the three-axis adjustment of big horizontal shift matching component, gun entering shaft component, welding torch lifting component, realize the four-axis adjustment of welding torch main body on movable arm, increase the adjustment range, satisfy the requirement of all-around adjustment under complex working condition.

Description

Technical Field

[0001] This utility model relates to the field of automotive parts welding technology, specifically a four-axis robot for spot welding of patch panels. Background Technology

[0002] In the production of automotive parts, patch panel spot welding is a common and important process. Traditional patch panel spot welding operations rely partly on manual operation using handheld welding guns. This method is not only inefficient, but also prone to problems such as incomplete welds and missing welds due to factors such as worker fatigue and skill differences, making it difficult to guarantee the consistency and quality stability of the welds. To improve production efficiency and welding quality, automated spot welding equipment has emerged. Existing spot welding robots often have some shortcomings when spot welding patch panels. One key issue is the lack of flexibility and versatility in adjusting the welding torch. In actual automotive parts production, patch panels vary greatly in shape, size, and the position and angle of the weld points. This necessitates that the spot welding robot's welding torch be able to perform multiple adjustments to adapt to different welding requirements. However, existing spot welding robots typically only achieve simple two-dimensional or three-dimensional movement of the welding torch, making it difficult to meet the omnidirectional adjustment requirements under complex working conditions. Utility Model Content

[0003] The purpose of this invention is to provide a four-axis robot for spot welding patch boards to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a four-axis robot for spot welding of patch panels, comprising a large lateral movement repair component, wherein a gun feed shaft component is fixedly connected to the movable end of the large lateral movement repair component, a welding gun lifting component is fixedly installed on the movable end of the gun feed shaft component, and an angle adjustment component is fixedly installed on the lifting end of the welding gun lifting component. The angle adjustment component includes a base, which is fixedly connected to the lifting end of the welding torch lifting component. A mounting shell is fixedly installed on the inner side of the base, and a fixed arm is fixedly installed on the inner side of the mounting shell. A connecting shaft is rotatably mounted on the inner side of the mounting shell via a bearing. A movable arm is fixedly sleeved on the outer wall of the connecting shaft. An electric telescopic rod is fixedly installed on the inner side of the mounting shell. The telescopic end of the electric telescopic rod is hinged to the middle section of the movable arm via a pin. The ends of both the movable arm and the fixed arm are fixedly mounted with the welding torch body. A welding torch air inlet valve and a welding torch controller are fixedly installed on the inner side of the mounting shell. The port of the welding torch air inlet valve is connected to the air inlet end of the welding torch body via a pipe. The control port of the welding torch controller is connected to the signal receiving port of the welding torch body and the signal receiving port of the welding torch air inlet valve via a cable.

[0005] Furthermore, the large lateral movement repair component includes a base frame, an upper slide rail fixedly mounted on the top of the base frame, a servo motor fixedly mounted on the right side of the base frame, a ball screw connected to the output end of the servo motor via a coupling, a screw seat 1 and a screw seat 2 rotatably connected at both ends of the ball screw 1 via bearings, the screw seat 1 and the screw seat 2 fixedly mounted on the top of the base frame, a nut threaded onto the outer wall of the ball screw 1, and a mounting base 1 fixedly mounted on the top of the nut 1.

[0006] Furthermore, the feed shaft component includes a base frame two, which is fixedly installed on the top of the mounting base one. The bottom end of the base frame two is slidably sleeved on the upper slide rail. A frame is fixedly installed on the top of the base frame two. A servo motor two is fixedly installed on the outer wall of the frame. The output end of the servo motor two is driven to a ball screw two through a coupling two. A screw seat three and a screw seat four are rotatably connected to the outer wall of the ball screw two through bearings. The screw seat three and the screw seat four are fixedly installed on the top of the base frame two. A nut two is threaded on the outer wall of the ball screw two. A mounting base two is fixedly installed on the top of the nut two.

[0007] Furthermore, the welding torch lifting component includes a base frame three, which is fixedly installed on the top of the mounting base two. A vertical rail is fixedly installed on the top of the base frame three, and a servo motor three is fixedly installed on the top of the vertical rail. The output end of the servo motor three is connected to a ball screw three via a coupling three. A screw seat five and a screw seat six are rotatably sleeved on the outer wall of the ball screw three through bearings. The screw seat five and the screw seat six are fixedly installed inside the vertical rail. A nut three is threaded on the outer wall of the ball screw three, and a mounting base three is fixedly installed on the outer wall of the nut three. The mounting base three is fixedly connected to the bottom of the base.

[0008] Furthermore, proximity switch one and proximity switch two are fixedly installed on the outer wall of the bottom frame three, proximity switch three and proximity switch four are fixedly installed on the outer wall of the frame, and proximity switch five is fixedly installed on the outer wall of the vertical rail.

[0009] Furthermore, corrugated protective covers are fixedly installed at both ends of the top of the upper slide rail, and protective cover connecting plates are fixedly installed on both sides of the frame, with one end of the corrugated protective cover being fixedly connected to the protective cover connecting plate.

[0010] Furthermore, a top cover plate is fixedly installed on the top of the frame, and a side cover plate is fixedly installed on the side of the frame. The top cover plate and the side cover plate are offset from the mounting base.

[0011] Furthermore, a cable chain seat is fixedly installed on the side of the bottom frame one, a cable chain is provided on the top of the cable chain seat one, the movable end of the cable chain one is fixedly connected to the bottom frame two, a cable chain seat two is fixedly installed on the side of the bottom frame two, a cable chain two is provided on the top of the cable chain seat two, and the movable end of the cable chain two is fixedly connected to the base.

[0012] Furthermore, a limiting plate is fixedly installed on the side of the mounting shell, and the top and bottom of the limiting plate are provided with clearance grooves for the corresponding movable arm and fixed arm.

[0013] Compared with the prior art, the beneficial effects of this utility model are: 1. A fixed arm and a movable arm are set up to install two welding torch bodies, one above the other. The two welding torch bodies can work simultaneously, or a single welding torch body can work as needed. The extension and retraction of the electric telescopic rod drives the movable arm to rotate, thereby adjusting the angle and position of the welding torch body on the movable arm. Combined with the three-axis adjustment consisting of the large lateral movement repair component, the torch feed shaft component, and the welding torch lifting component, four-axis adjustment of the welding torch body on the movable arm can be achieved, increasing the adjustment range and meeting the all-round adjustment requirements under complex working conditions. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the application and supporting spot welding equipment of this utility model; Figure 2 This is a schematic diagram of the structure of this utility model; Figure 3 This is a schematic diagram of the structure of the large transverse movement repair component of this utility model; Figure 4 This utility model Figure 3 A schematic diagram of the structure of the enlarged view at point A in the middle; Figure 5 This is a schematic diagram of the structure of the servo motor, coupling, ball screw and nut of this utility model. Figure 6 This is a schematic diagram of the structure of the corrugated protective cover of this utility model; Figure 7 This is a schematic diagram of the structure of the gun feed shaft component of this utility model; Figure 8 This utility model Figure 7 A structural schematic diagram of the bottom view; Figure 9 This utility model Figure 8 A structural schematic diagram of the enlarged view at point B in the middle; Figure 10 This is a structural schematic diagram of the welding torch lifting component and the angle adjustment component of this utility model; Figure 11 This utility model Figure 10Structural diagram of the rear view; Figure 12 This is a schematic diagram of the structure of the welding torch lifting component of this utility model; Figure 13 This is a schematic diagram of the angle adjustment component of this utility model; Figure 14 This is a structural schematic diagram of the side sectional view of the base and mounting shell of this utility model.

[0015] In the diagram: 1. Welding torch body; 2. Large horizontal movement repair component; 3. Torch feed shaft component; 4. Welding torch lifting component; 5. Angle adjustment component; 201. Base frame one; 202. Upper slide rail; 203. Servo motor one; 204. Coupling one; 205. Ball screw one; 206. Nut one; 207. Mounting seat one; 208. Screw seat one; 209. Screw seat two; 301. Base frame two; 302. Frame; 303. Servo motor two; 304. Coupling two; 305. Ball screw two; 306. Nut two; 307. Mounting seat two; 308. Screw seat three; 309. Screw seat four; 401. Base frame three; 402. Vertical rail; 403. Servo motor three; 40 4. Coupling III; 405. Ball Screw III; 406. Nut III; 407. Mounting Base III; 408. Screw Seat V; 409. Screw Seat VI; 501. Base; 502. Mounting Housing; 503. Movable Arm; 504. Fixed Arm; 505. Connecting Shaft; 506. Electric Telescopic Rod; 6. Welding Torch Air Inlet Valve; 8. Cable Carrier Seat I; 9. Cable Carrier I; 10. Corrugated Protective Cover; 11. Protective Cover Connecting Plate; 12. Proximity Switch I; 13. Proximity Switch II; 14. Top Cover Plate; 15. Proximity Switch III; 16. Proximity Switch IV; 17. Side Cover Plate; 18. Proximity Switch V; 19. Limit Plate; 20. Cable Carrier Seat II; 21. Cable Carrier II; 22. Welding Torch Controller. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0017] Please see Figures 1-14 This utility model provides a technical solution: a four-axis robot for spot welding of patch panels, including a large lateral movement repair component 2, a gun feeding shaft component 3 fixedly connected to the movable end of the large lateral movement repair component 2, a welding gun lifting component 4 fixedly installed on the movable end of the gun feeding shaft component 3, and an angle adjustment component 5 fixedly installed on the lifting end of the welding gun lifting component 4. The angle adjustment component 5 includes a base 501, which is fixedly connected to the lifting end of the welding torch lifting component 4. A mounting shell 502 is fixedly installed inside the base 501, and a fixed arm 504 is fixedly installed inside the mounting shell 502. A connecting shaft 505 is rotatably mounted inside the mounting shell 502 via a bearing. A movable arm 503 is fixedly sleeved on the outer wall of the connecting shaft 505. An electric telescopic rod 506 is fixedly fixed inside the mounting shell 502. The telescopic end of the electric telescopic rod 506 is hinged to the middle section of the movable arm 503 via a pin. The ends of both the movable arm 503 and the fixed arm 504 are fixedly mounted with the welding torch body 1. A welding torch air inlet valve 6 and a welding torch controller 22 are fixedly installed inside the mounting shell 502. The port of the welding torch air inlet valve 6 is connected to the air inlet end of the welding torch body 1 via a pipe, and the control port of the welding torch controller 22 is connected via a wire... The cable is connected to the signal receiving port of the welding torch body 1 and the signal receiving port of the welding torch air inlet valve 6. The welding torch body 1 and the welding torch air inlet valve 6 are controlled by the welding torch controller 22 to realize the welding control of the welding torch body 1. A fixed fixed arm 504 and a movable movable arm 503 are set to install the upper and lower welding torch bodies 1. The two welding torch bodies 1 can work at the same time, or a single welding torch body 1 can work according to the welding needs. The extension and retraction of the electric telescopic rod 506 drives the movable arm 503 to rotate, thereby adjusting the angle and position of the welding torch body 1 on the movable arm 503. With the help of the three-axis adjustment composed of the large horizontal movement repair component 2, the torch inlet shaft component 3, and the welding torch lifting component 4, the four-axis adjustment of the welding torch body 1 on the movable arm 503 is realized, which increases the adjustment range and meets the all-round adjustment requirements under complex working conditions. The large lateral movement repair component 2 includes a base frame 201. An upper slide rail 202 is fixedly mounted on the top of the base frame 201. A servo motor 203 is fixedly mounted on the right side of the base frame 201. The output end of the servo motor 203 is connected to a ball screw 205 via a coupling 204. The two ends of the ball screw 205 are rotatably connected to screw seats 208 and 209 via bearings. Screw seats 208 and 209 are fixedly mounted on the top of the base frame 201. A nut 206 is threaded onto the outer wall of the ball screw 205. A mounting base 207 is fixedly mounted on the top of the nut 206. The coupling 204 connects the output end of the servo motor 203 and the ball screw 205. The coupling 204 can not only transmit the power output by the servo motor 203, but also compensate for the misalignment between the output end of the servo motor 203 and the ball screw 205 due to manufacturing and installation inaccuracies, deformation during operation, or thermal expansion. It can also mitigate impacts, absorb vibrations, and provide overload protection to achieve stable motion transmission. The rotation of the ball screw 205 causes the nut 206 to move along the ball screw 205, which in turn drives the mounting base 207 to move. The movement of the mounting base 207 drives the welding torch lifting component 4 on it to move. The feed shaft component 3 includes a second base frame 301, which is fixedly mounted on the top of the mounting base 207. The bottom end of the second base frame 301 is slidably sleeved on the upper slide rail 202. A side frame 302 is fixedly mounted on the top of the second base frame 301. A servo motor 303 is fixedly mounted on the outer wall of the side frame 302. The output end of the servo motor 303 is driven by a ball screw 305 via a coupling 304. The outer wall of the ball screw 305 is rotatably connected to a screw seat 308 and a screw seat 309 via bearings. The rod seat 309 is fixedly installed on the top of the bottom frame 301. The outer wall of the ball screw 305 is threaded with a nut 306. The top of the nut 306 is fixedly installed with a mounting seat 307. The servo motor 303 outputs power, and the coupling 304 transmits the power to the ball screw 305, causing the ball screw 305 to rotate. The rotation of the ball screw 305 causes the nut 306 to move along the ball screw 305, which in turn drives the mounting seat 307 to move, causing the welding torch lifting component 4 on the mounting seat 307 to move. The welding torch lifting component 4 includes a base frame 3 401, which is fixedly mounted on the top of the mounting base 2 307. A vertical rail 402 is fixedly mounted on the top of the base frame 3 401. A servo motor 3 403 is fixedly mounted on the top of the vertical rail 402. The output end of the servo motor 3 403 is connected to a ball screw 3 405 via a coupling 3 404. A screw seat 5 408 and a screw seat 6 409 are rotatably sleeved on the outer wall of the ball screw 3 405 via bearings. The screw seat 5 408 and the screw seat 6 409 are fixedly mounted on the vertical rail 4. Inside 02, a nut 406 is threaded on the outer wall of the ball screw 3 405. A mounting seat 3 407 is fixedly installed on the outer wall of the nut 3 406. The mounting seat 3 407 is fixedly connected to the bottom of the base 501. The servo motor 3 403 rotates, and the coupling 3 404 transmits power to the ball screw 3 405. The rotation of the ball screw 3 405 causes the nut 3 406 to move up or down, which in turn drives the mounting seat 3 407 to move up or down, which in turn drives the angle adjustment component 5 on the mounting seat 3 407 to move up or down. Proximity switches 12 and 13 are fixedly installed on the outer wall of the bottom frame 301, proximity switches 35 and 16 are fixedly installed on the outer wall of the frame 302, and proximity switch 518 is fixedly installed on the outer wall of the vertical rail 402. Proximity switches 12 and 13 are used to detect the movement limit position of the mounting base 207 and also serve as the starting point calibration. Similarly, proximity switches 35 and 16 are used to detect the movement limit position of the mounting base 207 and calibrate the starting point. Proximity switch 518 is used to detect the movement limit position of the mounting base 307 and calibrate the starting point. The setting of proximity switches can further improve the accuracy of three-axis movement. Corrugated protective covers 10 are fixedly installed at both ends of the top of the upper slide rail 202, protective cover connecting plates 11 are fixedly installed on both sides of the frame 302, and one end of each corrugated protective cover 10 is fixedly connected to the corresponding protective cover connecting plate 11 (in order to better show the internal structure of the large transverse trimming component 2, the corrugated protective covers 10 are not connected to the protective cover connecting plates 11 in the figure). During the movement of the frame 302, the frame 302 drives the protective cover connecting plates 11 to move, thereby stretching and retracting the corrugated protective covers 10. By utilizing the corrugated characteristics and expandability of the corrugated protective covers 10, it is ensured that the corrugated protective covers 10 always protect the inner structure of the first bottom frame 201; A top cover plate 14 is fixedly installed on the top of the frame 302, a side cover plate 17 is fixedly installed on the side surface of the frame 302, and the top cover plate 14 and the side cover plate 17 are staggered from the second mounting seat 307. The top cover plate 14 and the side cover plate 17 are provided to protect the inner structure of the frame 302; A first drag chain seat 8 is fixedly installed on the side surface of the first bottom frame 201, a first drag chain 9 is arranged on the top of the first drag chain seat 8, the movable end of the first drag chain 9 is fixedly connected to the second bottom frame 301, a second drag chain seat 20 is fixedly installed on the side surface of the second bottom frame 301, a second drag chain 21 is arranged on the top of the second drag chain seat 20, and the movable end of the second drag chain 21 is fixedly connected to the base 501. The first drag chain seat 8 is provided for installing the first drag chain 9, the second drag chain seat 20 is provided for installing the second drag chain 21, and the first drag chain 9 and the second drag chain 21 are provided for protecting and guiding cables connected into the gun feeding shaft component 3 and the welding gun lifting component 4; A limiting plate 19 is fixedly installed on the side surface of the mounting shell 502, and avoiding grooves corresponding to the movable arm 503 and the fixed arm 504 are provided on both the top and bottom of the limiting plate 19. The limiting plate 19 is provided to limit the position of the movable arm 503 and the fixed arm 504, so as to assist installation.

[0018] Working principle: In use, after the component and the patch are conveyed to the welding area (conveyed by a conveyor matched with the welding equipment), the gun feeding shaft component 3 is displaced by a large margin through the large transverse trimming component 2 to the welding starting point, then the angle adjusting component 5 is driven to lift and lower by the welding gun lifting component 4 to adjust the position of the welding gun body 1 in the angle adjusting component 5, then the position of the welding gun body 1 relative to the component is adjusted through the gun feeding shaft component 3, so that the welding gun body 1 on the fixed arm 504 or the welding gun body 1 on the movable arm 503 is aligned with the welding position; the angle of the movable arm 503 can also be adjusted first, so that the welding gun body 1 on the movable arm 503 can be aligned with the welding position more accurately, and then welding can be performed.

[0019] Based on the embodiments in the present utility model, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

Claims

1. A four-axis robot for spot welding of patch panels, comprising a large lateral movement repair component (2), characterized in that: The movable end of the large transverse repair component (2) is fixedly connected to the gun inlet shaft component (3), the movable end of the gun inlet shaft component (3) is fixedly installed with the welding gun lifting component (4), and the lifting end of the welding gun lifting component (4) is fixedly installed with the angle adjustment component (5). The angle adjustment component (5) includes a base (501), which is fixedly connected to the lifting end of the welding torch lifting component (4). A mounting shell (502) is fixedly installed on the inner side of the base (501), and a fixed arm (504) is fixedly installed on the inner side of the mounting shell (502). A connecting shaft (505) is rotatably provided on the inner side of the mounting shell (502) via a bearing. A movable arm (503) is fixedly sleeved on the outer wall of the connecting shaft (505). An electric telescopic rod (506) is fixedly installed on the inner side of the mounting shell (502). The telescopic end of the telescopic rod (506) is hinged to the middle section of the movable arm (503) via a pin. The ends of the movable arm (503) and the fixed arm (504) are both fixedly installed with the welding torch body (1). The inner side of the mounting shell (502) is fixedly installed with the welding torch air inlet valve (6) and the welding torch controller (22). The port of the welding torch air inlet valve (6) is connected to the air inlet end of the welding torch body (1) via a pipe. The control port of the welding torch controller (22) is connected to the signal receiving port of the welding torch body (1) and the signal receiving port of the welding torch air inlet valve (6) via a cable.

2. The four-axis robot for spot welding patch boards according to claim 1, characterized in that: The large transverse repair component (2) includes a base frame (201), an upper slide rail (202) is fixedly installed on the top of the base frame (201), a servo motor (203) is fixedly installed on the right side of the base frame (201), the output end of the servo motor (203) is connected to a ball screw (205) via a coupling (204), the two ends of the ball screw (205) are rotatably connected to a screw seat (208) and a screw seat (209) via bearings, the screw seat (208) and the screw seat (209) are fixedly installed on the top of the base frame (201), and a nut (206) is threaded on the outer wall of the ball screw (205), and a mounting seat (207) is fixedly installed on the top of the nut (206).

3. A four-axis robot for spot welding patch boards according to claim 2, characterized in that: The gun feed shaft component (3) includes a second base frame (301), which is fixedly installed on the top of the mounting base (207). The bottom end of the second base frame (301) is slidably sleeved on the upper slide rail (202). A frame (302) is fixedly installed on the top of the second base frame (301). A servo motor (303) is fixedly installed on the outer wall of the frame (302). The output end of the servo motor (303) is connected to a coupling (303). 4) A ball screw two (305) is connected to the transmission. The outer wall of the ball screw two (305) is rotatably connected to a screw seat three (308) and a screw seat four (309) through a bearing. The screw seat three (308) and the screw seat four (309) are fixedly installed on the top of the bottom frame two (301). The outer wall of the ball screw two (305) is threaded with a nut two (306). The top of the nut two (306) is fixedly installed with a mounting seat two (307).

4. A four-axis robot for spot welding patch boards according to claim 3, characterized in that: The welding torch lifting component (4) includes a bottom frame three (401), which is fixedly installed on the top of the mounting base two (307). A vertical rail (402) is fixedly installed on the top of the bottom frame three (401). A servo motor three (403) is fixedly installed on the top of the vertical rail (402). The output end of the servo motor three (403) is connected to a ball screw three (405) through a coupling three (404). The outer wall of the ball screw three (405) is fitted with a screw seat five (408) and a screw seat six (409) through a bearing. The screw seat five (408) and the screw seat six (409) are fixedly installed in the vertical rail (402). The outer wall of the ball screw three (405) is threaded with a nut three (406). The outer wall of the nut three (406) is fixedly installed with a mounting base three (407). The mounting base three (407) is fixedly connected to the bottom of the base (501).

5. A four-axis robot for spot welding patch boards according to claim 4, characterized in that: Proximity switch one (12) and proximity switch two (13) are fixedly installed on the outer wall of the bottom frame three (401), proximity switch three (15) and proximity switch four (16) are fixedly installed on the outer wall of the frame (302), and proximity switch five (18) is fixedly installed on the outer wall of the vertical rail (402).

6. A four-axis robot for spot welding patch boards according to claim 5, characterized in that: The top two ends of the upper slide rail (202) are fixedly installed with corrugated protective covers (10), and the two sides of the frame (302) are fixedly installed with protective cover connecting plates (11). One end of the corrugated protective cover (10) is fixedly connected to the protective cover connecting plate (11).

7. A four-axis robot for spot welding patch boards according to claim 3, characterized in that: A top cover plate (14) is fixedly installed on the top of the frame (302), and a side cover plate (17) is fixedly installed on the side of the frame (302). The top cover plate (14), the side cover plate (17) are offset from the mounting base (307).

8. A four-axis robot for spot welding patch boards according to claim 7, characterized in that: A drag chain seat 1 (8) is fixedly installed on the side of the bottom frame 1 (201), and a drag chain 1 (9) is provided on the top of the drag chain seat 1 (8). The movable end of the drag chain 1 (9) is fixedly connected to the bottom frame 2 (301). A drag chain seat 2 (20) is fixedly installed on the side of the bottom frame 2 (301), and a drag chain 2 (21) is provided on the top of the drag chain seat 2 (20). The movable end of the drag chain 2 (21) is fixedly connected to the base (501).

9. A four-axis robot for spot welding patch boards according to claim 1, characterized in that: A limiting plate (19) is fixedly installed on the side of the mounting shell (502). The top and bottom of the limiting plate (19) are provided with clearance grooves corresponding to the movable arm (503) and the fixed arm (504).

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