Welding robot and welding apparatus

Abstract

The application relates to the technical field of welding robots, in particular to a welding robot and welding equipment. The welding robot comprises a walking mechanism, the walking mechanism being provided with an integrated chassis; a welding cooperation mechanism, the welding cooperation mechanism being arranged on the integrated chassis; a welding execution mechanism, the welding execution mechanism being arranged on the welding cooperation mechanism; and a wire feeding mechanism, the wire feeding mechanism being arranged on the integrated chassis and being arranged at intervals with the welding cooperation mechanism. The welding robot provided by the application integrates the wire feeding mechanism to the tail of the robot vehicle body, the wire feeding mechanism moves with the walking mechanism, the wire feeding mechanism is integrated to the vehicle body to replace the external wire feeding machine, the wire feeding path is shortened, the wire feeding resistance is reduced, the wire feeding stability and response speed are improved, meanwhile, the additional external wire feeding machine is not needed, the working area is more simple, and the welding robot is especially suitable for continuous operation of large workpieces and long weld seams.

Description

Technical Field

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

[0002] Currently, traditional welding typically relies on manual operation, which suffers from low efficiency, high labor intensity, and harsh working environments. With the trend towards automation in manufacturing, the demand for welding robots is increasing. However, stationary robots lack flexibility and struggle to adapt to complex and changing working environments.

[0003] Mobile chassis break geographical constraints, enabling robots to autonomously navigate to different work areas and dynamically allocate welding tasks. However, existing welding robots typically use external wire feeders, which inevitably limit the robot's movement distance. Furthermore, this long-distance wire feed method results in poor stability and high resistance due to the long wire feed path, affecting wire feed speed and efficiency. Utility Model Content

[0004] The purpose of this application is to provide a welding robot and welding equipment to solve, to a certain extent, the technical problems of poor stability and slow response speed in the wire feeding process of existing welding robots.

[0005] This application provides a welding robot, comprising:

[0006] A walking mechanism, wherein the walking mechanism is provided with an integrated chassis;

[0007] A welding collaboration mechanism, wherein the welding collaboration mechanism is disposed on the integrated chassis;

[0008] A welding actuator, wherein the welding actuator is disposed in the welding cooperation mechanism;

[0009] A wire feeding mechanism is provided on the integrated chassis, and the wire feeding mechanism is spaced apart from the welding cooperation mechanism.

[0010] In the above technical solution, the wire feeding mechanism further includes:

[0011] A connecting component is connected to the integrated chassis; the connecting component includes at least a supporting connecting plate, the length of which extends along the width direction of the integrated chassis;

[0012] A fixed bracket is disposed on the support connecting plate;

[0013] A welding wire spool, which is disposed on the fixed bracket;

[0014] A wire feeder is disposed on the support connecting plate, and the wire feeder and the fixed bracket are arranged sequentially along the length direction of the support connecting plate;

[0015] A driving component, which is disposed in the wire feeder.

[0016] In any of the above technical solutions, the connecting component further includes a first connector and a second connector, the integrated chassis includes a chassis connecting plate, the first connector is connected to the chassis connecting plate, the second connector is connected to the first connector, and the supporting connecting plate is connected to the second connector;

[0017] The connection position between the support connecting plate and the second connecting member is located between the fixed bracket and the wire feeder.

[0018] In any of the above technical solutions, the first connector is further provided with a plug-in interface, which is connected to one end of the chassis connecting plate;

[0019] One end of the first connector is provided with a first connecting part, and the other end of the first connector is provided with a second connecting part;

[0020] The second connector includes a third connecting part and a fourth connecting part, wherein the third connecting part is connected to the first connecting part and the supporting connecting plate, and the fourth connecting part is connected to the second connecting part and the supporting connecting plate;

[0021] The second connector also includes a fifth connecting part, and the supporting connecting plate is provided with a connecting protrusion, which is attached to and connected with the fifth connecting part.

[0022] In any of the above technical solutions, the welding robot further includes:

[0023] A cable support frame, comprising a first support portion and a second support portion connected to each other, wherein the first support portion is connected to the support connecting plate;

[0024] A fixing plate, wherein the fixing plate is disposed on the second support portion;

[0025] A wire harness fixing component is disposed on the fixing plate.

[0026] The supporting connecting plate has a first surface and a second surface that are opposite to each other. The fixed bracket and the wire feeder are disposed on the first surface, and the first support part is connected to the second surface.

[0027] In any of the above technical solutions, the welding robot further includes a connecting structure, which is connected to the welding cooperation mechanism, and the welding execution mechanism is disposed on the connecting structure;

[0028] The connecting structure includes:

[0029] A fixed connector, which is connected to the welding cooperation mechanism;

[0030] A welding bracket, which is connected to the fixed connector;

[0031] A bending fixing frame, wherein the bending fixing frame is connected to the fixing connector;

[0032] The welding bracket and the bending fixing bracket are respectively provided with weight reduction holes.

[0033] In any of the above technical solutions, the bending fixing frame further includes:

[0034] A first connecting plate is connected to the fixed connecting member;

[0035] A second connecting plate is connected to the first connecting plate, and the second connecting plate is set at an angle to the first connecting plate;

[0036] A third connecting plate is connected to the second connecting plate, and the third connecting plate and the second connecting plate are set at an angle;

[0037] A first bend is formed between the third connecting plate and the second connecting plate.

[0038] In any of the above technical solutions, the welding actuator further includes at least a welding torch, which is disposed on the welding bracket;

[0039] The welding torch is provided with a second bending section, which has the same bending trend as the first bending section.

[0040] In any of the above technical solutions, the welding robot further includes at least two mounting plates, with a portion of all the mounting plates disposed on the third connecting plate and another portion of the mounting plates detachably disposed on the third connecting plate.

[0041] In any of the above technical solutions, the welding actuator further includes:

[0042] A vision sensor, wherein the vision sensor is disposed on the mounting plate;

[0043] A linear laser sensor is disposed on the welding bracket.

[0044] In any of the above technical solutions, the welding robot further includes a quick-release mechanism, which includes:

[0045] A plate component, wherein a hollow portion is provided at the center position of the plate component; the welding cooperation mechanism is provided on the plate component;

[0046] A locking device is provided through the plate component and connected to the integrated chassis; the number of locking devices is multiple.

[0047] In any of the above technical solutions, the welding collaboration mechanism is further described as a multi-axis robotic arm; the welding collaboration mechanism includes a fixed base and a fixed end, the fixed base is connected to the plate component, and the welding execution mechanism is disposed at the fixed end.

[0048] In any of the above technical solutions, the welding robot further includes:

[0049] A lidar is mounted on the integrated chassis, positioned in front of the welding collaboration mechanism along the direction of travel of the welding robot.

[0050] A cable plug is disposed on the integrated chassis, along the direction of travel of the welding robot, and is located behind the welding collaboration mechanism.

[0051] In any of the above technical solutions, the walking mechanism further includes:

[0052] Tracks, which are disposed below the integrated chassis;

[0053] A permanent magnet, wherein the permanent magnet is disposed on the track;

[0054] A drive unit is mounted on the integrated chassis and connected to the track.

[0055] An emergency stop button is provided on the integrated chassis and is electrically connected to the drive unit.

[0056] This application also provides a welding device, which includes the welding robot described in any of the above technical solutions, and thus has all the beneficial technical effects of the welding robot, which will not be repeated here.

[0057] Compared with the prior art, the beneficial effects of this application are as follows:

[0058] The welding robot provided in this application includes: a walking mechanism, which is equipped with an integrated chassis; a welding collaboration mechanism, which is mounted on the integrated chassis; a welding execution mechanism, which is mounted on the welding collaboration mechanism; and a wire feeding mechanism, which is mounted on the integrated chassis, with the wire feeding mechanism and the welding collaboration mechanism spaced apart.

[0059] The welding robot provided in this application integrates the wire feeding mechanism into the rear of the robot body. The wire feeding mechanism moves with the walking mechanism. Integrating the wire feeding mechanism into the body replaces the external wire feeder, which shortens the wire feeding path, reduces wire feeding resistance, and improves wire feeding stability and response speed. At the same time, no additional external wire feeder is required, making the working area simpler. This welding robot is especially suitable for continuous operation of large workpieces and long welds.

[0060] The welding equipment provided in this application includes the welding robot described above. Therefore, by integrating the wire feeding mechanism into the chassis through this welding robot, the stability and continuity of wire feeding during the welding process are effectively improved, and the impact of wire feeding jamming on welding continuity and welding quality is reduced, thereby helping to improve welding quality and welding efficiency. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of the structure of the welding robot provided in the embodiments of this application;

[0063] Figure 2 This is a schematic diagram of the integrated chassis of the welding robot provided in an embodiment of this application;

[0064] Figure 3 This is a partial structural schematic diagram of the welding robot provided in an embodiment of this application;

[0065] Figure 4 This is a schematic diagram of the welding actuator of the welding robot provided in the embodiments of this application;

[0066] Figure 5 This is a schematic diagram of the connecting structure of the welding robot provided in the embodiments of this application;

[0067] Figure 6 An exploded view of another part of the structure of the welding robot provided in the embodiments of this application;

[0068] Figure 7 for Figure 6 A magnified structural diagram at point A.

[0069] Figure label:

[0070] 1-Walking mechanism, 101-Integrated chassis, 102-Emergency stop button, 103-Chassis connecting plate, 2-Welding collaboration mechanism, 201-Fixed base, 202-Fixed end, 203-Tilting arm, 3-Welding actuator, 301-Welding torch, 3011-Second bending section, 302-Vision sensor, 303-Linear laser sensor, 4-Wire feeding mechanism, 402-Fixed bracket, 403-Wire spool, 404-Wire feeder, 405-Driver, 5-Quick release mechanism, 501-Plate component, 502-Locking device, 6-Connecting structure, 601-Fixed connector, 602-Welding bracket, 6021-First plate, 6022-Second plate, 6023-Third plate, 603-Bending fixing frame, 6031-First connecting plate 6032-Second connecting plate, 6033-Third connecting plate, 6034-Mounting plate, 6035-First bending part, 7-Weight reduction hole, 8-Cable plug, 9-LiDAR, 10-First connector, 1001-First connecting part, 1002-Plug interface, 11-Second connector, 1101-Third connecting part, 11011-First connecting hole, 11012-Second connecting hole, 1102-Fourth connecting part, 11021-Third connecting hole, 11022-Fourth connecting hole, 1103-Fifth connecting part, 11031-Fifth connecting hole, 12-Cable support frame, 1201-First support part, 1202-Second support part, 1203-Fixing plate, 13-Wire harness fixing part, 14-Support connecting plate, 1401-Connecting protrusion. Detailed Implementation

[0071] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0072] The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application.

[0073] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0074] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0075] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0076] The following reference Figures 1 to 7 The welding robot and welding equipment described in the embodiments of this application are explained.

[0077] See Figures 1 to 7 As shown, an embodiment of this application provides a welding robot, which includes: a walking mechanism 1, a welding cooperation mechanism 2, a welding execution mechanism 3, and a wire feeding mechanism 4. The walking mechanism 1 includes an integrated chassis 101. The welding cooperation mechanism 2 and the wire feeding mechanism 4 are spaced apart on the integrated chassis 101. The welding execution mechanism 3 is mounted on the welding cooperation mechanism 2. The welding cooperation mechanism 2 is used to adjust the position and posture of the welding execution mechanism 3 relative to the weld seam. The welding cooperation mechanism 2, the welding execution mechanism 3, and the wire feeding mechanism 4 move synchronously with the walking mechanism 1. During the welding process, the wire feeding mechanism 4 moves synchronously with the walking mechanism 1 to deliver welding wire to the welding execution mechanism 3 over short distances, thereby ensuring the stability and efficiency of the wire feeding process. Preferably, the integrated chassis 101 has weight-reducing holes 7, which helps to reduce the overall weight of the welding robot.

[0078] Specifically, the walking mechanism 1 also includes: a track, permanent magnets and a drive device. The track is set on the integrated chassis 101, and the drive device can be a motor. The drive device is connected to the track to drive the track to walk. There are multiple permanent magnets, which are spaced apart on the track, so that the welding robot can adhere to the surface of the workpiece to be welded and walk on the workpiece to be welded, so that the welding robot can move to different working areas and realize the dynamic allocation of welding tasks.

[0079] The walking mechanism 1 also includes an emergency stop button 102, which is disposed on the integrated chassis 101. Preferably, the emergency stop button 102 is disposed at the rear of the integrated chassis 101. The emergency stop button 102 is electrically connected to the drive device. In an emergency, the emergency stop button 102 can be pressed to stop the walking mechanism 1.

[0080] Furthermore, the integrated chassis 101 includes a chassis connecting plate 103, and the welding robot also includes a quick-release mechanism 5 for installing the welding collaboration mechanism 2. The quick-release mechanism 5 includes a plate component 501 and a locking device 502. The plate component 501 has a hollowed-out portion at its center, which helps to reduce the overall weight of the welding robot. The welding collaboration mechanism 2 is located at the hollowed-out portion and is connected to the plate component around the hollowed-out portion. The connection method can be a bolt and nut locking method. There are multiple locking devices 502, which are spaced apart along the edge of the plate component 501. Specifically, the locking devices 502 are common quick-locking devices in the prior art. The locking devices 502 pass through the plate component 501 and are connected to the chassis connecting plate 103, thereby fixing the plate component 501 to the chassis connecting plate 103. The locking device 502 has an operating knob. When the locking device 502 is in the locked state, rotating the operating knob 90° will quickly separate the welding cooperation mechanism 2 from the chassis connecting plate 103. The installation is the same; the operating knob can be rotated in the opposite direction.

[0081] Furthermore, the welding collaboration mechanism 2 is specifically a six-axis robotic arm as in the prior art, possessing multiple degrees of freedom for rotation, ensuring the attitude adjustment range and accuracy of the welding execution mechanism 3. The welding collaboration mechanism 2 specifically includes a fixed base 201 and a fixed end 202, as well as a rotating arm 203 between the fixed base 201 and the fixed end 202. The fixed base 201 is connected to the plate component 501 of the quick-release mechanism 5, and the fixed end 202 is used to connect the welding execution mechanism 3. By assembling the welding execution mechanism 3 into the welding collaboration mechanism 2, the welding execution mechanism 3 can achieve high-precision welding in confined spaces and flexibly complete complex trajectory welding, expanding the working range of this welding robot. In addition, the cooperation between the welding collaboration mechanism 2 and the walking mechanism 1 improves the flexibility and adaptability of operation. The combination of the mobile chassis and the collaborative robotic arm is particularly suitable for welding scenarios requiring frequent movement and various working conditions.

[0082] Furthermore, this welding robot also includes a connecting structure 6, through which the welding execution mechanism 3 is connected to the welding cooperation mechanism 2. The connecting structure 6 includes: a fixed connector 601, a welding bracket 602, and a bending fixing frame 603. The fixed connector 601 has a circular flat plate structure and multiple holes for connecting the welding cooperation mechanism 2 and the bending fixing frame 603 and welding bracket 602 described below. The fixed end 202 of the welding cooperation mechanism 2 is disposed on one side surface of the fixed connector 601 and connected to the fixed connector 601. The welding bracket 602 and the bending fixing frame 603 are respectively disposed on the other side surface of the fixed connector 601 and connected to the fixed connector 601.

[0083] The welding bracket 602 includes a first plate portion 6021 and a second plate portion 6022 facing each other. A third plate portion 6023 is disposed between the first plate portion 6021 and the second plate portion 6022. The first plate portion 6021, the third plate portion 6023 and the second plate portion 6022 are arranged in a U-shape. The side wall of the first plate portion 6021 facing away from the second plate portion 6022 is attached and connected to the fixing connector 601. The welding torch 301 is disposed on the second plate portion 6022. The third plate portion 6023 is also provided with a weight reduction hole 7, which can reduce the weight of the welding bracket 602.

[0084] The bending fixing bracket 603 includes a first connecting plate 6031, a second connecting plate 6032, and a third connecting plate 6033, all with an integral structure. The first connecting plate 6031 is attached and connected to the fixing connector 601. The second connecting plate 6032 is angled to the first connecting plate 6031; preferably, the second connecting plate 6032 is perpendicular to the first connecting plate 6031. The third connecting plate 6033 is angled to the second connecting plate 6032, and the surface of the third connecting plate 6033 is on the same plane as the surface of the second connecting plate 6032. A first bend 6035 is formed at the junction with the second connecting plate 6032 to change the extension direction of the bending fixing frame 603. Preferably, the first connecting plate 6031, the second connecting plate 6032 and the third connecting plate 6033 are respectively provided with weight reduction holes 7. Since both the welding bracket 602 and the bending fixing frame 603 are provided with weight reduction holes 7, the connecting structure 6 is designed to be lightweight, reducing the load bearing force at the end of the welding cooperation mechanism 2. At the same time, it also reduces its own weight, thereby reducing the overall weight of the welding robot and improving the stability of the welding robot adsorbed on the working surface.

[0085] Furthermore, the welding actuator 3 includes a welding torch 301, a vision sensor 302, and a linear laser sensor 303. The welding torch 301 is disposed on the second plate portion 6022 of the welding bracket 602. The welding torch 301 is partially bent near the welding port of the end of the welding torch 301 to form a second bend portion 3011. The first bend portion 6035 and the second bend portion 3011 have the same bending trend. It should be noted that the same bending trend here specifically means that the bending direction and bending angle of the two are the same or approximately the same, so that the degree of bending of the welding torch 301 near the port is the same or approximately the same as the degree of bending of the third connecting plate 6033 relative to the second connecting plate 6032.

[0086] A linear laser sensor 303 is disposed on the third plate 6023 near the second plate 6022. Preferably, the linear laser sensor 303 is disposed on the upper surface of the third plate 6023. The linear laser sensor 303 can provide weld seam recognition function, and the walking mechanism 1 can move and walk according to the data provided by the linear laser sensor 303.

[0087] The vision sensor 302 is mounted on the third connecting plate 6033 of the bending fixture 603. The bending direction of the welding torch 301 is consistent with or roughly consistent with the bending direction of the bending fixture 603, so that the vision sensor 302 can synchronously track the end of the welding torch 301. The vision sensor 302 provides the function of finding the weld seam and provides the linear laser sensor 303 with the data for locating the weld seam, enabling the welding actuator 3 to accurately find the weld seam.

[0088] Preferably, the third connecting plate 6033 is provided with a mounting plate 6034, and the number of mounting plates 6034 is at least two. Taking the number of mounting plates 6034 as an example, one mounting plate 6034 is provided at the end of the third connecting plate 6033 away from the second connecting plate 6032. The mounting plate 6034 has an integral structure with the third connecting plate 6033, and the other mounting plate 6034 is connected to the third connecting plate 6033. Preferably, the mounting plate 6034 and the third connecting plate 6033 are detachable and rotatably connected, so that the two mounting plates 6034 can be overlapped or misaligned.

[0089] When there are more than two mounting plates 6034, all mounting plates 6034 are plate-shaped and connected in the same way as described above. Each mounting plate 6034 has a hole structure for connecting the vision sensor 302. The vision sensor 302 can be installed on one of the mounting plates 6034 to adjust the relative position of the vision sensor 302 and the welding torch 301.

[0090] Furthermore, this welding robot also includes a cable plug 8, which is located at the rear of the welding collaboration mechanism 2. The integrated chassis 101 also includes a power system, and the cable plug 8 is electrically connected to the power system of the integrated chassis 101. At the same time, the cable plug 8 is also connected to an external power source to ensure that the walking mechanism 1 can obtain power.

[0091] This welding robot also includes a lidar 9, which is mounted on the chassis connecting plate 103 and positioned in front of the welding collaboration mechanism 2 for positioning, road condition recognition, etc.

[0092] Along the direction from the front to the rear of the vehicle, the lidar 9, quick-release mechanism 5, cable plug 8 and wire feeding mechanism 4 are sequentially arranged on the chassis connecting plate 103, making full use of the space of the integrated chassis 101, maximizing the load-bearing capacity of the integrated chassis 101, and improving the integration of this welding robot.

[0093] Furthermore, this welding robot also includes a connecting assembly and a cable support frame 12. The wire feeder 404 also includes power cables and other cables. The cable support frame 12 is used to organize and constrain the extension direction of various cables. The connecting assembly is used to fix the fixed bracket 402, the wire feeder 404, and the cable support frame 12 onto the chassis connecting plate 103. Specifically, the connecting assembly includes: a supporting connecting plate 14, a first connecting member 10, and a second connecting member 11. The supporting connecting plate 14 includes a first surface and a second surface that are set opposite to each other. Figure 6 In the shown state, the first surface is the upper surface of the support connecting plate 14, and the second surface is the lower surface of the support connecting plate 14. The support connecting plate 14 is provided with a connecting protrusion 1401. The length of the support connecting plate 14 extends along the width direction of the chassis connecting plate 103. Preferably, the connecting protrusion 1401 is provided on one side edge of the support connecting plate 14, and preferably, the connecting protrusion 1401 is located at the middle length position of the support connecting plate 14.

[0094] like Figure 6 and Figure 7 As shown, the length of the first connector 10 extends along the width direction of the chassis connecting plate 103. The first connector has a U-shaped structure, and the opening of the U-shaped structure serves as an insertion interface 1002. The edge of one end of the chassis connecting plate 103 can be inserted into the insertion interface 1002. Then, bolts and nuts are used to connect and lock the first connector 10 to the chassis connecting plate 103. The first connector 10 has a first connecting part 1001 at one end and a second connecting part at the other end. Specifically, the first connecting part 1001 and the second connecting part can be grooves provided in the first connector 10.

[0095] The second connector 11 has a wedge-shaped shape and includes a third connector 1101, a fourth connector 1102, and a fifth connector 1103 with an integral structure. The fifth connector 1103 is elongated. The third connector 1101 and the fourth connector 1102 have the same structure and are both triangular plates. The third connector 1101 is located at one end of the fifth connector 1103, and the fourth connector 1102 is located at the other end of the fifth connector 1103.

[0096] Optionally, the third connecting part 1101 is provided with a first connecting hole 11011. Preferably, the upper surface of the third connecting part 1101 is also provided with a second connecting hole 11012. The fourth connecting part 1102 is provided with a third connecting hole 11021. Preferably, the upper surface of the fourth connecting part 1102 is also provided with a fourth connecting hole 11022. The fifth connecting part 1103 is provided with a fifth connecting hole 11031.

[0097] The first connector 10 can be assembled below the fifth connector 1103. After the first connector 10 and the second connector 11 are assembled, the number of first connecting holes 11011 and the number of first connecting parts 1001 are the same and they are set one-to-one, which makes it easy to connect the third connector 1101 and the first connector 10 with screws or other types of fasteners. At the same time, the number of third connecting holes 11021 and the number of second connecting parts are the same and they are set one-to-one.

[0098] The connecting protrusion 1401 of the support connecting plate 14 can cover the top of the fifth connecting part 1103, the third connecting part 1101, and the fourth connecting part 1102. The connecting protrusion 1401 has multiple holes so that the multiple holes on the connecting protrusion 1401 can be connected one-to-one with the fifth connecting hole 11031 by fasteners such as bolts, thereby connecting and fixing the support connecting plate 14 to the chassis connecting plate 103 through the combined connecting assembly. The support connecting plate 14 also has holes in the position opposite to the second connecting hole 11012 and the fourth connecting hole 11022, so that the support connecting plate 14 can be fixed to the third connecting part 1101 and the fourth connecting part 1102 by fasteners, further improving the connection strength. In this example, by setting up connecting components, the second connector 11 and the first connector 10 are highly compatible in appearance, and the supporting connecting plate 14 and the second connector 11 are highly compatible in appearance. The second connector 11 is designed as a wedge-shaped frame structure, which effectively controls the overall volume of the connecting components, avoids the connecting components occupying too much space between the supporting connecting plate 14 and the integrated chassis 101, and maximizes the contact area and connection area between the second connector 11 and the supporting connecting plate 14, ensuring the connection strength and stability of the supporting connecting plate 14. The components carried by the supporting connecting plate 14 can be loaded to the rear of the integrated chassis 101, making reasonable and full use of the space of the integrated chassis 101 and improving the integration of the integrated chassis 101.

[0099] The cable support frame 12 includes a first support part 1201 and a second support part 1202 connected to each other. Both the first support part 1201 and the second support part 1202 have a flat plate structure, are arranged in an L-shape and have an integral structure. The first support part 1201 is attached to the second surface of the support connecting plate 14 and fixed with fasteners. One end of the second support part 1202 is connected to the first support part 1201, and the other end of the second support part 1202 extends vertically upward and is provided with a fixing plate 1203. The fixing plate 1203 and the second support part 1202 are arranged in a T-shape. The wire harness fixing member 13 is provided on the fixing plate 1203. The wire harness fixing member 13 is used to organize and fix the various wire harnesses included in the welding actuator 3, the wire harnesses of each sensor, and the power wire harnesses and communication wire harnesses involved in the walking mechanism 1. The various wire harnesses are gathered at the wire harness fixing member 13 and constrained by the wire harness fixing member 13 before extending outward at the rear of the integrated chassis 101 and connecting with the control cabinet, etc.

[0100] Preferably, there are two wire harness fasteners 13, which are spaced apart and have the same structure. Each wire harness fastener 13 includes two cable ties and a buckle. One end of one cable tie is fixed to the fixing plate 1203, and the other end is provided with a buckle. One end of the other cable tie is fixed to the fixing plate 1203, and the other end can be locked or separated from the buckle to gather and secure the wire harnesses.

[0101] Furthermore, the wire feeding mechanism 4 is located at the rear of the integrated chassis 101. It should be noted that the traveling mechanism 1 includes a front and a rear. In this embodiment, the front and rear are relative to the front and rear directions of the welding robot when it moves towards the welding position. The wire feeding mechanism 4 is located at the rear via a connecting component. The wire feeding mechanism 4 includes: a fixed bracket 402, a welding wire spool 403, a wire feeder 404, and a drive component 405. The fixed bracket 402 and the wire feeder 404 are both located on the first surface of the supporting connecting plate 14. The fixed bracket 402 is located at one end near the supporting connecting plate 14, and the wire feeder 404 is located at the other end near the supporting connecting plate 14. The connection between the fixed bracket 402 and the wire feeder and the supporting connecting plate 14 can be achieved by using bolts and nuts for locking. The first support portion 1201 of the cable support frame 12 is connected to the second surface of the support connecting plate 14. The connection position of the first support portion 1201 and the support connecting plate 14 is located below the wire feeder 404, so that the second support portion 1202 of the cable support frame 12 extends upward on the side of the wire feeder 404, and the height of the second support portion 1202 is greater than the height of the wire feeder 404. This allows the cable support frame 12 and the wire harness fixed by the wire harness fixing member 13 to avoid the fixed bracket 402, the wire feeder 404 and the space between them when the wire harness fixing member 13 is used to bundle the wire harness. This prevents the cable support frame 12 and / or the wire harness from affecting the wire feeding process of the welding wire reel 403 to the wire feeder 404.

[0102] The wire spool 403 is rotatably connected to the fixed bracket 402. Welding wire is wound on the wire spool 403, and the free end of the welding wire extends toward the welding gun 301. The wire feeder 404 is spaced apart from the fixed bracket 402. The driving component 405 is specifically a low-voltage servo motor. The wire feeder 404 includes a wire feeding wheel. The welding wire extends toward the welding gun 301 through the wire feeding wheel. The driving component 405 is connected to the wire feeding wheel and can drive the wire feeding wheel to rotate, thereby feeding the welding wire to the welding gun 301.

[0103] As can be seen, in this embodiment, the cable support frame 12, the fixed bracket 402, the welding wire spool 403, and the wire feeder are connected to and fixed to the rear of the chassis connection plate 103 by the combined support connecting plate 14, the first connector 10, and the second connector 11, which ensures the connection strength of each component and the installation stability of the cable support frame 12. In addition, breaking down the complex connection structure into a simpler combined structure facilitates processing and saves production costs and time for the connection components.

[0104] In summary, the welding robot provided in this application integrates the wire feeding mechanism 4 to the rear of the robot body. The wire feeding mechanism 4 moves with the walking mechanism 1. Integrating the wire feeding mechanism 4 onto the body replaces the external wire feeder 404, which shortens the wire feeding path, reduces wire feeding resistance, and improves wire feeding stability and response speed. At the same time, it eliminates the need for an additional external wire feeder 404, making the working area simpler. This welding robot is particularly suitable for continuous operation of large workpieces and long welds.

[0105] In addition, this welding robot features a multi-position lightweight design, which effectively reduces the impact of the weight of the wire feeder 404 and the wire spool 403 on the robot's movement stability.

[0106] The embodiments of this application also provide a welding device, including the welding robot described in any of the above embodiments, and thus possess all the beneficial technical effects of the welding robot, which will not be repeated here.

[0107] The welding equipment provided in this application also includes a console and a control system. The control system is able to communicate with the welding robot to monitor or set the working parameters of the welding robot.

[0108] The welding equipment provided in this application integrates the wire feeding mechanism 4 into the chassis through the aforementioned welding robot, which effectively improves the stability and continuity of wire feeding during the welding process, reduces the impact of wire feeding jamming on welding continuity and welding quality, and thus helps to improve welding quality and welding efficiency.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A welding robot, characterized in that, include: A walking mechanism, wherein the walking mechanism is provided with an integrated chassis; A welding collaboration mechanism, wherein the welding collaboration mechanism is disposed on the integrated chassis; A welding actuator, wherein the welding actuator is disposed in the welding cooperation mechanism; A wire feeding mechanism is provided on the integrated chassis, and the wire feeding mechanism is spaced apart from the welding cooperation mechanism.

2. The welding robot according to claim 1, characterized in that, The wire feeding mechanism includes: A connecting component is connected to the integrated chassis; the connecting component includes at least a supporting connecting plate, the length of which extends along the width direction of the integrated chassis; A fixed bracket is disposed on the support connecting plate; A welding wire spool, which is disposed on the fixed bracket; A wire feeder is disposed on the support connecting plate, and the wire feeder and the fixed bracket are arranged sequentially along the length direction of the support connecting plate; A driving component, which is disposed in the wire feeder.

3. The welding robot according to claim 2, characterized in that The connecting assembly further includes a first connector and a second connector; the integrated chassis includes a chassis connecting plate; the first connector is connected to the chassis connecting plate; the second connector is connected to the first connector; and the support connecting plate is connected to the second connector. The connection position between the support connecting plate and the second connecting member is located between the fixed bracket and the wire feeder.

4. The welding robot according to claim 3, characterized in that The first connector is provided with a plug-in interface, which is connected to one end of the chassis connecting plate; One end of the first connector is provided with a first connecting part, and the other end of the first connector is provided with a second connecting part; The second connector includes a third connecting part and a fourth connecting part, wherein the third connecting part is connected to the first connecting part and the supporting connecting plate, and the fourth connecting part is connected to the second connecting part and the supporting connecting plate; The second connector also includes a fifth connecting part, and the supporting connecting plate is provided with a connecting protrusion, which is attached to and connected with the fifth connecting part.

5. The welding robot of claim 2, wherein, The welding robot also includes: A cable support frame, comprising a first support portion and a second support portion connected to each other, wherein the first support portion is connected to the support connecting plate; A fixing plate, wherein the fixing plate is disposed on the second support portion; A wire harness fastener, wherein the wire harness fastener is disposed on the fixing plate; The supporting connecting plate has a first surface and a second surface that are opposite to each other. The fixed bracket and the wire feeder are disposed on the first surface, and the first support part is connected to the second surface.

6. The welding robot of claim 1, wherein, The welding robot also includes a connecting structure, which is connected to the welding collaboration mechanism, and the welding execution mechanism is disposed on the connecting structure. The connecting structure includes: A fixed connector, which is connected to the welding cooperation mechanism; A welding bracket, which is connected to the fixed connector; A bending fixing frame, wherein the bending fixing frame is connected to the fixing connector; The welding bracket and the bending fixing bracket are respectively provided with weight reduction holes.

7. The welding robot according to claim 6, characterized in that The bending fixing bracket includes: A first connecting plate is connected to the fixed connecting member; A second connecting plate is connected to the first connecting plate, and the second connecting plate is set at an angle to the first connecting plate; A third connecting plate is connected to the second connecting plate, and the third connecting plate and the second connecting plate are set at an angle; A first bend is formed between the third connecting plate and the second connecting plate.

8. The welding robot of claim 7, wherein, The welding actuator includes at least a welding torch, which is disposed on the welding bracket; The welding torch is provided with a second bending section, which has the same bending trend as the first bending section.

9. The welding robot of claim 7, wherein, The welding robot also includes at least two mounting plates, with a portion of all the mounting plates disposed on the third connecting plate and another portion of the mounting plates detachably disposed on the third connecting plate.

10. The welding robot of claim 9, wherein, The welding actuator also includes: A vision sensor, wherein the vision sensor is disposed on the mounting plate; A linear laser sensor is disposed on the welding bracket.

11. The welding robot of claim 1, wherein, The welding robot also includes a quick-release mechanism, which comprises: A plate component, wherein a hollow portion is provided at the center position of the plate component; the welding cooperation mechanism is provided on the plate component; A locking device is provided through the plate component and connected to the integrated chassis; the number of locking devices is multiple.

12. The welding robot of claim 11, wherein, The welding collaboration mechanism is a multi-axis robotic arm; the welding collaboration mechanism includes a fixed base and a fixed end, the fixed base is connected to the plate component, and the welding execution mechanism is disposed at the fixed end.

13. The welding robot according to any one of claims 1 to 12, characterized in that, The welding robot also includes: A lidar is mounted on the integrated chassis, positioned in front of the welding collaboration mechanism along the direction of travel of the welding robot. A cable plug is disposed on the integrated chassis, along the direction of travel of the welding robot, and is located behind the welding collaboration mechanism.

14. The welding robot according to any one of claims 1 to 12, characterized in that, The walking mechanism also includes: Tracks, which are disposed below the integrated chassis; A permanent magnet, wherein the permanent magnet is disposed on the track; A drive unit is mounted on the integrated chassis and connected to the track. An emergency stop button is provided on the integrated chassis and is electrically connected to the drive unit.

15. A welding apparatus characterized by, The welding robot included in any one of claims 1 to 14.

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