CN111515595A

CN111515595A - Butt-joint robot

Info

Publication number: CN111515595A
Application number: CN202010637846.1A
Authority: CN
Inventors: 康望才
Original assignee: Hunan Hankun Industrial Co Ltd
Current assignee: Hunan Hankun Industrial Co Ltd
Priority date: 2020-07-06
Filing date: 2020-07-06
Publication date: 2020-08-11
Anticipated expiration: 2040-07-06
Also published as: CN111515595B

Abstract

The invention discloses a butt-welding robot which comprises a platform frame, a movable welding table, a first linear driving device, a memory control device and an execution device, wherein the movable welding table is movably arranged on a working surface below the platform frame through the first linear driving device; the memory control device comprises a vertical memory mechanism; the vertical memory mechanism comprises a first box body, a U-shaped connecting rod, a first floating clamping assembly, a first flexible guide rail, a guide rail seat, a first welding head, a first welding beam, a first portal frame and a first sliding block, and the executing device comprises a second portal frame, a first welding beam, a second welding head, a second linear driving device and a first roller. The invention realizes the recording of the position change of the welding seam of the to-be-welded part through the memory control device, and then the execution device realizes the automatic welding of the welding seam of the to-be-welded part according to the position recorded by the memory control device, thereby ensuring the welding quality, realizing the batch welding of the to-be-welded part and having high production efficiency.

Description

Butt-joint robot

Technical Field

The invention relates to the technical field of welding equipment, in particular to a butt-joint robot.

Background

In the production processes such as current engineering machinery equipment, need realize welding together two liang of parts, it is together welded together to splice two liang of parts through the manual work now generally, welding load is big, and operational environment is poor moreover, manual welding is efficient simultaneously, welding quality is uncontrollable moreover, lead to the unable unified standard that reaches of welded product, consequently need a welding set of intelligence urgently, in order to realize the automatic welding that splices of two liang of parts, improve production efficiency, guarantee welding quality, this remains further research and development to solve.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a butt-joint robot, the invention realizes the recording of the position change of the welding seam of a piece to be welded through a memory control device, and then an execution device realizes the automatic welding of the welding seam of the piece to be welded according to the position recorded by the memory control device, thereby ensuring the welding quality, realizing the batch welding of the piece to be welded and having high production efficiency.

In order to achieve the aim, the invention provides a butt-welding robot which comprises a platform frame, a movable welding table, a first linear driving device, a memory control device and an execution device, wherein the movable welding table is movably arranged on a working surface below the platform frame through the first linear driving device; the memory control device comprises a vertical memory mechanism;

the vertical memory mechanism comprises a first box body, a U-shaped connecting rod, a first floating clamping assembly, a first flexible guide rail, a guide rail seat, a first welding head, a first welding beam, a first portal frame and a first sliding block, wherein the first box body and the guide rail seat are alternately arranged above the left side of the platform frame; the first portal frame is movably arranged above the left side of the platform frame, can move back and forth relative to the platform frame and is positioned between the first box body and the guide rail seat; the first welding beam is movably matched and arranged on the first portal frame, and can move up and down relative to the first portal frame; the U-shaped connecting rods are arranged in a front-back parallel alternate mode, one ends of the U-shaped connecting rods are inserted into the first box body, one ends of the U-shaped connecting rods are clamped through the two first floating clamping assemblies, and the first floating clamping assemblies are arranged in the first box body; the other ends of the U-shaped connecting rods are movably installed on the guide rail seats in a matched mode, and the other ends of the U-shaped connecting rods are connected through the first flexible guide rail; one end of the first welding beam is inserted into the first box body, and the first welding beam is positioned between the two first floating clamping assemblies; one end of the first welding beam is movably matched with the first box body through the first sliding block;

the executing device comprises a second portal frame, a first welding beam, a second welding head, a second linear driving device and a first roller; the second portal frame is movably arranged above the right side of the platform frame, and can move back and forth relative to the platform frame; the second welding beam is movably matched and arranged on the second portal frame, and can move up and down relative to the second portal frame; one end of the second welding beam is alternately provided with two first rollers, and the two first rollers clamp the first flexible guide rail; when the first welding head moves back and forth along the welding seam of the workpiece to be welded, the first welding beam moves back and forth relative to the first box body, and meanwhile, when the first sliding block passes between the two first floating clamping assemblies, the first sliding block can open the two first floating clamping assemblies, the U-shaped connecting rod clamped by the two first floating clamping assemblies is loosened, and the end face of one end of the first welding beam props against the end face of one end of the U-shaped connecting rod, so that one end of the U-shaped connecting rod moves up and down relative to the first box body; when the first welding beam moves away relative to the U-shaped connecting rod, the two first floating clamping assemblies clamp the U-shaped connecting rod, and the U-shaped connecting rod is kept at a height position supported by the first welding beam.

Further, the memory control device comprises a horizontal memory mechanism; the horizontal memory mechanism comprises a second box body, a straight connecting rod, a second floating clamping assembly, a second flexible guide rail, a first horizontal swing rod, a first sliding assembly and a second sliding block, wherein the second box body is arranged above the platform frame and is positioned between the first portal frame and the guide rail seat; the plurality of straight connecting rods are arranged in a front-back parallel alternate mode, one ends of the straight connecting rods are inserted into the second box body, one ends of the straight connecting rods are clamped through the two second floating clamping assemblies, the second floating clamping assemblies are arranged in the second box body, and the other ends of the straight connecting rods are located outside the second box body; the other ends of the straight connecting rods are connected through the second flexible guide rail;

the first horizontal swing rod is movably matched and installed on the first portal frame, and the first horizontal swing rod can move left and right relative to the first portal frame; the first welding head is movably matched and arranged on the first welding beam through the first sliding assembly, and can move left and right relative to the first welding beam; one end of the first horizontal swing rod is inserted into the second box body, and the first horizontal swing rod is positioned between the two second floating clamping assemblies; the first horizontal swing rod is movably matched with the second box body through the second sliding block;

the executing device comprises a second horizontal swing rod, a second sliding assembly and a second roller; the second horizontal swing rod is movably matched and installed on the second portal frame, and the second horizontal swing rod can move left and right relative to the second portal frame; the second welding head is movably matched and arranged on the second welding beam through the second sliding assembly, and can move left and right relative to the second welding beam; one end of the second horizontal swing rod is alternately provided with two second rollers, and the two second rollers clamp the second flexible guide rail;

the first welding head moves left and right while moving back and forth along a welding seam of a piece to be welded, the first horizontal swing rod moves left and right relative to the first portal frame, when the second sliding block passes between the two second floating clamping assemblies, the second sliding block can open the two second floating clamping assemblies, the straight connecting rod clamped by the two second floating clamping assemblies is loosened, one end face of the first horizontal swing rod abuts against the end face of one end of the straight connecting rod, and one end of the straight connecting rod moves left and right relative to the second box body; when the first horizontal swing rod moves away relative to the straight connecting rod, the two second floating clamping components clamp the straight connecting rod, so that the straight connecting rod is kept at a horizontal position pressed by the first horizontal swing rod.

Furthermore, the horizontal memory mechanism also comprises a reset elastic component, and the other end of the straight connecting rod is connected with the second box body through the reset elastic component.

Furthermore, the first floating clamping assembly comprises a first floating clamping block, a first spring and a first sliding column, wherein first saw-shaped teeth are arranged on the first floating clamping block, a first sliding hole is formed in the side wall of the first box body, one end of the first sliding column penetrates out of the first box body through the first sliding hole, the other end of the first sliding column is connected with the first floating clamping block, the first spring is sleeved on the first sliding column in a sleeved mode, the first spring is located between the first floating clamping block and the first box body, and one end of the U-shaped connecting rod is clamped through the surface, provided with the first saw-shaped teeth, of the two first floating clamping blocks; the bottom of the first box body is provided with a first strip-shaped groove; the first slider is provided with a first through groove, two sides of the first slider are provided with first U-shaped clamping grooves, the first slider is arranged at the first strip-shaped groove, and the two first U-shaped clamping grooves clamp two groove edges of the first strip-shaped groove respectively; the two ends of the part, located in the first box body, of the first sliding block are in conical structures; one end of the first welding beam penetrates through the first through groove and is inserted into the first box body.

Furthermore, the second floating clamping assembly comprises a second floating clamping block, a second spring and a second sliding column, second saw-shaped teeth are arranged on the second floating clamping block, a second sliding hole is formed in the side wall of the second box body, one end of the second sliding column penetrates out of the second box body through the second sliding hole, the other end of the second sliding column is connected with the second floating clamping block, the second spring is sleeved on the second sliding column in a sleeved mode, the second spring is located between the second floating clamping block and the second box body, and one end of the straight connecting rod is clamped through the surface, provided with the second saw-shaped teeth, of the two second floating clamping blocks; a second strip-shaped groove is formed in the second box body; a second through groove is formed in the second sliding block, second U-shaped clamping grooves are formed in two sides of the second sliding block, the second sliding block is installed at the second strip-shaped groove, and the two second U-shaped clamping grooves clamp two groove edges of the second strip-shaped groove respectively; the two ends of the part, located in the second box body, of the second sliding block are in conical structures; one end of the first horizontal swing rod penetrates through the second through groove and is inserted into the second box body.

Furthermore, the first sliding assembly comprises a first horizontal sliding sleeve sleeved on the first welding beam, a first sleeve connected with the first horizontal sliding sleeve and used for installing the first welding head, and a first guide plate connected with the first horizontal sliding sleeve, and a first horizontal guide groove matched with the first guide plate is arranged on the first portal frame.

Furthermore, the second sliding assembly comprises a second horizontal sliding sleeve sleeved on the second welding beam, a second sleeve connected with the second horizontal sliding sleeve and used for installing the second welding head, and a second guide plate connected with the second horizontal sliding sleeve, and a second horizontal guide groove matched with the second guide plate is arranged on the second portal frame.

Further, the platform frame comprises a platform body and four frames which are alternately arranged on the platform body; the first portal frame comprises a first U-shaped frame, first wrapping edges arranged at the end parts of two U-shaped ends of the first U-shaped frame, and third rollers arranged on the first wrapping edges; the second portal frame comprises a second U-shaped frame, second wrapping edges arranged at the end parts of the two ends of the U-shaped frame of the second U-shaped frame, and fourth rollers arranged on the second wrapping edges.

Further, the return elastic assembly comprises any one of a rubber rope and a return spring.

Furthermore, the other end of the first welding beam is provided with a first limiting plate, and the first limiting plate is used for limiting the up-and-down movement of the first welding beam relative to the first portal frame.

Furthermore, the other end of the second welding beam is provided with a second limiting plate for limiting the second welding beam to move up and down relative to the second portal frame.

The invention realizes the recording of the position change of the welding seam of the piece to be welded under the action of the memory control device, including the recording of the position change in the vertical direction and the horizontal direction, the execution device realizes the automatic welding of the welding seam of the piece to be welded according to the position recorded by the memory control device, the welding quality is ensured, only one-time position recording is needed, the batch welding of the piece to be welded is realized, the production efficiency is high, manual welding is not needed, and the manual labor intensity is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a perspective view of fig. 1 rotated by a certain angle.

Fig. 3 is an enlarged view of fig. 2 at a.

Fig. 4 is a perspective view of fig. 1 cut away corresponding to the first tank.

Fig. 5 is a perspective view of the first portal frame, the first welding beam and the first welding head according to the present invention.

Fig. 6 is a perspective view of fig. 5 rotated by a certain angle.

FIG. 7 is a perspective view of a first slider of the present invention.

Fig. 8 is a front view of the first slider of the present invention.

FIG. 9 is a perspective view of the corresponding horizontal memory mechanism and actuator of FIG. 1

Fig. 10 is a partially enlarged perspective view of fig. 9.

FIG. 11 is a perspective view of the corresponding actuator of FIG. 9

The above reference numerals:

1 platform frame, 10 platform body, 11 frame, 2 first linear driving device, 3 moving welding table, 40 first box, 41U-shaped connecting rod, 42 first floating clamping component, 420 first floating clamping block, 421 first sliding column, 422 first spring, 4201 first saw-shaped tooth, 43 first portal frame, 430 first U-shaped frame, 431 first wrapping edge, 432 third roller, 44 first welding beam, 440 first limit plate, 45 first welding head, 46 first sliding component, 460 first sleeve, 461 first horizontal sliding sleeve, 462 first guide plate, 47 guide rail seat, 48 first sliding block, 480 first through groove, 481 first U-shaped clamping groove, 49 first sliding sleeve, 490 second sliding sleeve, 490 first horizontal swinging rod, 492 second sliding block, 493 first guide block, 494 first box, 495 second floating clamping component, 4940 second strip groove, 4950 second floating clamping block, 4951 second sliding column, 4952 second spring 4952, 4950-1 a second saw-shaped tooth, a 496 first flexible guide rail, a 497 straight connecting rod, a 498 rubber rope, a 499 third sliding sleeve, a 500 first connecting column, a 501 second connecting column, a 50 second linear driving device, a 51 second portal frame, a 510 second U-shaped frame, a 511 second edge covering, a 512 fourth roller, a 52 second welding beam, a 53 second welding head, a 54 second sliding component, a 55 first roller, a 56 second horizontal swing rod, a 57 second roller, a 520 second limiting plate, a 4301 first horizontal guide groove, a 5101 second horizontal guide groove, a 5001 motor, a 5002 screw rod, a 5003 first bearing seat, a 5004 nut plate, a 6 to-be-welded part and a 1001 guide groove; 502 second flexible guide rail, 540 second sleeve, 541 second horizontal

sliding sleeve

541, 542 second guide plate, 470 sliding groove, 58 fourth sliding sleeve.

Detailed Description

The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, as the term is used in the generic and descriptive sense, and not for purposes of limitation, unless otherwise specified or implied, and the specific reference to a device or element is intended to be a reference to a particular element, structure, or component. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 11, the butt-welding robot according to the present embodiment includes a platform frame 1, a movable welding stage 3, a first linear driving device 2, a memory control device, and an execution device, wherein the movable welding stage 3 is movably mounted on a work surface below the platform frame 1 by the first linear driving device 2.

The memory control device comprises a vertical memory mechanism; the vertical memory mechanism comprises a first box body 40, a U-shaped connecting rod 41, a first floating clamping assembly 42, a first flexible guide rail 496, a guide rail seat 47, a first welding head 45, a first welding beam 44, a first portal frame 43 and a first sliding block 48, wherein the first box body 40 and the guide rail seat 47 are alternately arranged above the left side of the platform frame 1; the first portal frame 43 is movably arranged above the left side of the platform frame 1, the first portal frame 43 can move back and forth relative to the platform frame 1, and the first portal frame 43 is positioned between the first box 40 and the guide rail seat 47; the first welding beam 44 is movably and cooperatively installed on the first portal frame 43, and the first welding beam 44 can move up and down relative to the first portal frame 43; the plurality of U-shaped connecting rods 41 are arranged in a front-back parallel alternate mode, one ends of the U-shaped connecting rods 41 are inserted into the first box body 40, one ends of the U-shaped connecting rods 41 are clamped through the two first floating clamping assemblies 42, and the first floating clamping assemblies 42 are arranged in the first box body 40; the other end of the U-shaped connecting rod 41 is movably fitted on the guide rail seat 47, and specifically, a sliding chute 470 which is movably fitted with the other end of the U-shaped connecting rod 41 is arranged on the guide rail seat 47; the other ends of the plurality of U-shaped links 41 are connected by the first flexible guide 496; one end of the first welding beam 44 is inserted into the first box 40, and the first welding beam 44 is located between the two first floating clamp assemblies 42; one end of the first welding beam 44 is movably fitted with the first case 40 by the first slider 48.

The executing device comprises a second portal frame 51, a first welding beam 52, a second welding head 53, a second linear driving device 50 and a first roller 55; the second portal frame 51 is movably arranged above the right side of the platform frame 1, and the second portal frame 51 can move back and forth relative to the platform frame 1; the second welding beam 52 is movably matched and installed on the second portal frame 51, and the second welding beam 52 can move up and down relative to the second portal frame 51; one end of the second welding beam 52 is provided with two first rollers 55 at intervals, and the first flexible guide rail 496 is clamped by the two first rollers 55.

When the workpiece 6 to be welded is positioned on the movable welding table 3, and the first welding head 45 moves back and forth along the weld joint of the workpiece 6 to be welded, the first welding beam 44 moves back and forth relative to the first box 40, and simultaneously when the first slider 48 passes between the two first floating clamping assemblies 42, the first slider 48 can open the two first floating clamping assemblies 42, the U-shaped connecting rod 41 clamped by the two first floating clamping assemblies 42 is released, and the end face of one end of the first welding beam 44 abuts against the end face of one end of the U-shaped connecting rod 41, so that one end of the U-shaped connecting rod 41 moves up and down relative to the first box 40; when the first welding beam 44 moves away from the U-shaped link 41, the two first floating clamp assemblies 42 clamp the U-shaped link 41, and the U-shaped link 41 is maintained at a height against which the first welding beam 44 abuts.

The working principle of the embodiment is as follows: as shown in fig. 1 and 2, the to-be-welded part 6 is placed on the movable welding table 3, and the first linear driving device 2 drives the movable welding table 3 to be located at the left side of the platform frame 1, at this time, the vertical memory mechanism works, specifically, an operator holds the first welding head 45, so that the first welding head 45 moves from front to back along the weld of the to-be-welded part 6, and the corresponding first welding beam 44 and the first gantry 43 move from front to back relative to the first box 40, so that the first slider 48 moves from front to back on the first box 40, and the corresponding first welding beam 44 moves up and down relative to the first gantry 43 as the front and back heights of the weld of the to-be-welded part 6 are different; meanwhile, in the process that the first welding beam 44 moves back and forth relative to the first box body 40, when the first sliding block 48 passes between the two first floating clamping assemblies 42 for controlling the floating clamping of each U-shaped connecting rod 41, the first sliding block 48 can open the two first floating clamping assemblies 42, the U-shaped connecting rods 41 clamped by the two first floating clamping assemblies 42 are loosened, the end face of one end of the first welding beam 44 abuts against the end face of one end of the U-shaped connecting rod 41, and one end of the U-shaped connecting rod 41 moves up and down relative to the first box body 40 and is kept at a corresponding height position; when the first welding beam 44 moves away from the U-shaped link 41, the two first floating clamp assemblies 42 clamp the U-shaped link 41, so that the U-shaped link 41 is maintained at a height position against which the first welding beam 44 abuts; in such a process that the first welding head 45 moves back and forth, along with the change of the height of the weld of the piece 6 to be welded, the height position of one end of the corresponding U-shaped connecting rod 41 changes, when the height of one end of the U-shaped connecting rod 41 changes and moves, the other end of the U-shaped connecting rod 41 moves up and down relative to the guide rail seat 47 along with the change of the height of the other end of the U-shaped connecting rod 41, so that the first flexible guide rail 496 connected with the other ends of the U-shaped connecting rods 41 bends and changes, the change of the height of the weld of the piece 6 to be welded is recorded on the first flexible guide. After the vertical memory mechanism finishes recording the position of the to-be-welded part 6 in the vertical direction, the first linear driving device 2 drives the movable welding table 3 to move to the right side of the platform frame 1, and the execution device works, specifically, the second linear driving device 50 drives the second portal frame 51 to move from front to back relative to the platform frame 1, the second welding head 53 is aligned with the welding seam, so that the welding seam of the to-be-welded part 6 is welded, wherein the two first rollers 55 on the second welding beam 52 are always clamped on the first flexible guide rail 496, so that when the second welding beam 52 moves from front to back relative to the platform frame 1, the two first rollers 55 move on the first flexible guide rail 496, so as to follow the bending change of the first flexible guide rail 496, the second welding beam 52 moves up and down relative to the second portal frame 51, thereby finishing the accurate welding of the to-be-welded part 6, ensuring the welding quality, and only needing one vertical position recording, realize waiting to weld the mass welding of piece 6, improve production efficiency, need not manual welding, reduce artifical intensity of labour. And under the vertical memory mechanism, completing the welding of the to-be-welded part 6, wherein the welding seam of the to-be-welded part 6 is in a linear state from front to back, and the height of the welding seam is changed.

Preferably, the first linear driving device 2 may adopt a combination structure of a rotary motor and a rotary screw rod and a nut, specifically, the rotary screw rod is rotatably mounted on the platform frame 1, the nut is connected with the movable welding table, the rotary motor is connected with the nut, and the rotary motor is mounted on the platform frame 1. Of course, the first linear driving device 2 can also directly adopt the existing linear moving equipment such as an electric push rod, an oil cylinder, an air cylinder and the like.

In this embodiment, the first casing 40 is provided with a first sliding sleeve 49 engaged with one end of the U-shaped link 41 to realize a guiding function of the U-shaped link 41 moving up and down with respect to the first casing 40.

In this embodiment, the first portal frame 43 is provided with a first guide hole into which the first welding beam 44 is inserted, and the second sliding sleeve 490 is disposed at the first guide hole, so as to realize a guiding function of the first welding beam 44 moving up and down relative to the first portal frame 43.

In this embodiment, a first limiting plate 440 is preferably disposed at the other end of the first welding beam 44, and is used for limiting the vertical movement of the first welding beam 44 relative to the first gantry 43. Specifically, the outer dimension of the limit plate 440 is larger than the outer dimension of the second runner 490.

Further preferably in this embodiment, the memory control means includes a horizontal memory mechanism; the horizontal memory mechanism comprises a second box 494, a straight link 497, a second floating clamping assembly 495, a second flexible guide rail 502, a first horizontal swing link 491, a first sliding assembly 46 and a second sliding block 492, the second box 494 is arranged above the platform frame 1, and the second box 494 is positioned between the first portal frame 43 and the guide rail seat 47; a plurality of the straight links 497 are arranged in a front-back side-by-side spaced manner, one end of each straight link 497 is inserted into the second box 494, one end of each straight link 497 is clamped by the two second floating clamp assemblies 495, the second floating clamp assemblies 495 are arranged in the second box 494, and the other end of each straight link 497 is positioned outside the second box 494; the other ends of the plurality of straight links 497 are connected through the second flexible guide 502;

the first horizontal swing link 491 is movably and cooperatively installed on the first portal frame 43, and the first horizontal swing link 491 can move left and right relative to the first portal frame 43; the first welding head 45 is movably matched and installed on the first welding beam 44 through the first sliding assembly 46, and the first welding head 45 can move left and right relative to the first welding beam 44; one end of the first horizontal swing link 491 is inserted into the second box 494, and the first horizontal swing link 491 is located between the two second floating clamping assemblies 495; the first horizontal swing link 491 is movably installed with the second box 494 by the second slide 492;

the executing device comprises a second horizontal swing rod 56, a second sliding component 54 and a second roller 57; the second horizontal swing rod 56 is movably matched and installed on the second portal frame 51, and the second horizontal swing rod 56 can move left and right relative to the second portal frame 51; second welding head 53 is movably fitted on second welding beam 52 through second sliding assembly 54, and second welding head 53 can move left and right relative to second welding beam 52; one end of the second horizontal swing link 56 is provided with two second rollers 57 at intervals, and the second flexible guide rail 502 is clamped by the two second rollers 57;

the first welding head 45 moves left and right while moving back and forth along the welding line of the to-be-welded part 6, the first horizontal swing link 491 moves left and right relative to the first portal frame 43, when the second slider 492 passes between the two second floating clamping components 495, the second slider 492 can prop open the two second floating clamping components 495, the straight link 497 clamped by the two second floating clamping components 495 is loosened, and the end face of one end of the first horizontal swing link 491 abuts against the end face of one end of the straight link 497, so that one end of the straight link 497 moves left and right relative to the second box 494; when the first horizontal swing link 491 moves away from the straight link 497, the two second floating clamping components 495 clamp the straight link 497, so that the straight link 497 is kept at the horizontal position pressed by the first horizontal swing link 491.

The working principle of the horizontal memory mechanism of the embodiment is as follows:

when the weld of the to-be-welded part 6 is non-linear from front to back, when an operator holds the first welding head 45 to move along the weld of the to-be-welded part 6 by hand, and the first welding beam 44 and the first portal frame 43 move from front to back relative to the first box 40 and the platform frame 1, the first horizontal swing link 491 moves left and right relative to the first portal frame 43 along the horizontal direction, in the moving process, when the second slider 492 passes through two second floating clamping assemblies 495 for controlling each straight connecting rod 497 to be in floating clamping, the second slider 492 can prop open the two second floating clamping assemblies 495, the straight connecting rods 497 clamped by the two second floating clamping assemblies 495 are loosened, the end face of one end of the first horizontal swing link 491 abuts against the end face of one end of the straight connecting rod 497, so that one end of the straight connecting rod moves left and right relative to the second box, and one end of the straight connecting rod 497 is kept at the; when the first horizontal swing link 491 moves away relative to the straight link 497, the two second floating clamping assemblies 495 clamp the straight link 497, so that the straight link 497 is kept at a horizontal position supported by the first horizontal swing link 491, and thus, in the process that the first welding head 45 moves back and forth and left and right, along with the left and right of a welding seam of a part to be welded 6, the horizontal position of one end of the corresponding straight link 497 changes, so that the horizontal position of the other end of the straight link 497 also changes, the second flexible guide rail 502 correspondingly connected with the straight links 497 changes in a bending manner, and thus, the change of the horizontal position of the welding seam of the part to be welded 6 is recorded on the second flexible guide rail 502, and the position of the part to be welded 6 in the horizontal direction. When the corresponding executing device finishes the welding of the to-be-welded part 6 with the curved welding seam, because the two second rollers 57 on the second horizontal swing rod 56 block the second flexible guide rail 502, so when the second horizontal swing rod 56 moves left and right relative to the horizontal direction of the second portal frame 51, the two second rollers 57 move on the second flexible guide rail 502, so the bending change of the second flexible guide rail 502 is followed, the second horizontal swing rod 56 moves left and right relative to the first portal frame 51, thereby the accurate welding of the to-be-welded part 6 welding seam is finished, the welding seam can be in a linear state, the welding in a non-linear state can be realized, the application range is wide, the device is economical and practical, the welding accuracy is high, and the welding quality is good.

In this embodiment, the horizontal memorizing mechanism further includes a return elastic component, and the other end of the straight link 497 is connected to the second casing 494 through the return elastic component. The reset elastic component comprises any one of a rubber rope 498 and a reset spring. When the robot of this embodiment needs to further realize welding of another different workpiece to be welded after completing the machining of one workpiece to be welded 6, the second floating clamp assembly 495 is loosened, and the restoring function of the straight link 497 is realized under the action of the restoring elastic assembly.

In this embodiment, preferably, the second box 494 is provided with a third sliding sleeve 499, the other end of the straight link 497 sequentially passes through the through hole of the second box 494 and extends to the outside of the second box 494 after passing through the third sliding sleeve 499, and the third sliding sleeve 499 performs a guiding function of moving the straight link 497 left and right. Wherein, the other ends of the second sliding sleeve 499 and the straight link 497 are respectively provided with a first connecting column 500 and a second connecting column 501, and the two ends of the rubber rope 498 are respectively fixed on the first connecting column 500 and the second connecting column 501.

In this embodiment, the U-shaped link 41 may be reset by manual operation, and a reset device may be provided to automatically reset, which is the same as the reset elastic component in principle.

In this embodiment, the first floating clamping assembly 42 preferably includes a first floating clamping block 420, a first spring 422, and a first sliding column 421, the first floating clamping block 420 is provided with a first saw-shaped tooth 4201, a first sliding hole is provided on a sidewall of the first box 40, one end of the first sliding column 421 passes through the first sliding hole and passes through the first box 40, the other end of the first sliding column 421 is connected to the first floating clamping block 420, the first spring 422 is sleeved on the first sliding column 421, the first spring 422 is located between the first floating clamping block 421 and the first box 40, and one end of the U-shaped link 41 is clamped by a surface of the first floating clamping block 420 provided with the first saw-shaped tooth 4201; the bottom of the first box body 40 is provided with a first strip-shaped groove; a first through groove 480 is formed in the first slider 48, first U-shaped clamping grooves 481 are formed in two sides of the first slider 48, the first slider 48 is installed at the first linear groove, and the two first U-shaped clamping grooves 481 respectively clamp two groove edges of the first linear groove; the two ends of the part of the first sliding block 48 in the first box 40 are both in a conical structure; one end of the first welding beam 44 is inserted into the first case 40 through the first through groove 480. The first slider 48 is slidably engaged with the first box 40 by the design of the first U-shaped slot 481. The first saw tooth 4201 is designed to improve the clamping friction of the first floating clamp assembly 42 to clamp the U-shaped link 41, and to improve the clamping stability. When the first welding beam 44 moves from front to back, the first sliding block 48 is inserted between the two first floating clamping blocks 420 through the tapered structure of the first sliding block 48, the tapered structure achieves a guiding function, the first sliding block 48 supports the two first floating clamping blocks 420, the first sliding column 421 moves relative to the first sliding hole of the first box 40, and the first spring 422 is compressed. When the first sliding block 48 leaves between the two corresponding first floating clamp blocks 42 of the U-shaped link 41, the two first floating clamp blocks 420 clamp the U-shaped link 41 under the action of the first spring 422.

In this embodiment, it is preferable that the second floating clamping assembly 495 comprises a second floating clamping block 4950, a second spring 4952, and a second sliding column 4951, the second floating clamping block 4950 is provided with a second saw-shaped tooth 4950-1, a side wall of the second box 494 is provided with a second sliding hole, one end of the second sliding column 4951 passes through the second sliding hole and out of the second box 494, the other end of the second sliding column 4951 is connected to the second floating clamping block 4950, the second spring 4952 is sleeved on the second sliding column 4951, the second spring 4952 is located between the second floating clamping block 4950 and the second box 494, and one end of the straight link 497 is clamped by a surface of the second floating clamping block 4950 provided with the second saw-shaped tooth 4950-1; a second strip groove 4940 is formed in the second box body 494; a second through groove is formed in the second slider 492, second U-shaped clamping grooves are formed in two sides of the second slider 492, the second slider 492 is installed at the second strip-shaped groove 4940, and the two second U-shaped clamping grooves clamp two groove edges of the second strip-shaped groove 4940 respectively; the second slide block 492 is located in the second box 494, and both ends of the second slide block are tapered; one end of the first horizontal swing link 491 penetrates the second through slot and is inserted into the second box 494, wherein the second slide 492 is structured and arranged in the same manner as the first slide 48, see fig. 7-8. The second slider 492 is slidably engaged with the second housing 494 through the design of the second U-shaped slot. The second saw tooth 4950-1 is designed to increase the clamping friction of the second floating clamp assembly 495 to clamp the straight link 497 and to increase the clamping stability. When the first horizontal swing link 491 moves left and right relative to the first portal frame 43, the tapered structure on the second slider 492 is firstly inserted between the two second floating clamping blocks 4950, the tapered structure achieves a guiding function, the second slider 492 props the two second floating clamping blocks 4950 apart, the second sliding column 4951 moves relative to the first sliding hole of the second box 494, and the second spring 4952 is compressed. When the second slider 4951 leaves between the two second floating clamp blocks 4950 corresponding to this straight link 497, the two second floating clamp blocks 4950 clamp the straight link 497 under the action of the second spring 4952.

In this embodiment, the first sliding assembly 46 preferably includes a first horizontal sliding sleeve 461 sleeved on the first welding beam 44, a first sleeve 460 connected to the first horizontal sliding sleeve 461 and used for installing the first welding head 45, and a first guide plate 462 connected to the first horizontal sliding sleeve 461, and the first portal frame 43 is provided with a first horizontal guide groove 4301 matching with the first guide plate 462.

In this embodiment, the second sliding assembly 54 preferably includes a second horizontal sliding sleeve 541 sleeved on the second welding beam 52, a second sleeve 540 connected to the second horizontal sliding sleeve 541 for installing the second welding head 53, and a second guide plate 542 connected to the second horizontal sliding sleeve 541, and the second gantry 51 is provided with a second horizontal guide groove 5101 matched with the second guide plate 542.

In the present embodiment, the platform frame 1 preferably includes a platform body 10 and four frames 11 alternately mounted on the platform body 10. As shown in fig. 1, the four frames 11 are a first frame 11, a second frame 11, a third frame 11, and a fourth frame 11 in sequence from left to right, and the first box 40 and the rail seat 47 are respectively mounted on the first frame 11 and the third frame 11. The two ends of the first portal frame 43 are respectively movably matched and installed with the first frame 11 and the second frame 11. Two ends of the second portal frame 51 are respectively movably matched and installed with the third frame 11 and the fourth frame 11. Wherein remove the welding stage 3 and remove the cooperation and install on platform body 10, and remove the welding stage 3 through locating the guide rail on removing the welding stage 3 and locate the guide slot 1001 on platform body 10, realize with the removal direction function of platform body 10.

In this embodiment, the first gantry 43 preferably includes a first U-shaped frame 430, first wrapping edges 431 provided at both ends of the U-shape of the first U-shaped frame 43, and third rollers 432 mounted on the first wrapping edges 431. Is movably mounted to the frame 11 by a third roller 432.

In this embodiment, the second gantry 51 preferably includes a second U-shaped frame 510, second rims 511 provided at both ends of the U-shape of the second U-shaped frame 510, and fourth rollers 512 mounted on the second rims 511. Is movably mounted on the frame 11 by a fourth roller 512.

In this embodiment, the second portal frame 51 is provided with a second guide hole into which the second welding beam 52 is inserted, and the fourth sliding sleeve 58 is disposed at the second guide hole, so as to realize a guiding function of the second welding beam 52 moving up and down relative to the second portal frame 51.

In this embodiment, a second limiting plate 520 is preferably disposed at the other end of the second welding beam 52, and is used for limiting the vertical movement of the second welding beam 52 relative to the second gantry 51.

Preferably, in this embodiment, the second linear driving device 50 includes a motor 5001, a screw rod 5002, first bearing seats 5003, and a nut plate 5004, the two first bearing seats 5003 are alternately installed on the platform frame 1, two ends of the screw rod 5002 are respectively rotatably installed on the two first bearing seats 5003, one end of the screw rod 5002 is connected to the motor 5001, the motor 5001 is installed on the platform frame 1, the nut plate 5004 is externally sleeved on the screw rod 5002 through a threaded hole formed in the nut plate 5004, and the nut plate 5004 is connected to the second portal frame 51, so as to achieve the forward and backward movement of the second portal frame 51.

In this embodiment, the first flexible rail 496 and the second flexible rail 502 are preferably made of a rubber material.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A butt-welding robot is characterized by comprising a platform frame, a movable welding table, a first linear driving device, a memory control device and an execution device, wherein the movable welding table is movably arranged on a working surface below the platform frame through the first linear driving device; the memory control device comprises a vertical memory mechanism; the vertical memory mechanism comprises a first box body, a U-shaped connecting rod, a first floating clamping assembly, a first flexible guide rail, a guide rail seat, a first welding head, a first welding beam, a first portal frame and a first sliding block, wherein the first box body and the guide rail seat are alternately arranged above the left side of the platform frame; the first portal frame is movably arranged above the left side of the platform frame, can move back and forth relative to the platform frame and is positioned between the first box body and the guide rail seat; the first welding beam is movably matched and arranged on the first portal frame, and can move up and down relative to the first portal frame; the U-shaped connecting rods are arranged in a front-back parallel alternate mode, one ends of the U-shaped connecting rods are inserted into the first box body, one ends of the U-shaped connecting rods are clamped through the two first floating clamping assemblies, and the first floating clamping assemblies are arranged in the first box body; the other ends of the U-shaped connecting rods are movably installed on the guide rail seats in a matched mode, and the other ends of the U-shaped connecting rods are connected through the first flexible guide rail; one end of the first welding beam is inserted into the first box body, and the first welding beam is positioned between the two first floating clamping assemblies; one end of the first welding beam is movably matched with the first box body through the first sliding block; the executing device comprises a second portal frame, a first welding beam, a second welding head, a second linear driving device and a first roller; the second portal frame is movably arranged above the right side of the platform frame, and can move back and forth relative to the platform frame; the second welding beam is movably matched and arranged on the second portal frame, and can move up and down relative to the second portal frame; one end of the second welding beam is alternately provided with two first rollers, and the two first rollers clamp the first flexible guide rail; when the first welding head moves back and forth along the welding seam of the workpiece to be welded, the first welding beam moves back and forth relative to the first box body, and meanwhile, when the first sliding block passes between the two first floating clamping assemblies, the first sliding block can open the two first floating clamping assemblies, the U-shaped connecting rod clamped by the two first floating clamping assemblies is loosened, and the end face of one end of the first welding beam props against the end face of one end of the U-shaped connecting rod, so that one end of the U-shaped connecting rod moves up and down relative to the first box body; when the first welding beam moves away relative to the U-shaped connecting rod, the two first floating clamping assemblies clamp the U-shaped connecting rod, and the U-shaped connecting rod is kept at a height position supported by the first welding beam.

2. A butt-welding robot according to claim 1, wherein said memory control means comprises a horizontal memory mechanism; the horizontal memory mechanism comprises a second box body, a straight connecting rod, a second floating clamping assembly, a second flexible guide rail, a first horizontal swing rod, a first sliding assembly and a second sliding block, wherein the second box body is arranged above the platform frame and is positioned between the first portal frame and the guide rail seat; the plurality of straight connecting rods are arranged in a front-back parallel alternate mode, one ends of the straight connecting rods are inserted into the second box body, one ends of the straight connecting rods are clamped through the two second floating clamping assemblies, the second floating clamping assemblies are arranged in the second box body, and the other ends of the straight connecting rods are located outside the second box body; the other ends of the straight connecting rods are connected through the second flexible guide rail; the first horizontal swing rod is movably matched and installed on the first portal frame, and the first horizontal swing rod can move left and right relative to the first portal frame; the first welding head is movably matched and arranged on the first welding beam through the first sliding assembly, and can move left and right relative to the first welding beam; one end of the first horizontal swing rod is inserted into the second box body, and the first horizontal swing rod is positioned between the two second floating clamping assemblies; the first horizontal swing rod is movably matched with the second box body through the second sliding block; the executing device comprises a second horizontal swing rod, a second sliding assembly and a second roller; the second horizontal swing rod is movably matched and installed on the second portal frame, and the second horizontal swing rod can move left and right relative to the second portal frame; the second welding head is movably matched and arranged on the second welding beam through the second sliding assembly, and can move left and right relative to the second welding beam; one end of the second horizontal swing rod is alternately provided with two second rollers, and the two second rollers clamp the second flexible guide rail; the first welding head moves left and right while moving back and forth along a welding seam of a piece to be welded, the first horizontal swing rod moves left and right relative to the first portal frame, when the second sliding block passes between the two second floating clamping assemblies, the second sliding block can open the two second floating clamping assemblies, the straight connecting rod clamped by the two second floating clamping assemblies is loosened, one end face of the first horizontal swing rod abuts against the end face of one end of the straight connecting rod, and one end of the straight connecting rod moves left and right relative to the second box body; when the first horizontal swing rod moves away relative to the straight connecting rod, the two second floating clamping components clamp the straight connecting rod, so that the straight connecting rod is kept at a horizontal position pressed by the first horizontal swing rod.

3. A butt-welding robot according to claim 2, wherein said horizontal memory mechanism further comprises a return elastic member, and the other end of said straight link is connected to said second case through said return elastic member.

4. The butt-welding robot of claim 1, wherein the first floating clamping assembly comprises a first floating clamping block, a first spring and a first sliding column, the first floating clamping block is provided with first saw-shaped teeth, a side wall of the first box body is provided with a first sliding hole, one end of the first sliding column penetrates out of the first box body through the first sliding hole, the other end of the first sliding column is connected with the first floating clamping block, the first spring is sleeved on the first sliding column, the first spring is located between the first floating clamping block and the first box body, and one end of the U-shaped connecting rod is clamped by a surface of the first floating clamping block provided with the first saw-shaped teeth; the bottom of the first box body is provided with a first strip-shaped groove; the first slider is provided with a first through groove, two sides of the first slider are provided with first U-shaped clamping grooves, the first slider is arranged at the first strip-shaped groove, and the two first U-shaped clamping grooves clamp two groove edges of the first strip-shaped groove respectively; the two ends of the part, located in the first box body, of the first sliding block are in conical structures; one end of the first welding beam penetrates through the first through groove and is inserted into the first box body.

5. The butt-welding robot according to claim 2 or 3, wherein the second floating clamping assembly comprises a second floating clamping block, a second spring and a second sliding column, the second floating clamping block is provided with second saw-shaped teeth, a second sliding hole is formed in a side wall of the second box body, one end of the second sliding column penetrates out of the second box body through the second sliding hole, the other end of the second sliding column is connected with the second floating clamping block, the second spring is sleeved on the second sliding column, the second spring is located between the second floating clamping block and the second box body, and one end of the straight connecting rod is clamped through a surface of the second floating clamping block, which is provided with the second saw-shaped teeth; a second strip-shaped groove is formed in the second box body; a second through groove is formed in the second sliding block, second U-shaped clamping grooves are formed in two sides of the second sliding block, the second sliding block is installed at the second strip-shaped groove, and the two second U-shaped clamping grooves clamp two groove edges of the second strip-shaped groove respectively; the two ends of the part, located in the second box body, of the second sliding block are in conical structures; one end of the first horizontal swing rod penetrates through the second through groove and is inserted into the second box body.

6. The butt-welding robot of claim 2, wherein the first sliding assembly comprises a first horizontal sliding sleeve sleeved on the first welding beam, a first sleeve connected with the first horizontal sliding sleeve and used for installing the first welding head, and a first guide plate connected with the first horizontal sliding sleeve, and the first portal frame is provided with a first horizontal guide groove matched with the first guide plate.

7. The butt-welding robot of claim 2, wherein the second sliding assembly comprises a second horizontal sliding sleeve sleeved on the second welding beam, a second sleeve connected with the second horizontal sliding sleeve and used for installing the second welding head, and a second guide plate connected with the second horizontal sliding sleeve, and the second portal frame is provided with a second horizontal guide slot matched with the second guide plate.

8. A butt-welding robot according to claim 1, wherein said platform frame comprises a platform body, four frames mounted alternately to said platform body; the first portal frame comprises a first U-shaped frame, first wrapping edges arranged at the end parts of two U-shaped ends of the first U-shaped frame, and third rollers arranged on the first wrapping edges; the second portal frame comprises a second U-shaped frame, second wrapping edges arranged at the end parts of the two ends of the U-shaped frame of the second U-shaped frame, and fourth rollers arranged on the second wrapping edges.

9. A butt-welding robot according to claim 1, wherein the other end of the first welding beam is provided with a first limiting plate for limiting the up-and-down movement of the first welding beam relative to the first portal frame.

10. A butt-welding robot according to claim 2 or 3, wherein the other end of the second welding beam is provided with a second limiting plate for limiting the up-and-down movement of the second welding beam relative to the second portal frame.