CN113560774A

CN113560774A - Six axis of robot are with portable welding equipment with guide structure

Info

Publication number: CN113560774A
Application number: CN202110938010.XA
Authority: CN
Inventors: 邓力铭
Original assignee: Nantong Cotek Robotics Co ltd
Current assignee: Jiangsu Keti Robot Co ltd
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2021-10-29
Anticipated expiration: 2041-08-16
Also published as: CN113560774B

Abstract

The invention discloses a six-axis robot movable welding device with a guide structure, which comprises a base, a bottom plate and a processor, wherein two groups of rotating rods arranged side by side are arranged in front of and behind the base, walking wheels are arranged on the front surface and the back surface of each rotating rod, a first gear is arranged on the outer surface of one group of rotating rods, the bottom plate is arranged on the bottom wall of the base, a two-way motor is arranged at the top of the bottom plate, a rotating shaft is arranged at the output end of the two-way motor, and a second gear is arranged on the outer surface of the rotating shaft. The device can sense obstacles through the installed ultrasonic sensor and the laser guide radar, is convenient to avoid the obstacles so as to reduce the number of times of collision of the device, needs to fix a welded object through the lower pressing plate and the clamping plate before welding, plays a role in fixing and preventing deviation, can shield welding slag by adopting a transparent cover during welding, and can start the electric push rod to facilitate height supplement of parts if the welded object is too high.

Description

Six axis of robot are with portable welding equipment with guide structure

Technical Field

The invention relates to the technical field of robots, in particular to a movable welding device with a guide structure for a six-axis robot.

Background

The six-axis robot is composed of an actuating mechanism, a driving system and a control system, and is characterized in that a pneumatic transmission mode is adopted under the condition of PLC program control to realize the action of specified requirements on corresponding parts of the actuating mechanism, the actions are in sequence, have motion tracks, speed and time, and can be divided into an electric welding robot, a carrying robot, a paint spraying robot and the like according to joint types.

The existing six-axis robot welding equipment has the defects that:

1. the reference CN109128624A discloses a six-axis all-position welding robot, which comprises a base part 1, a robot controller, a vertical arm part, a slide part, a horizontal arm part I, a horizontal arm part II, an L-shaped arm part, a lower cross arm part, a wrist shaft assembly and a terminal tool; above-mentioned six welding robot in this scheme, its robot arm pole compares working range with six joint robot of tradition bigger, can build great working space on less occupation of land, and the robot arm pole can be around the cutting of work piece full position gyration, and full position gyration welding has subversive innovation to current fixed mouthful full position welding mode, and the usage is extensive, has very high social and economic benefits. However, the device is lack of a component for sensing the obstacle, and the robot can collide with other objects to a great extent when moving, so that the service life of the robot is influenced;

2. reference CN112975227A discloses a high-precision cantilever type six-axis welding robot, "including linear motion device, Y-axis rotating device, big arm rotating device, forearm rotating device, wrist rotating device and finger rotating device, the Y-axis rotating device is located on the linear motion device, big arm rotating device is located on the Y-axis rotating device, forearm rotating device is located on the big arm rotating device, wrist rotating device is located on the forearm rotating device, finger rotating device is located on the wrist rotating device. The invention belongs to the technical field of industrial robots, and particularly relates to a high-precision cantilever type six-axis welding robot; the invention adopts the bionic design, restores the structure of the simulated human body, and effectively solves the problems of complex structure and waste of freedom degree of the six-axis robot in the current market through the mutual linkage and matching of all movable parts. However, when the device is used for welding, a part for clamping and fixing the welded object is lacked, and the welded object may deviate in the welding process of a welding gun, so that the welding effect is affected;

3. the reference CN112404846A discloses a six-axis all-position welding robot, "comprising: the six-axis welding robot comprises a bottom plate, a workbench, a clamping mechanism, a guide rail mechanism, a six-axis welding robot body, a plurality of stand columns and a plurality of first springs; four corners of the end surface of the bottom plate are fixedly provided with one end of the upright post, and four corners of the bottom end of the workbench are provided with a plurality of counter bores; the upper end of the workbench is provided with a groove, the first groove is matched with the guide rail mechanism, the six-axis welding robot body is installed on the guide rail mechanism, and the upper end of the workbench is fixedly installed with the clamping mechanism. Compared with the prior art, the six-axis all-position welding robot can realize welding more flexibly, can also fix the six-axis welding robot body and the machined object on the same workbench, can stably and effectively fix the machined object simultaneously, and can clamp the machined object with larger weight. However, in the welding process, the device lacks a part for shielding splashed welding slag, so that the splashed area of the welding slag is too large, personal safety is easily affected, and the surrounding working environment is affected;

4. the comparison document CN210046200U discloses a six-axis special welding robot, which comprises a base, a large arm and a small arm, wherein the upper end of the base is rotatably provided with a rotating platform through a first motor, the large arm is rotatably arranged at the upper end of the rotating platform, the lower side of the large arm is provided with a large arm power mechanism, the upper end of the large arm is movably connected with the small arm through an elbow joint structure, and the other end of the small arm is rotatably provided with an electric welding head through a wrist joint structure; the large arm power mechanism is composed of a fixed sliding rail, a sliding rod, a supporting rod and an air pump, the fixed sliding rail is fixedly welded on the lower side wall of the large arm, the sliding rod is arranged on the inner side of the fixed sliding rail in a sliding mode, and the sliding rod is fixedly connected with the end portion of the air pump through the supporting rod. The support of the motor for the auxiliary assemblies on the large arm and the large arm is avoided, the stability of power output of the large arm is guaranteed, and therefore the stability of deflection activity of the large arm is guaranteed. However, the device lacks a component for additionally supplementing the height of the main body component of the device, and when the device is used for welding an object with a higher block, the six-axis machine has a smaller moving range and is inconvenient for welding the object.

Disclosure of Invention

The present invention is directed to a mobile welding apparatus for a six-axis robot having a guide structure to solve the above-mentioned problems of the background art.

In order to achieve the purpose, the invention provides the following technical scheme: a six axis of robot with guide structure are with portable welding equipment, includes base, bottom plate and treater, install two sets of bull sticks of arranging side by side around the base, the walking wheel is all installed at the front and the back of bull stick, and one of them group the surface mounting of bull stick has gear one, the bottom plate is installed to the diapire of base, two-way motor is installed at the top of bottom plate, the pivot is installed to two-way motor's output, the surface mounting of pivot has gear two, and gear two passes through tooth's socket coordination with gear one and is connected, multiunit ultrasonic sensor is evenly installed to the inner wall of base, the top of base is installed the top frame, laser guide radar is installed to one side outer wall of top frame;

the processor is arranged on the bottom wall of the base and is positioned on one side of the bottom plate;

two groups of fixing plates which are arranged side by side are arranged on the front surface of the top frame.

Preferably, the top of top frame is provided with the ring channel, and the movable frame is installed at the top of top frame, and the bottom of movable frame extends the inside that gets into the ring channel, and the linkage plate is installed at the top of movable frame, and two sets of drums of arranging side by side are installed to the top of movable frame, and two sets of drums are located the both sides of linkage plate respectively, the rotation motor is installed to the diapire of drum, and the output that rotates the motor is installed axostylus axostyle one, and the rotary column is installed at the top of axostylus axostyle one, and the top of rotary column extends the inside of drum, and the back mounted of rotary column has electric telescopic tube, and the back mounted of electric telescopic tube has a linking piece, links up the bottom of piece and installs electronic hydraulic stem.

Preferably, the holding down plate is installed to the bottom of electronic hydraulic stem, and the bottom of holding down plate is provided with the shifting chute of arranging around two sets of, and micro motor is all installed at the front and the back of holding down plate, and axostylus axostyle two is installed to micro motor's output, and the threaded rod is installed to the tail end of axostylus axostyle two, and the tail end of threaded rod runs through the inside of shifting chute, and the slider is installed through the screw gomphosis to the surface of threaded rod, and the outer wall of slider and the inner wall laminating of shifting chute, and splint are installed to the bottom of slider.

Preferably, six machine main parts are installed at the top of linking plate, and the back mounted of six machine main parts has the link ring, and the welding rifle is installed at the top of link ring, and the bottom of welding rifle runs through the inside of link ring, and two sets of electric telescopic handle who arranges about the top of link ring is installed, and two sets of electric telescopic handle are located the both sides of welding rifle respectively, and the translucent cover is installed at electric telescopic handle's top, and the surrounding of translucent cover is in the outside of link ring.

Preferably, the top of top frame is provided with the recess, and inside the recess was located the ring channel and encloses the space that closes the formation, four groups of electric putter that are square arrangement were evenly installed to the diapire of recess, and electric putter's top and the roof laminating of movable frame.

Preferably, it is two sets of the solid fixed ring of arranging around two sets of all are installed to the surface of bull stick, and wherein two sets of solid fixed ring's surface mounting has the V-belt, and the inner wall of two sets of V-belts respectively with the outer wall laminating of other two sets of solid fixed rings, radiator fan is installed to one side inner wall of base, and storage battery is installed to the diapire of base, and storage battery is located the one side that the treater is close to the bottom plate.

Preferably, the surface mounting of treater encloses the frame, encloses the bottom of frame and evenly installs the multiunit backup pad, and the connecting plate is installed to the bottom of backup pad, and the bottom of connecting plate and the diapire laminating of base.

Preferably, wherein a set of the round bar is installed to one side outer wall of fixed plate, and the one end of round bar and the outer wall laminating of another group of fixed plate, the surface mounting of round bar has the fly leaf, and the front of fly leaf is provided with logical groove, and the locking piece is installed in the front of base, and the inside that leads to the groove is run through in the front of locking piece.

Preferably, the working steps of the device are as follows:

s1, when the device works, a bidirectional motor needs to be started, after the bidirectional motor is started, a rotating shaft arranged at the output end of the bidirectional motor can drive a gear II to rotate, the gear II can drive a gear I connected with the gear II through tooth space coordination, a rotating rod provided with the gear I can rotate along with the rotation of the gear I, meanwhile, the rotating rod can transmit rotating force to the other group of rotating rods through a triangular belt, traveling wheels arranged on the front and back of the two groups of rotating rods can rotate along with the rotation of the gear I, then the device can correspondingly move, in the moving process, the surrounding environment information of the device can be obtained through a plurality of groups of ultrasonic sensors arranged on the periphery of a base through the ultrasonic principle, the distance between the device and an obstacle can be detected, and then the device is prevented from colliding with other objects in the moving process;

s2, starting two groups of rotating motors, driving a rotating column and each part arranged on the back surface of the rotating column to rotate for a set angle along a set direction through a shaft lever arranged on an output end of the rotating motors after the rotating motors are started, simultaneously starting an electric telescopic cylinder to extend the length of the electric telescopic cylinder outwards so as to drive each part arranged on the back surface of the electric telescopic cylinder to move towards the direction of the welded object until a lower pressing plate is positioned right above the welded object and stop the operation of the rotating motors and the electric telescopic cylinder, then starting an electric hydraulic rod which takes a motor as a power source, outputting pressure oil through a bidirectional gear pump, controlling an oil circuit manifold block to an oil cylinder to realize the reciprocating motion of a piston rod, driving a lower pressing plate arranged on the bottom of the electric hydraulic rod to move towards the direction of the welded object when the electric hydraulic rod extends outwards, and stopping the operation of the electric hydraulic rod until the bottom of the lower pressing plate is jointed with the welded object, then, starting the two groups of micro motors, wherein a second shaft rod arranged at the output end of the two groups of micro motors can drive a threaded rod to rotate, then the outer surface of the threaded rod can drive the clamping plates to correspondingly move through the sliding blocks arranged in the threaded embedding manner, and the operation of the micro motors is stopped until the clamping plates are contacted with the welded object, and at the moment, the welded object can be fixed by the two groups of lower pressing plates and the four groups of clamping plates and then is convenient to weld;

s3, inputting a welding track in the device, operating a six-axis machine main body, moving a welding gun to the position right above an object to be welded through the six-axis machine main body, starting an electric telescopic rod, correspondingly performing contraction operation on the electric telescopic rod, driving a transparent cover arranged at the top of the electric telescopic rod to move downwards until the transparent cover covers the surrounding area of the welding gun, and then starting the welding gun;

s4, if the welded object is integrally higher, the electric push rod can be started, the electric push rod correspondingly extends upwards, and then the movable frame arranged at the top of the electric push rod drives each part above the movable frame to move upwards, so that the welding device is suitable for the welded object of a high block, and the application range of the welding device is enlarged.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the information of the surrounding environment of the device is obtained by a plurality of groups of ultrasonic sensors arranged around the base by utilizing an ultrasonic principle, and the distance between the device and the obstacle can be detected, so that the device is prevented from colliding with other objects in the advancing process, meanwhile, the laser guide radar can help the device to sense the road environment in the advancing process, so that the driving route can be conveniently and autonomously planned, the relative distance between a target and the device is calculated by utilizing the turn-back time of the laser after encountering the obstacle, so that the device can smoothly pass through the obstacle, and the guiding function is simultaneously played, and the two are mutually combined for use, so that the condition that the device collides with the obstacle in the advancing process can be avoided to a great extent;

2. when the welding clamp is used, when the lower pressing plate is driven by the rotating motor, the electric telescopic cylinder and the electric hydraulic rod to operate to be attached to an object to be welded, two groups of micro motors are started, the second shaft rod arranged at the output end of the two groups of micro motors can drive the threaded rod to rotate, then the outer surface of the threaded rod can drive the clamping plate to correspondingly move through the sliding block arranged in the threaded embedding way, the operation of the micro motors is stopped until the clamping plate is contacted with the object to be welded, at the moment, the object to be welded can be fixed by the two groups of lower pressing plates and the four groups of clamping plates, then the welding is convenient, and the condition that the object deviates when the object is welded is avoided, so that the welding effect is influenced;

3. in the welding gun, when the welding gun is welded, the six-axis machine main body can be started firstly to enable the bottom of the welding gun to be in contact with the surface of an object to be welded, then the electric telescopic rod is started to correspondingly perform contraction operation, and then the transparent cover arranged at the top of the electric telescopic rod is driven to move downwards until the transparent cover covers the surrounding area of the welding gun, so that welding slag generated in the welding process is prevented from splashing around to influence the personal safety, meanwhile, the surrounding environment is influenced, and the time for later-stage workers to pick up the field is increased;

4. when the welding device is used, when the height of a welded object is higher, the device needs to supplement the height additionally, the electric push rod can be started to correspondingly extend upwards, then the movable frame arranged at the top of the electric push rod can be driven to move upwards, the height of each part arranged at the top of the movable frame can be increased relative to the height of the welded object, the moving range of the six-axis machine main body is further enlarged, then the welding operation can be conveniently carried out on the welded object with a higher body block, and the application range and the practicability of the device are further enlarged.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a cross-sectional view of the base of the present invention;

FIG. 3 is a schematic view of the installation structure of the disposer, the enclosure frame and the supporting plate of the present invention;

FIG. 4 is a schematic view of the mounting structure of the fixed plate, the round bar and the movable plate according to the present invention;

FIG. 5 is a schematic view of the mounting structure of the base, the top frame and the movable frame according to the present invention;

FIG. 6 is a schematic view of the six-axis machine body, adapter ring and welding gun mounting arrangement of the present invention;

FIG. 7 is a schematic view of the installation structure of the drum, the rotating motor and the rotating column according to the present invention;

FIG. 8 is a schematic view of the mounting structure of the lower platen and the micro-motor according to the present invention.

In the figure: 1. a base; 101. a rotating rod; 102. a fixing ring; 103. a V-belt; 104. a traveling wheel; 105. a first gear; 106. an ultrasonic sensor; 107. a heat radiation fan; 108. a battery pack; 2. a base plate; 201. a bi-directional motor; 202. a second gear; 3. a processor; 301. enclosing a frame; 302. a support plate; 4. a top frame; 401. a laser guide radar; 402. an annular groove; 403. a groove; 404. an electric push rod; 405. a movable frame; 5. a fixing plate; 501. a round bar; 502. a movable plate; 503. a through groove; 504. a locking block; 6. a connector tile; 601. a six-axis machine body; 602. an adaptor ring; 603. welding a gun; 604. an electric telescopic rod; 605. a transparent cover; 7. a cylinder; 701. rotating the motor; 702. turning the column; 703. an electric telescopic cylinder; 704. a joining block; 705. an electro-hydraulic lever; 8. a lower pressing plate; 801. a moving groove; 802. a micro motor; 803. a threaded rod; 804. a slider; 805. and (4) clamping the plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

as shown in fig. 2 and 3, a mobile welding device with a guide structure for a six-axis robot comprises a base 1, a bottom plate 2 and a processor 3, wherein two groups of rotating rods 101 arranged side by side are installed in front of and behind the base 1, traveling wheels 104 are installed on the front surface and the back surface of each rotating rod 101, a first gear 105 is installed on the outer surface of one group of rotating rods 101, the bottom plate 2 is installed on the bottom wall of the base 1, a two-way motor 201 is installed on the top of the bottom plate 2, a rotating shaft is installed at the output end of the two-way motor 201, a second gear 202 is installed on the outer surface of the rotating shaft, the second gear 202 is connected with the first gear 105 through tooth space coordination, a plurality of groups of ultrasonic sensors 106 are evenly installed on the inner wall of the base 1, a top frame 4 is installed on the top of the base 1, and a laser guide radar 401 is installed on the outer wall of one side of the top frame 4;

specifically, the rotating rod 101 and the base 1 are in a non-fixed installation state and can rotate under the drive of external force, then the traveling wheels 104 can rotate conveniently to follow and realize the function of the device for autonomous traveling, the bottom plate 2 is used for lifting the two-way motor 201, further the second gear 202 installed at the rotating shaft of the two-way motor 201 is prevented from being attached to the bottom wall of the base 1 to influence the rotating effect, when the two-way motor 201 is started, the rotating shaft installed at the output end of the two-way motor can be driven to drive the second gear 202 to rotate after the two gear 202 is started, the first gear 105 connected with the second gear through tooth space coordination can be driven to rotate by the second gear 202, the rotating rod 101 provided with the first gear 105 can rotate along with the rotating of the first gear 105, the device can acquire the surrounding environment information of the device by utilizing the ultrasonic principle through a plurality of groups of ultrasonic sensors 106 installed around the base 1 in the moving process, and can detect the distance between the rotating rod and an obstacle at the same time, avoid this device to collide with other objects at the in-process of marcing then, through hinge connection between top frame 4 and the base 1, can open between the two, be convenient for then overhaul each part of base 1 inside installation, laser direction radar 401 can help this device perception march the road environment of in-process, then make things convenient for the owner to plan the driving route certainly, it utilizes the time of turning back after laser meets the barrier, calculate target and own relative distance, then can help this device to pass the barrier smoothly, can play the effect of direction simultaneously.

Two sets of fixed rings 102 that arrange around all are installed to the surface of two sets of bull sticks 101, and wherein the surface mounting of two sets of fixed rings 102 has V belt 103, and the inner wall of two sets of V belts 103 laminates with the outer wall of other two sets of fixed rings 102 respectively, and radiator fan 107 is installed to one side inner wall of base 1, and storage battery 108 is installed to the diapire of base 1, and storage battery 108 is located the one side that processor 3 is close to bottom plate 2.

Concretely, the surface setting of solid fixed ring 102 is by the tooth's socket with the inside mutual gomphosis of V belt 103, when V belt 103 rotated under the drive of external force, gu fixed ring 102 can drive bull stick 101 and follow the rotation, then be convenient for walking wheel 104 and follow the rotation, then this device can walk according to certain direction, with the position of changing, radiator fan 107 starts the back, the power part of its inside installation of accessible drives the flabellum and rotates, and mix the surrounding air in order to produce wind-force, then accelerate the air flow speed, be used for reducing the produced heat degree when each inside part of base 1 moves, storage battery 108 has the function of saving the electric energy, then provide the electric energy in order to maintain the operation for each electric component in the device.

Treater 3 is installed to base 1's diapire, and treater 3 is located one side of bottom plate 2, and treater 3's surface mounting encloses frame 301, and the bottom that encloses frame 301 evenly installs multiunit backup pad 302, and the connecting plate is installed to the bottom of backup pad 302, and the bottom of connecting plate and base 1's diapire laminating.

Specifically, treater 3 is used for assigning the instruction, receives the instruction, encloses frame 301 and backup pad 302 and is a whole, and its bottom is through connecting plate and base 1 interconnect, and it is used for restricting treater 3, avoids this device to appear the situation of rocking at the in-process treater 3 of marcing to influence its self operation.

Example two:

as shown in fig. 7 and 8, an annular groove 402 is provided at the top of the top frame 4, a movable frame 405 is installed at the top of the top frame 4, the bottom of the movable frame 405 extends into the annular groove 402, a connection plate 6 is installed at the top of the movable frame 405, two sets of cylinders 7 arranged side by side are installed at the top of the movable frame 405, the two sets of cylinders 7 are respectively located at two sides of the connection plate 6, a rotating motor 701 is installed at the bottom wall of the cylinders 7, a first shaft rod is installed at the output end of the rotating motor 701, a rotary column 702 is installed at the top of the first shaft rod, the top of the rotary column 702 extends out of the inside of the cylinders 7, an electric telescopic cylinder 703 is installed at the back of the rotary column 702, a connection block 704 is installed at the back of the electric telescopic cylinder 703, and an electric hydraulic rod 705 is installed at the bottom of the connection block 704.

Specifically, the groove 403 has a certain depth, when the device does not need additional height supplement, the outer walls of four sides of the top frame 4 can be accommodated into the groove 403, the movable frame 405 is convenient for transmitting the upward driving force and the downward pulling force generated when the electric push rod 404 operates to each part installed above the movable frame, the connecting plate 6 is used for installing the six-axis machine main body 601 on the top of the movable frame 405, the cylinder 7 is used for installing the rotating motor 701, the two groups of rotating motors 701 are started, after the starting, the rotating column 702 and each part installed on the back surface thereof can be driven by the shaft rod installed on the output end thereof to rotate for a set angle along a set direction, then the included angle between the lower press plate 8 and the object to be welded can be conveniently adjusted, the electric telescopic cylinder 703 can extend outwards or contract inwards to change the comprehensive length of the electric telescopic cylinder 703, and then the adjustment can be conveniently carried out according to the distance between the objects to be welded, make holding down plate 8 be located by the top of welded object, linking piece 704 is used for installing electronic hydraulic stem 705, make it form a whole in electronic flexible section of thick bamboo 703, be convenient for then link up the distance of adjustment holding down plate 8 with by between the welded object, electronic hydraulic stem 705 uses the motor as the power supply, through the control of two-way gear pump output pressure oil, through the control of oil circuit manifold block, to the hydro-cylinder, and then realize the reciprocating motion of piston rod, when it outwards extends, can drive the holding down plate 8 orientation that its bottom was installed and is moved by the welded object place, until the bottom of holding down plate 8 with by the laminating of welded object, stop the operation of electronic hydraulic stem 705 promptly.

The bottom of electronic hydraulic stem 705 installs holding down plate 8, holding down plate 8's bottom is provided with two sets of shifting chutes 801 that arrange from beginning to end, micro motor 802 is all installed to the front and the back of holding down plate 8, axostylus axostyle two is installed to micro motor 802's output, threaded rod 803 is installed to the tail end of axostylus axostyle two, and the tail end of threaded rod 803 runs through the inside of shifting chute 801, slider 804 is installed through the screw gomphosis to the surface of threaded rod 803, and the outer wall of slider 804 and the inner wall laminating of shifting chute 801, splint 805 are installed to the bottom of slider 804.

Specifically, when the bottom of holding down plate 8 was with by the welding object laminating, start two sets of micro motor 802, the axostylus axostyle two that its output was installed can drive threaded rod 803 and rotate, then the slider 804 that threaded rod 803 surface was installed through the screw gomphosis can drive splint 805 and correspondingly remove, it stops micro motor 802's operation to contact with by the welding object till splint 805, by the welding object can be fixed by two sets of holding down plate 8 this moment, four sets of splint 805, then conveniently weld, avoid when welding the object, the skew situation appears in the object, then influence the welding effect.

Example three:

as shown in fig. 1 and 6, a six-axis machine body 601 is installed on the top of the connection plate 6, a connection ring 602 is installed on the back surface of the six-axis machine body 601, a welding gun 603 is installed on the top of the connection ring 602, the bottom of the welding gun 603 penetrates through the inside of the connection ring 602, two sets of electric telescopic rods 604 arranged left and right are installed on the top of the connection ring 602, the two sets of electric telescopic rods 604 are respectively located on two sides of the welding gun 603, a transparent cover 605 is installed on the top of the electric telescopic rods 604, and the transparent cover 605 surrounds the connection ring 602.

Specifically, the six-axis machine main body 601 comprises an executing mechanism, a driving system and a control system, and is characterized in that under the condition of PLC program control, a pneumatic transmission mode is adopted to realize the actions of specified requirements, sequence, motion trail, speed and time of corresponding parts of the executing mechanism, the actions can realize six degrees of freedom and can grab any position and direction in a space, in the device, the welding gun 603 can be driven to run to a welded object, then the welding operation is convenient to carry out, a connecting ring 602 is used for installing the welding gun 603 at the tail end of the six-axis machine main body 601, the welding gun 603 can carry out the welding operation of the object after being started, an electric telescopic rod 604 can carry out upward extension or downward contraction operation after being started, then a transparent cover 605 arranged at the top of the electric telescopic rod can be driven to correspondingly move up and down, when the welding operation is carried out, the transparent cover 605 can cover the outer surface of the welding gun 603, the waste residue produced in the welding process can be prevented from splashing everywhere, and meanwhile, the waste residue is transparent, so that the situation that workers observe the working condition of the welding gun 603 is not influenced.

Example four:

as shown in fig. 4 and 5, a groove 403 is provided at the top of the top frame 4, the groove 403 is located inside a space enclosed by the annular groove 402, four sets of electric push rods 404 arranged in a square shape are uniformly installed on the bottom wall of the groove 403, and the top of the electric push rods 404 is attached to the top wall of the movable frame 405.

Specifically, the groove 403 has a certain depth, which provides a suitable place for installing the electric push rod 404, so that the electric push rod 404 can directly act on the movable frame 405, the electric push rod 404 can selectively extend upwards or contract downwards after being started, and then the movable frame 405 installed at the top of the electric push rod is driven to correspondingly move upwards or downwards.

Two sets of fixed plates 5 that arrange side by side are installed to the front of top frame 4, and round bar 501 is installed to one side outer wall of one set of fixed plate 5, and the one end of round bar 501 and the outer wall laminating of another set of fixed plate 5, and the surface mounting of round bar 501 has fly leaf 502, and the front of fly leaf 502 is provided with logical groove 503, and locking piece 504 is installed to the front of base 1, and the front of locking piece 504 runs through the inside that leads to groove 503.

Specifically, the fixed plate 5 is used for mounting the round bar 501, the round bar 501 and the movable plate 502 are in a non-fixed fit state, when a user applies forward or backward rotating force to the movable plate 502, the round bar 501 can rotate on the outer surface of the round bar 501, when the movable plate 502 is in a vertically downward state, the front surface of the locking block 504 can penetrate through the inside of the through groove 503, and when backward turning force is applied to the top frame 4, the locking block cannot be opened from the top of the base 1.

Specifically, the working steps of the device are as follows:

s1, when the device works, a bidirectional motor 201 needs to be started, after the bidirectional motor 201 is started, a rotating shaft arranged at the output end of the bidirectional motor can drive a second gear 202 to rotate, then the second gear 202 can drive a first gear 105 connected with the second gear through tooth space coordination, when the first gear 105 rotates, a rotating rod 101 provided with the first gear 105 can rotate along with the rotating rod, meanwhile, the rotating rod 101 can transmit rotating force to the other group of rotating rods 101 through a triangular belt 103, then travelling wheels 104 arranged on the front surface and the back surface of the two groups of rotating rods 101 can rotate along with the rotating rod, then the device can correspondingly move, and in the moving process, the surrounding environment information of the device can be obtained through a plurality of groups of ultrasonic sensors 106 arranged around a base 1 by utilizing an ultrasonic principle, meanwhile, the distance between the device and an obstacle can be detected, and then the device is prevented from colliding with other objects in the moving process;

s2, starting two groups of rotating motors 701, driving a rotating column 702 and all components mounted on the back surface of the rotating column to rotate for a set angle along a set direction through a shaft rod I mounted on an output end of the rotating motors 701 after the rotating motors 701 are started, simultaneously starting an electric telescopic cylinder 703, extending the length of the electric telescopic cylinder outwards, driving all the components mounted on the back surface of the electric telescopic cylinder to move towards the direction of the welded object until a lower pressing plate 8 is positioned right above the welded object, stopping the operation of the rotating motors 701 and the electric telescopic cylinder 703, then starting an electric hydraulic rod 705, outputting pressure oil by using a motor as a power source through a bidirectional gear pump, controlling the oil way manifold block to an oil cylinder, realizing the reciprocating motion of a piston rod, driving the lower pressing plate 8 mounted at the bottom of the electric hydraulic rod to move towards the direction of the welded object when the electric hydraulic rod 705 extends outwards, stopping the operation of the electric hydraulic rod 705 until the bottom of the lower pressing plate 8 is attached to the welded object, then, the two groups of micro motors 802 are started, the second shaft rod installed at the output end of the two groups of micro motors 802 can drive the threaded rod 803 to rotate, then the outer surface of the threaded rod 803 can drive the clamping plate 805 to correspondingly move through the sliding block 804 installed in a threaded embedding manner until the clamping plate 805 is contacted with the object to be welded, and then the operation of the micro motors 802 is stopped, at the moment, the object to be welded can be fixed by the two groups of lower pressing plates 8 and the four groups of clamping plates 805, and then the welding is conveniently carried out;

s3, inputting a welding track in the device, operating the six-axis machine main body 601, moving the welding gun 603 to the position right above an object to be welded through the six-axis machine main body 601, starting the electric telescopic rod 604, correspondingly performing contraction operation, driving the transparent cover 605 arranged at the top of the electric telescopic rod to move downwards until the transparent cover 605 covers the surrounding area of the welding gun 603, and then starting the welding gun 603;

s4, if the welded object is integrally higher, the electric push rod 404 can be started, and correspondingly extends upwards, and then the movable frame 405 mounted at the top of the electric push rod drives each part above the electric push rod to move upwards, so that the welding device is suitable for the welded object of a high block, and the application range of the welding device is enlarged.

The working principle is as follows: the device starts a bidirectional motor 201, then a rotating shaft arranged at the output end of the device can drive a gear II 202 to rotate, then the rotating force can be transmitted to a walking wheel 104 through a gear I105, a triangular belt 103 and a rotating rod 101, then the device can correspondingly move, in the moving process, the surrounding environment information of the device can be obtained through a plurality of groups of ultrasonic sensors 106 arranged around a base 1 by utilizing the ultrasonic principle, meanwhile, the distance between the device and an obstacle can be detected, and then the device is prevented from colliding with other objects in the moving process, a laser guide radar 401 can help the device to sense the road environment in the moving process and is matched with the ultrasonic sensors 106 for use, the condition that the device collides with the obstacle in the moving process can be avoided, and the pressing plate 8 can be conveniently contacted with the welded object through the operation of the rotating motor 701, the electric telescopic cylinder 703 and the electric hydraulic rod 705, then, the two groups of micro motors 802 are started, the second shaft rod installed at the output end of the two groups of micro motors 802 can drive the threaded rod 803 to rotate, the sliding block 804 installed on the outer surface of the threaded rod 803 through thread embedding can drive the clamping plate 805 to move correspondingly until the clamping plate 805 is contacted with the object to be welded, the micro motors 802 stop running, the object to be welded can be fixed by the two groups of lower pressing plates 8 and the four groups of clamping plates 805 at the moment, and welding is convenient to carry out, before the welding gun 603 is welded, the electric telescopic rod 604 needs to be started, and when the electric telescopic rod is contracted, the transparent cover 605 installed at the top of the electric telescopic rod can be driven to move downwards until the transparent cover 605 covers the surrounding area of the welding gun 603, and then welding slag generated in the welding process is prevented from splashing around.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a six axis robot is with portable welding equipment with guide structure, includes base (1), bottom plate (2) and treater (3), its characterized in that: the ultrasonic wave radar detection device is characterized in that two groups of rotating rods (101) arranged side by side are installed around the base (1), walking wheels (104) are installed on the front face and the back face of each rotating rod (101), one group of rotating rods (101) are provided with a first gear (105), the bottom wall of the base (1) is provided with a bottom plate (2), a two-way motor (201) is installed at the top of the bottom plate (2), the output end of the two-way motor (201) is provided with a rotating shaft, a second gear (202) is installed on the outer surface of the rotating shaft and is connected with the first gear (105) through tooth socket coordination, a plurality of groups of ultrasonic sensors (106) are evenly installed on the inner wall of the base (1), a top frame (4) is installed at the top of the base (1), and a laser guide radar (401) is installed on the outer wall of one side of the top frame (4);

the processor (3) is arranged on the bottom wall of the base (1), and the processor (3) is positioned on one side of the bottom plate (2);

two groups of fixing plates (5) which are arranged side by side are arranged on the front surface of the top frame (4).

2. The mobile welding apparatus for six-axis robot with guide structure according to claim 1, wherein: the top of the top frame (4) is provided with an annular groove (402), the top of the top frame (4) is provided with a movable frame (405), the bottom of the movable frame (405) extends into the annular groove (402), the top of the movable frame (405) is provided with a connecting plate (6), the top of the movable frame (405) is provided with two groups of cylinders (7) which are arranged side by side, two groups of cylinders (7) are respectively positioned at two sides of the connecting plate (6), a rotating motor (701) is arranged on the bottom wall of each cylinder (7), a first shaft rod is arranged at the output end of the rotating motor (701), a rotating column (702) is arranged at the top of the first shaft rod, and the top of the rotary column (702) extends out of the interior of the cylinder (7), the back surface of the rotary column (702) is provided with an electric telescopic cylinder (703), the back surface of the electric telescopic cylinder (703) is provided with a connecting block (704), and the bottom of the connecting block (704) is provided with an electric hydraulic rod (705).

3. The mobile welding apparatus for six-axis robot with guide structure according to claim 2, wherein: holding down plate (8) are installed to the bottom of electronic hydraulic stem (705), the bottom of holding down plate (8) is provided with two sets of shifting chute (801) of arranging around, micro motor (802) are all installed to the front and the back of holding down plate (8), axostylus axostyle two is installed to micro motor's (802) output, threaded rod (803) are installed to the tail end of axostylus axostyle two, and the tail end of threaded rod (803) runs through the inside of shifting chute (801), slider (804) are installed through the screw gomphosis to the surface of threaded rod (803), and the outer wall of slider (804) and the inner wall laminating of shifting chute (801), splint (805) are installed to the bottom of slider (804).

4. The mobile welding apparatus for six-axis robot with guide structure according to claim 2, wherein: six machine main parts (601) are installed at the top of linkage plate (6), the back mounted of six machine main parts (601) has linkage ring (602), welding rifle (603) are installed at the top of linkage ring (602), and the inside of linkage ring (602) is run through to the bottom of welding rifle (603), electric telescopic handle (604) of arranging about two sets of are installed at the top of linkage ring (602), and two sets of electric telescopic handle (604) are located the both sides of welding rifle (603) respectively, translucent cover (605) are installed at the top of electric telescopic handle (604), and encircleing in the outside of linkage ring (602) of translucent cover (605).

5. The mobile welding apparatus for six-axis robot with guide structure according to claim 1, wherein: the top of top frame (4) is provided with recess (403), and inside recess (403) were located annular groove (402) and enclosed the space that closes the formation, four groups of electric putter (404) that are square arrangement were evenly installed to the diapire of recess (403), and the roof laminating of the top of electric putter (404) and activity frame (405).

6. The mobile welding apparatus for six-axis robot with guide structure according to claim 1, wherein: two sets of solid fixed ring (102) of arranging around two sets of all are installed to the surface of bull stick (101), wherein the surface mounting of two sets of solid fixed ring (102) has V belt (103), and the inner wall of two sets of V belt (103) is laminated with the outer wall of other two sets of solid fixed ring (102) respectively, and radiator fan (107) are installed to one side inner wall of base (1), and storage battery (108) are installed to the diapire of base (1), and storage battery (108) are located one side that treater (3) are close to bottom plate (2).

7. The mobile welding apparatus for six-axis robot with guide structure according to claim 1, wherein: the surface mounting of treater (3) encloses frame (301), and the bottom of enclosing frame (301) evenly installs multiunit backup pad (302), and the connecting plate is installed to the bottom of backup pad (302), and the bottom of connecting plate and the diapire laminating of base (1).

8. The mobile welding apparatus for six-axis robot with guide structure according to claim 1, wherein: wherein a set of pole (501) are installed to one side outer wall of fixed plate (5), and the one end of pole (501) and the outer wall laminating of another group fixed plate (5), and the surface mounting of pole (501) has fly leaf (502), and the front of fly leaf (502) is provided with logical groove (503), and locking piece (504) are installed to the front of base (1), and the inside of logical groove (503) is run through in the front of locking piece (504).

9. The mobile welding apparatus for six-axis robot with guide structure according to any one of claims 1 to 8, wherein the working steps of the apparatus are as follows:

s1, when the device works, a bidirectional motor (201) needs to be started, after the bidirectional motor is started, a rotating shaft arranged at the output end of the bidirectional motor can drive a gear II (202) to rotate, then the gear II (202) can drive a gear I (105) connected with the gear II through tooth space coordination, when the gear I (105) rotates, a rotating rod (101) provided with the gear I (105) can rotate along with the gear II, meanwhile, the rotating rod (101) can transmit rotating force to the other group of rotating rods (101) through a triangular belt (103), then traveling wheels (104) arranged on the front surface and the back surface of the two groups of rotating rods (101) can rotate along with the gear II, then the device can correspondingly move, in the moving process, the plurality of groups of ultrasonic sensors (106) arranged around a base (1) can be used for acquiring surrounding environment information of the device by utilizing an ultrasonic principle, and the distance between the device and an obstacle can be detected at the same time, so as to avoid the collision of the device with other objects in the advancing process;

s2, starting two groups of rotating motors (701), driving a rotating column (702) and each part arranged on the back surface of the rotating column to rotate for a set angle along a set direction through a shaft rod arranged on an output end of the rotating motors (701) after the rotating motors (701) are started, and simultaneously starting an electric telescopic cylinder (703) to extend the length outwards to drive each part arranged on the back surface of the electric telescopic cylinder to move towards the direction of the welded object until a lower pressing plate (8) is positioned right above the welded object and the operation of the rotating motors (701) and the electric telescopic cylinder (703) is stopped, then starting an electric hydraulic rod (705), using a motor as a power source, outputting pressure oil through a bidirectional gear pump, controlling an oil circuit integrated block to an oil cylinder to realize the reciprocating motion of a piston rod, and driving the lower pressing plate (8) arranged at the bottom of the electric hydraulic rod to move towards the direction of the welded object when the electric telescopic cylinder extends outwards, the operation of the electric hydraulic rod (805) is stopped until the bottom of the lower pressing plate (8) is attached to the welded object, then two groups of micro motors (802) are started, a second shaft rod arranged at the output end of the second shaft rod can drive the threaded rod (803) to rotate, then the outer surface of the threaded rod (803) can drive the clamping plate (805) to correspondingly move through the sliding block (804) embedded and arranged through threads until the clamping plate (805) is contacted with the welded object, and then the operation of the micro motors (802) is stopped, at the moment, the welded object can be fixed by the two groups of lower pressing plates (8) and the four groups of clamping plates (805), and then the welding is convenient;

s3, inputting a welding track in the device, operating a six-axis machine main body (601), moving a welding gun (603) to a position right above an object to be welded through the six-axis machine main body, starting an electric telescopic rod (604), correspondingly performing contraction operation, driving a transparent cover (605) arranged at the top of the electric telescopic rod to move downwards until the transparent cover (605) covers the surrounding area of the welding gun (603), and then starting the welding gun (603);

s4, if the welded object is integrally higher, the electric push rod (404) can be started, the electric push rod correspondingly extends upwards, and then the movable frame (405) mounted at the top of the electric push rod drives all parts above the electric push rod to move upwards, so that the device is suitable for the welded object of a high block, and the application range of the device is enlarged.