CN116871763B - Welding device for door type robot - Google Patents

Welding device for door type robot Download PDF

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Publication number
CN116871763B
CN116871763B CN202311143096.2A CN202311143096A CN116871763B CN 116871763 B CN116871763 B CN 116871763B CN 202311143096 A CN202311143096 A CN 202311143096A CN 116871763 B CN116871763 B CN 116871763B
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CN
China
Prior art keywords
driving
sliding
fixedly connected
motor
welding
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CN202311143096.2A
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Chinese (zh)
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CN116871763A (en
Inventor
郝忠敏
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Harbin Wanjinlong Steel Structure Engineering Co ltd
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Harbin Wanjinlong Steel Structure Engineering Co ltd
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Priority to CN202311143096.2A priority Critical patent/CN116871763B/en
Publication of CN116871763A publication Critical patent/CN116871763A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/08—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for flash removal

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Resistance Welding (AREA)

Abstract

The invention is applicable to the field of welding robots, and provides a door type robot welding device, which comprises a bottom plate and further comprises: the adjustable door frame is arranged on the bottom plate, and can move back and forth and lift. According to the invention, the adjustable portal frame and the mechanical arm assembly are arranged, so that the welding gun can have more degrees of freedom, the welding gun can be moved to any position, and for various workpieces, the welding gun can accurately reach the position to be welded, and the welding gun is more flexible to use and operate; by arranging the clamping assembly, the device can weld different positions on the same workpiece, does not need to manually reposition the workpiece, is more convenient to use and improves the working efficiency; after the workpiece is fixed, the device can also blow ash on the surface of the workpiece, and welding slag generated during welding can be blown away during welding, so that the phenomenon that the quality of the workpiece is reduced due to the fact that the welding slag falls onto the workpiece is avoided.

Description

Welding device for door type robot
Technical Field
The invention belongs to the field of welding robots, and particularly relates to a door type robot welding device.
Background
With the development of innovative technologies, in recent years, the degree of automation of a welding machine has been greatly developed, and the initial manipulator welding is developed to the program controlled automatic welding, so that the intelligent welding of a robot is developed to the present day. Welding robots mainly comprise two parts, a robot part, which is usually mounted on the ground, and a welding device, which is mounted at the end of the robot, which usually has a number of degrees of freedom in order to move the welding gun to any position.
In the current welding production, workpieces with large structures, irregular shapes and complex welding seam requirements are often encountered, at this time, a common welding robot cannot meet the welding requirements, the moving angle of the welding robot has limitation, at this time, the workpieces to be welded are required to be manually assisted to be conveyed, then the workpieces to be welded are repositioned, and the welding robot is used for welding.
To avoid the above-mentioned problems, it is necessary to provide a welding device for a portal robot to overcome the drawbacks of the prior art.
Disclosure of Invention
The invention aims to provide a door type robot welding device, which aims to solve the problem of low working efficiency caused by the fact that the welding angle of the existing welding robot is limited and manual auxiliary positioning is needed.
The invention is realized in that a door type robot welding device comprises a bottom plate and also comprises:
the adjustable door frame is arranged on the bottom plate and can move back and forth and lift;
the mechanical arm assembly is arranged on the adjustable door frame, a welding gun is arranged at the tail end of the mechanical arm assembly, the adjustable door frame is used for driving the mechanical arm assembly to move and lift so as to weld workpieces with different sizes and different positions of the workpieces, and the mechanical arm assembly can horizontally move on the adjustable door frame, so that the device can continuously weld the workpieces with larger lengths;
the clamping mechanism is arranged on the bottom plate and used for clamping and fixing the workpiece, and when in welding, the clamping mechanism can blow the workpiece, so that dust on the surface of the workpiece and welding slag generated in the welding process are blown away.
Further technical scheme, adjustable portal includes:
the two sliding rails are respectively and fixedly connected to the two sides of the top of the bottom plate;
the two sliding sleeves are respectively connected in the two sliding rails in a sliding way;
the two lifting rods are respectively connected in the two sliding sleeves in a sliding manner;
the transverse plate is fixedly connected to the tops of the two lifting rods;
the two first adjusting mechanisms are respectively arranged on the two sliding rails, the output ends of the first adjusting mechanisms are in transmission connection with the sliding sleeve, and the first adjusting mechanisms are used for driving the sliding sleeve to move along the sliding rails;
the two second adjusting mechanisms are respectively arranged in the two sliding sleeves, the output ends of the second adjusting mechanisms are in transmission connection with the lifting rod, and the second adjusting mechanisms are used for driving the lifting rod to lift.
According to a further technical scheme, the first adjusting mechanism comprises a first motor fixedly arranged on the sliding rail, an output shaft of the first motor is fixedly connected with a first screw rod, and the first screw rod is in threaded connection with the sliding sleeve;
the second adjusting mechanism comprises a second motor fixedly connected inside the sliding sleeve, an output shaft of the second motor is fixedly connected with a second screw rod, and the second screw rod is in threaded connection with the lifting rod.
Further technical scheme, the arm assembly includes:
the first sliding block is connected to the transverse plate in a sliding manner;
the fixed cylinder is fixedly connected to the bottom of the first sliding block through a connecting block, and a first sliding groove for the connecting block to move is formed in the transverse plate;
the output end of the third adjusting mechanism is in transmission connection with the first sliding block, and the third adjusting mechanism is used for driving the first sliding block to move;
the rotating block is rotationally connected to the inside of the fixed cylinder;
the welding gun is fixedly arranged at the tail end of the mechanical arm body, and the fourth adjusting mechanism is used for driving the mechanical arm body to move;
and the output shaft of the fifth motor is fixedly connected to the rotating block.
According to a further technical scheme, the third adjusting mechanism comprises a third motor fixedly installed on the transverse plate, an output shaft of the third motor is fixedly connected with a third screw rod, and the third screw rod is in threaded connection with the first sliding block.
Further technical scheme, fourth adjustment mechanism is including seting up the second spout in the rotor block bottom, the inside sliding connection of second spout has the second slider, the bottom at the second slider is installed to the arm body, the inside fixed mounting of rotor block has the fourth motor, the output shaft fixedly connected with fourth screw rod of fourth motor, fourth screw rod and second slider threaded connection.
Further technical scheme, fixture includes two clamping assembly, two clamping assembly symmetry sets up on the bottom plate, two clamping assembly cooperation is with work piece centre gripping and fixed, clamping assembly includes:
the mounting table is fixedly connected to the bottom plate;
the top of the mounting table is provided with a third sliding groove, and the extension block is connected in the third sliding groove in a sliding way;
the clamping disc is rotationally connected to the extension block through a connecting column, a plurality of fourth sliding grooves are formed in the side face of the clamping disc, and clamping blocks are slidably connected to the inner parts of the fourth sliding grooves;
the first driving mechanism is arranged on the extension block, the output end of the first driving mechanism is in transmission connection with the connecting column, and the first driving mechanism is used for driving the connecting column to rotate, and the connecting column drives the clamping disc to rotate, so that a workpiece fixed on the clamping disc can rotate;
the second driving mechanism is arranged on the clamping disc, the output end of the second driving mechanism is in transmission connection with the clamping blocks, and the second driving mechanism is used for driving the clamping blocks to move in opposite directions or in opposite directions, so that the clamping blocks can clamp and fix a workpiece;
the driving soot blowing mechanism is arranged on the mounting table, the output end of the driving soot blowing mechanism is in transmission connection with the extending block, and the driving soot blowing mechanism is used for driving the extending block to move in the fourth chute so as to enable the two clamping discs to be close to each other, and after the workpiece is clamped, the output end of the driving soot blowing mechanism can also intermittently blow;
the device comprises a clamping disc, a plurality of air hoses, a plurality of connecting columns and a plurality of soot blowing mechanisms, wherein one ends of the air hoses are connected to the clamping disc, the other ends of the air hoses are respectively connected to the side faces of the clamping blocks, an air blowing opening communicated with the air hoses is formed in the clamping blocks, the air blowing opening faces towards the middle of the adjustable gantry, first air holes are formed in the connecting columns and the inner portions of the clamping disc, and the air hoses are communicated with the output ends of the soot blowing mechanisms through the first air holes.
According to a further technical scheme, the first driving mechanism comprises a sixth motor fixedly installed on the extension block, the output shaft of the sixth motor is fixedly connected with a first gear, the connecting column is fixedly connected with a second gear, and the first gear and the second gear are in meshed connection.
Further technical scheme, second actuating mechanism includes a plurality of fifth screw rods of swivelling joint in the fourth spout, a plurality of fifth screw rods respectively with a plurality of clamp splice threaded connection, the cavity has been seted up to the inside of grip pad, a plurality of the one end that the fifth screw rod stretches into in the cavity is all fixedly connected with first conical gear, the inside fixed mounting of cavity has the seventh motor, the output shaft fixedly connected with second conical gear of seventh motor, second conical gear and a plurality of first conical gear all meshing are connected.
Further technical scheme, the drive soot blowing mechanism includes:
an eighth motor fixedly mounted on a side surface of the mounting table;
the rotating cylinder is fixedly connected to the output shaft of the eighth motor, the top of the mounting table is provided with a mounting groove, and the rotating cylinder is positioned in the mounting groove;
the driving cover is rotationally connected to the inside of the rotating cylinder, a convex air cavity is arranged on the side face of the driving cover, and the whole section of the driving cover is convex;
the sixth screw is rotationally connected to the inside of the third sliding groove, the sixth screw is in threaded connection with the extension block, one end of the sixth screw extending into the mounting groove is fixedly connected to the side face of the driving cover, a second air conveying hole is formed in the sixth screw, and the first air conveying hole is communicated with the air cavity through the second air conveying hole;
the driving seat is fixedly connected to the inside of the rotating cylinder;
the driving pipe is connected inside the driving seat in a sliding way, the inner wall of the driving seat is fixedly connected with a fixed key, and the side wall of the driving pipe is provided with an adaptive key slot;
the driving plate is fixedly connected to one end of the driving pipe, a compression spring is connected between the driving plate and the driving seat, a plurality of poking teeth are fixedly connected to the side face, close to the driving cover, of the driving plate, the poking teeth are uniformly distributed around the axis of the driving plate, and a plurality of limiting teeth matched with the poking teeth are fixedly connected to the inner wall of the driving cover;
the piston plate is fixedly connected to the driving plate through a connecting rod and is slidably connected to the inside of the air cavity.
Compared with the prior art, the invention has the following beneficial effects:
1. the first motor drives the first screw rod to rotate, the first screw rod drives the sliding sleeve to move, the sliding sleeve drives the welding gun to move forwards and backwards, the side surface of a workpiece can be welded, the second motor drives the second screw rod to rotate, and the second screw rod drives the lifting rod to lift, so that the height of the workpiece to be welded can be adjusted according to the size of the workpiece to be welded;
2. when a strip-shaped welding seam is to be welded, the end part of the welding gun is in contact with a workpiece, the third motor drives the third screw rod to rotate, and the third screw rod drives the first sliding block to move, so that the welding gun can move along the length direction of the workpiece, namely, the welding gun can continuously weld the workpiece;
3. when a circular welding seam is required to be welded, the fourth motor drives the fourth screw rod to rotate, the fourth screw rod drives the second sliding block to move, the second sliding block drives the mechanical arm body to move, so that the distance from the mechanical arm body to the axis of the fixed cylinder can be adjusted, then the fifth motor drives the rotating block to rotate, the rotating block drives the mechanical arm body and the welding gun to rotate around the axis of the rotating block, and therefore the circular welding seam can be welded on a workpiece very accurately, and when the workpiece is an irregular body, the mechanical arm body can be operated to adjust the position of the welding gun, and the welding machine can be suitable for welding of most workpieces;
4. when the welding position of the workpiece is to be changed, the sixth motor drives the first gear to rotate, the first gear drives the second gear to rotate, the second gear drives the connecting column to rotate, the connecting column drives the clamping disc to rotate, and the clamping disc can drive the workpiece to turn over, so that different positions on the same workpiece can be welded, the workpiece does not need to be manually repositioned, the use is more convenient, and the working efficiency is improved;
5. after the workpiece is clamped and fixed, the sixth screw rod, the driving cover and the limiting teeth are blocked and cannot rotate, the eighth motor still drives the driving plate and the stirring teeth to rotate, so that the driving plate rotates relative to the driving cover, and under the action of the limiting teeth and the stirring teeth, the driving plate drives the piston plate to do reciprocating horizontal movement in the air cavity through the connecting rod, so that the piston plate continuously extrudes the air cavity, the air cavity is intermittently blown, the blown air flow passes through the second air transmission hole, the first air transmission hole and the air transmission hose in sequence and is blown out from the air blowing port, the air flow can blow dust on the surface of the workpiece, dust and welding slag on the surface of the workpiece are blown off, the phenomenon that the dust affects the welding quality of the workpiece is avoided, and during subsequent welding, the air flow also blows off the welding slag, and the phenomenon that the welding slag falls onto the workpiece is avoided, and the quality of the workpiece is reduced.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic elevational cross-sectional structure of the present invention;
FIG. 3 is an enlarged schematic view of the structure of FIG. 2A according to the present invention;
FIG. 4 is a schematic perspective view of a clamping assembly according to the present invention;
FIG. 5 is a schematic cross-sectional elevation view of a clamping assembly of the present invention;
FIG. 6 is an enlarged schematic view of the structure of FIG. 5B according to the present invention;
FIG. 7 is a schematic perspective view of a driving plate according to the present invention;
fig. 8 is an enlarged view of fig. 5C according to the present invention.
In the accompanying drawings: 1. a bottom plate; 2. an adjustable gantry; 21. a slide rail; 22. a sliding sleeve; 23. a lifting rod; 24. a cross plate; 25. a first adjustment mechanism; 251. a first motor; 252. a first screw; 26. a second adjustment mechanism; 261. a second motor; 262. a second screw; 3. a robotic arm assembly; 31. a first slider; 32. a fixed cylinder; 33. a third adjustment mechanism; 331. a third motor; 332. a third screw; 34. a rotating block; 35. a fourth adjustment mechanism; 351. a second chute; 352. a second slider; 353. a fourth motor; 354. a fourth screw; 36. a robot arm body; 37. a fifth motor; 4. a welding gun; 5. a clamping assembly; 51. a mounting table; 52. an extension block; 53. a clamping plate; 54. clamping blocks; 55. a first driving mechanism; 551. a sixth motor; 552. a first gear; 553. a second gear; 56. a second driving mechanism; 561. a fifth screw; 562. a first bevel gear; 563. a seventh motor; 564. a second bevel gear; 57. driving a soot blowing mechanism; 571. an eighth motor; 572. a rotating cylinder; 573. a drive housing; 574. an air cavity; 575. a sixth screw; 576. a second gas delivery port; 577. a driving seat; 578. a driving tube; 579. a driving plate; 5710. a compression spring; 5711. stirring teeth; 5712. limiting teeth; 5713. a piston plate; 5714. a connecting rod; 5715. a mounting groove; 58. a gas hose; 59. an air blowing port; 510. and (5) connecting the columns.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1 to 8, a welding device for a door type robot provided by the invention comprises a bottom plate 1, and further comprises:
an adjustable door frame 2, wherein the adjustable door frame 2 is arranged on the bottom plate 1, and the adjustable door frame 2 can move back and forth and can lift;
the mechanical arm assembly 3 is arranged on the adjustable door frame 2, a welding gun 4 is arranged at the tail end of the mechanical arm assembly 3, the adjustable door frame 2 is used for driving the mechanical arm assembly 3 to move and lift so as to weld workpieces with different sizes and different positions of the workpieces, and the mechanical arm assembly 3 can horizontally move on the adjustable door frame 2, so that the device can continuously weld the workpieces with larger lengths;
the clamping mechanism is arranged on the bottom plate 1 and used for clamping and fixing a workpiece, and when in welding, the clamping mechanism can blow air to the workpiece, so that dust on the surface of the workpiece and welding slag generated in the welding process are blown away, and the quality of the workpiece is prevented from being influenced by the fact that the welding slag and metal scraps fall onto the workpiece.
In an embodiment of the present invention, as shown in fig. 1-2, as a preferred embodiment of the present invention, the adjustable mast 2 includes:
the two sliding rails 21 are respectively and fixedly connected to the two sides of the top of the bottom plate 1;
two sliding sleeves 22, wherein the two sliding sleeves 22 are respectively and slidably connected inside the two sliding rails 21;
two lifting rods 23, wherein the two lifting rods 23 are respectively and slidably connected inside the two sliding sleeves 22;
the transverse plate 24 is fixedly connected to the tops of the two lifting rods 23;
the two first adjusting mechanisms 25 are respectively arranged on the two sliding rails 21, the output ends of the first adjusting mechanisms 25 are in transmission connection with the sliding sleeve 22, and the first adjusting mechanisms 25 are used for driving the sliding sleeve 22 to move along the sliding rails 21;
the two second adjusting mechanisms 26 are respectively arranged in the two sliding sleeves 22, the output ends of the second adjusting mechanisms 26 are in transmission connection with the lifting rods 23, and the second adjusting mechanisms 26 are used for driving the lifting rods 23 to lift.
In the embodiment of the present invention, as shown in fig. 1, as a preferred embodiment of the present invention, the first adjusting mechanism 25 includes a first motor 251 fixedly installed on the sliding rail 21, an output shaft of the first motor 251 is fixedly connected with a first screw 252, and the first screw 252 is in threaded connection with the sliding sleeve 22.
In the embodiment of the present invention, as shown in fig. 2, as a preferred embodiment of the present invention, the second adjusting mechanism 26 includes a second motor 261 fixedly connected to the inside of the sliding sleeve 22, an output shaft of the second motor 261 is fixedly connected with a second screw 262, and the second screw 262 is in threaded connection with the lifting rod 23.
In the embodiment of the present invention, as shown in fig. 1 to 3, as a preferred embodiment of the present invention, the mechanical arm assembly 3 includes:
a first slider 31, the first slider 31 being slidably connected to the cross plate 24;
the fixed cylinder 32 is fixedly connected to the bottom of the first sliding block 31 through a connecting block, and the transverse plate 24 is provided with a first sliding groove for the connecting block to move;
the third adjusting mechanism 33 is arranged on the transverse plate 24, the output end of the third adjusting mechanism 33 is in transmission connection with the first sliding block 31, and the third adjusting mechanism 33 is used for driving the first sliding block 31 to move;
a rotating block 34, wherein the rotating block 34 is rotatably connected to the inside of the fixed cylinder 32;
the fourth adjusting mechanism 35 is installed on the rotating block 34, the output end of the fourth adjusting mechanism 35 is provided with a mechanical arm body 36, the mechanical arm body 36 is located at a position of the rotating block 34 deviating from the axis, the mechanical arm body 36 is a three-degree-of-freedom mechanical arm, the welding gun 4 is fixedly installed at the tail end of the mechanical arm body 36, and the fourth adjusting mechanism 35 is used for driving the mechanical arm body 36 to move;
a fifth motor 37, the fifth motor 37 is fixedly installed inside the fixed cylinder 32, and an output shaft of the fifth motor 37 is fixedly connected to the rotating block 34.
In the embodiment of the present invention, as shown in fig. 1, as a preferred embodiment of the present invention, the third adjusting mechanism 33 includes a third motor 331 fixedly installed on the transverse plate 24, and a third screw 332 is fixedly connected to an output shaft of the third motor 331, and the third screw 332 is in threaded connection with the first slider 31.
In the embodiment of the present invention, as shown in fig. 3, as a preferred embodiment of the present invention, the fourth adjusting mechanism 35 includes a second sliding groove 351 formed at the bottom of the rotating block 34, a second sliding block 352 is slidably connected to the inside of the second sliding groove 351, the mechanical arm body 36 is installed at the bottom of the second sliding block 352, a fourth motor 353 is fixedly installed inside the rotating block 34, an output shaft of the fourth motor 353 is fixedly connected with a fourth screw rod 354, and the fourth screw rod 354 is in threaded connection with the second sliding block 352.
In the embodiment of the present invention, as shown in fig. 4-8, as a preferred embodiment of the present invention, the clamping mechanism includes two clamping assemblies 5, two clamping assemblies 5 are symmetrically disposed on the base plate 1, and the two clamping assemblies 5 cooperate to clamp and fix a workpiece, however, for a workpiece with a smaller volume, the clamping assemblies 5 may also be used separately, and the clamping assemblies 5 include:
a mounting table 51, wherein the mounting table 51 is fixedly connected to the bottom plate 1;
the top of the mounting table 51 is provided with a third chute, and the extension block 52 is slidably connected inside the third chute;
the clamping disc 53 is rotatably connected to the extension block 52 through a connecting column 510, a plurality of fourth sliding grooves are formed in the side surface of the clamping disc 53, and clamping blocks 54 are slidably connected to the inner parts of the fourth sliding grooves;
the first driving mechanism 55, the first driving mechanism 55 is installed on the extension block 52, the output end of the first driving mechanism 55 is in transmission connection with the connecting column 510, the first driving mechanism 55 is used for driving the connecting column 510 to rotate, and the connecting column 510 drives the clamping disc 53 to rotate, so that workpieces fixed on the clamping disc 53 can be rotated, and the welding position of the workpieces can be conveniently adjusted;
the second driving mechanism 56 is installed on the clamping disc 53, the output end of the second driving mechanism 56 is in transmission connection with the plurality of clamping blocks 54, and the second driving mechanism 56 is used for driving the plurality of clamping blocks 54 to move in opposite directions or in opposite directions, so that the plurality of clamping blocks 54 can clamp and fix a workpiece;
the driving soot blowing mechanism 57 is arranged on the mounting table 51, the output end of the driving soot blowing mechanism 57 is in transmission connection with the extension block 52, the driving soot blowing mechanism 57 is used for driving the extension block 52 to move in the fourth chute, so that the two clamping discs 53 are close to each other, a workpiece with smaller volume is conveniently clamped, and after the workpiece is clamped, the output end of the driving soot blowing mechanism 57 can intermittently blow;
the air supply hoses 58, one ends of the air supply hoses 58 are connected to the clamping disc 53, the other ends of the air supply hoses 58 are respectively connected to the side surfaces of the clamping blocks 54, air blowing ports 59 communicated with the air supply hoses 58 are formed in the clamping blocks 54, the air blowing ports 59 face the middle of the adjustable door frame 2, first air supply holes are formed in the connecting columns 510 and the clamping disc 53, and the air supply hoses 58 are communicated with the output end of the driving soot blowing mechanism 57 through the first air supply holes.
When clamping a workpiece, the workpiece is placed between the two clamping discs 53, the soot blowing mechanism 57 is driven to drive the extension block 52 to move, the extension block 52 drives the connecting column 510 and the clamping discs 53 to move, the two clamping discs 53 clamp the workpiece, then the second driving mechanism 56 drives the clamping blocks 54 to clamp the side face of the workpiece, so that the workpiece is fixed more firmly, after the workpiece is clamped, the soot blowing mechanism 57 is driven to intermittently blow, the air flow passes through the first air transmission hole and the air transmission hose 58 and is discharged from the air blowing port 59, the air flow can blow to the surface of the workpiece, and dust on the workpiece, welding slag generated by welding and other substances are blown away, so that the welding quality of the workpiece is better.
In the embodiment of the present invention, as shown in fig. 5, as a preferred embodiment of the present invention, the first driving mechanism 55 includes a sixth motor 551 fixedly mounted on the extension block 52, an output shaft of the sixth motor 551 is fixedly connected with a first gear 552, the connection post 510 is fixedly connected with a second gear 553, and the first gear 552 and the second gear 553 are in meshed connection.
In the embodiment of the present invention, as shown in fig. 8, as a preferred embodiment of the present invention, the second driving mechanism 56 includes a plurality of fifth screws 561 rotatably connected in the fourth chute, the plurality of fifth screws 561 are respectively in threaded connection with the plurality of clamping blocks 54, a cavity is formed in the clamping disc 53, one ends of the plurality of fifth screws 561 extending into the cavity are fixedly connected with a first bevel gear 562, a seventh motor 563 is fixedly mounted in the cavity, an output shaft of the seventh motor 563 is fixedly connected with a second bevel gear 564, and the second bevel gear 564 and the plurality of first bevel gears 562 are in meshed connection.
In the embodiment of the present invention, as shown in fig. 4-7, as a preferred embodiment of the present invention, the driving soot blowing mechanism 57 includes:
an eighth motor 571, the eighth motor 571 being fixedly mounted on a side surface of the mounting table 51;
a rotary barrel 572, wherein the rotary barrel 572 is fixedly connected to an output shaft of an eighth motor 571, a mounting groove 5715 is formed at the top of the mounting table 51, and the rotary barrel 572 is located in the mounting groove 5715;
the driving cover 573 is rotatably connected to the inside of the rotating barrel 572, a convex air cavity 574 is arranged on the side surface of the driving cover 573, and the whole section of the driving cover 573 is convex;
the sixth screw 575 is rotatably connected to the inside of the third chute, the sixth screw 575 is in threaded connection with the extension block 52, one end of the sixth screw 575 extending into the mounting groove 5715 is fixedly connected to the side surface of the driving cover 573, a second air hole 576 is formed in the inside of the sixth screw 575, and the first air hole is communicated with the air cavity 574 through the second air hole 576;
a driving seat 577, wherein the driving seat 577 is fixedly connected to the inside of the rotary barrel 572;
the driving tube 578 is slidably connected inside the driving seat 577, a fixed key is fixedly connected to the inner wall of the driving seat 577, and a key slot adapted to the side wall of the driving tube 578 is provided;
the driving plate 579, the driving plate 579 is fixedly connected to one end of the driving tube 578, a compression spring 5710 is connected between the driving plate 579 and the driving seat 577, a plurality of stirring teeth 5711 are fixedly connected to the side surface of the driving plate 579, which is close to the driving cover 573, the stirring teeth 5711 are uniformly distributed around the axis of the driving plate 579, and a plurality of limiting teeth 5712 which are matched with the stirring teeth 5711 are fixedly connected to the inner wall of the driving cover 573;
the piston plate 5713, the piston plate 5713 is fixedly connected to the driving plate 579 through the connecting rod 5714, and the piston plate 5713 is slidingly connected inside the air cavity 574.
Before the workpiece is fixed, the eighth motor 571 drives the rotating cylinder 572 to rotate, the rotating cylinder 572 drives the driving seat 577 to rotate, the driving seat 577 drives the driving tube 578 and the driving plate 579 to rotate, the driving plate 579 drives the limiting tooth 5712 to rotate through the stirring tooth 5711, the limiting tooth 5712 drives the driving cover 573 to rotate, the driving cover 573 drives the sixth screw 575 to rotate, the sixth screw 575 drives the extending block 52, the connecting column 510 and the clamping disc 53 to move, the two clamping discs 53 clamp and fix the workpiece, after the workpiece is clamped and fixed, the clamping disc 53, the connecting column 510 and the extending block 52 are blocked by the workpiece and are not movable, thereby preventing the rotation of the sixth screw 575, the driving cover 573 and the limiting tooth 5712, at this time, the eighth motor 571 still drives the rotating cylinder 571 to rotate, the driving plate 579 and the stirring tooth 5711 to rotate, because the limiting teeth 5712 are blocked, the poking teeth 5711 move along the inclined planes of the limiting teeth 5712, so that the driving plate 579 rotates relative to the driving cover 573, because the limiting teeth 5712 and the poking teeth 5711 have a certain thickness, the driving plate 579 is gradually far away from the driving cover 573, and under the action of the compression spring 5710, the driving plate 579 is close to the driving cover 573 again, so that the driving plate 579 drives the piston plate 5713 to do reciprocating horizontal movement in the air cavity 574 through the connecting rod 5714, the piston plate 5713 continuously extrudes the air cavity 574, the air cavity 574 continuously sucks and blows air, and the blown air flow can sequentially pass through the second air hole 576, the first air hole and the air conveying hose 58 and blow out from the air blowing port 59, and the air flow can blow dust and welding slag on the surface of a workpiece.
When in use, a workpiece is placed between the two clamping discs 53, the eighth motor 571 drives the rotating cylinder 572 to rotate, the rotating cylinder 572 drives the driving seat 577 to rotate, the driving seat 577 drives the driving tube 578 and the driving plate 579 to rotate, the driving plate 579 drives the limiting teeth 5712 to rotate through the stirring teeth 5711, the limiting teeth 5712 drive the driving cover 573 to rotate, the driving cover 573 drives the sixth screw 575 to rotate, the sixth screw 575 drives the extension block 52, the connecting column 510 and the clamping discs 53 to move, the two clamping discs 53 clamp and fix the workpiece, then the seventh motor 563 drives the second conical gear 564 to rotate, the second conical gear 564 drives the first conical gear 562 to rotate, the first conical gear 562 drives the fifth screw 561 to rotate, the fifth screw 561 drives the clamping blocks 54 to move, and the plurality of clamping blocks 54 clamp and fix the side surfaces of the workpiece, so that the workpiece is fixed more firmly; during the process, the eighth motor 571 continuously rotates, after the workpiece is clamped and fixed, the clamping disc 53, the connecting column 510 and the extension block 52 are blocked by the workpiece and cannot move, so that the rotation of the sixth screw 575, the driving cover 573 and the limiting teeth 5712 is prevented, the eighth motor 571 still drives the rotating cylinder 572 to rotate, the rotating cylinder 572 can drive the driving plate 579 and the stirring teeth 5711 to rotate, the driving plate 579 rotates relative to the driving cover 573 due to the blocking of the limiting teeth 5712, the driving plate 579 drives the piston plate 5713 to do reciprocating horizontal movement in the air cavity 574 through the connecting rod 5714, the piston plate 5713 continuously extrudes the air cavity 574, the air cavity 574 is intermittently blown, the blown air flows sequentially pass through the second air hole 576, the first air hole and the air hose 58 and are blown out from the air blowing port 59, dust and slag on the surface of the workpiece are prevented from being blown away, the quality of the workpiece is prevented from being influenced, and the welding slag on the workpiece is prevented from being reduced due to the fact that the dust and slag on the surface of the workpiece is blown away; then, the worker can flexibly adjust the mechanical arm body 36 and the welding gun 4 according to the size and the welding position of the workpiece to be welded, the first motor 251 drives the first screw rod 252 to rotate, the first screw rod 252 drives the sliding sleeve 22 to move, the sliding sleeve 22 drives the welding gun 4 to move back and forth, the side surface of the workpiece can be welded, the second motor 261 drives the second screw rod 262 to rotate, the second screw rod 262 drives the lifting rod 23 to lift, so that the height adjustment can be performed according to the size of the workpiece to be welded, when the strip-shaped welding seam is to be welded, the end part of the welding gun 4 is contacted with the workpiece, the third motor 331 drives the third screw rod 332 to rotate, and the third screw rod 332 drives the first sliding block 31 to move, so that the welding gun 4 can move along the length direction of the workpiece, namely, the welding gun 4 can continuously weld the workpiece; when a circular weld joint is required to be welded, the fourth motor 353 drives the fourth screw rod 354 to rotate, the fourth screw rod 354 drives the second sliding block 352 to move, the second sliding block 352 drives the mechanical arm body 36 to move, so that the distance from the mechanical arm body 36 to the axis of the fixed cylinder 32 can be adjusted, then the fifth motor 37 drives the rotating block 34 to rotate, and the rotating block 34 drives the mechanical arm body 36 and the welding gun 4 to rotate around the axis of the rotating block 34, so that the circular weld joint can be welded on a workpiece very accurately; when the workpiece is an irregular body, the mechanical arm body 36 can be operated to adjust the position of the welding gun 4, and the device can be suitable for welding most workpieces; when the welding position of the workpiece is to be changed, the sixth motor 551 drives the first gear 552 to rotate, the first gear 552 drives the second gear 553 to rotate, the second gear 553 drives the connecting column 510 to rotate, the connecting column 510 drives the clamping disc 53 to rotate, and the clamping disc 53 can drive the workpiece to turn over, so that different positions on the same workpiece can be welded without manually repositioning the workpiece, the use is more convenient, and the working efficiency is improved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (6)

1. The utility model provides a door-type robot welding set, includes bottom plate, its characterized in that still includes:
the adjustable portal, adjustable portal installs on the bottom plate, adjustable portal can back-and-forth movement and lift, adjustable portal includes:
the two sliding rails are respectively and fixedly connected to the two sides of the top of the bottom plate;
the two sliding sleeves are respectively connected in the two sliding rails in a sliding way;
the two lifting rods are respectively connected in the two sliding sleeves in a sliding manner;
the transverse plate is fixedly connected to the tops of the two lifting rods;
the two first adjusting mechanisms are respectively arranged on the two sliding rails, the output ends of the first adjusting mechanisms are in transmission connection with the sliding sleeve, and the first adjusting mechanisms are used for driving the sliding sleeve to move along the sliding rails;
the two second adjusting mechanisms are respectively arranged in the two sliding sleeves, the output ends of the second adjusting mechanisms are in transmission connection with the lifting rod, and the second adjusting mechanisms are used for driving the lifting rod to lift;
the arm assembly, the arm assembly is installed on adjustable portal, the end of arm assembly is provided with welder, and adjustable portal is used for driving the arm assembly and removes and lift, just the arm assembly can be on adjustable portal horizontal migration, the arm assembly includes:
the first sliding block is connected to the transverse plate in a sliding manner;
the fixed cylinder is fixedly connected to the bottom of the first sliding block through a connecting block, and a first sliding groove for the connecting block to move is formed in the transverse plate;
the output end of the third adjusting mechanism is in transmission connection with the first sliding block, and the third adjusting mechanism is used for driving the first sliding block to move;
the rotating block is rotationally connected to the inside of the fixed cylinder;
the welding gun is fixedly arranged at the tail end of the mechanical arm body, and the fourth adjusting mechanism is used for driving the mechanical arm body to move;
the fifth motor is fixedly arranged in the fixed cylinder, and an output shaft of the fifth motor is fixedly connected to the rotating block;
the fixture, fixture installs on the bottom plate, fixture is used for with work piece centre gripping and fixed, fixture can blow to the work piece, fixture includes two clamping components, two clamping components symmetry sets up on the bottom plate, two clamping components cooperation is with work piece centre gripping and fixed, clamping components includes:
the mounting table is fixedly connected to the bottom plate;
the top of the mounting table is provided with a third sliding groove, and the extension block is connected in the third sliding groove in a sliding way;
the clamping disc is rotationally connected to the extension block through a connecting column, a plurality of fourth sliding grooves are formed in the side face of the clamping disc, and clamping blocks are slidably connected to the inner parts of the fourth sliding grooves;
the first driving mechanism is arranged on the extension block, the output end of the first driving mechanism is in transmission connection with the connecting column, and the first driving mechanism is used for driving the connecting column to rotate;
the second driving mechanism is arranged on the clamping disc, the output end of the second driving mechanism is in transmission connection with the clamping blocks, and the second driving mechanism is used for driving the clamping blocks to move in opposite directions or in opposite directions;
the driving soot blowing mechanism is arranged on the mounting table, the output end of the driving soot blowing mechanism is in transmission connection with the extension block, the driving soot blowing mechanism is used for driving the extension block to move in the fourth chute, and after the workpiece is clamped, the output end of the driving soot blowing mechanism can intermittently blow;
the device comprises a clamping disc, a plurality of air hoses, a plurality of connecting columns, a plurality of soot blowing mechanisms, a plurality of air blowing ports, a plurality of connecting rods, a plurality of soot blowing mechanisms and a plurality of air blowing holes, wherein one ends of the air hoses are connected to the clamping disc, the other ends of the air hoses are respectively connected to the side surfaces of the clamping blocks, the clamping blocks are provided with the air blowing ports communicated with the air hoses, the air blowing ports face the middle part of the adjustable gantry, the connecting columns and the inner parts of the clamping disc are provided with first air holes, and the air hoses are communicated with the output ends of the soot blowing mechanisms through the first air holes;
the drive soot blowing mechanism includes:
an eighth motor fixedly mounted on a side surface of the mounting table;
the rotating cylinder is fixedly connected to the output shaft of the eighth motor, the top of the mounting table is provided with a mounting groove, and the rotating cylinder is positioned in the mounting groove;
the driving cover is rotationally connected to the inside of the rotating cylinder, a convex air cavity is arranged on the side face of the driving cover, and the whole section of the driving cover is convex;
the sixth screw is rotationally connected to the inside of the third sliding groove, the sixth screw is in threaded connection with the extension block, one end of the sixth screw extending into the mounting groove is fixedly connected to the side face of the driving cover, a second air conveying hole is formed in the sixth screw, and the first air conveying hole is communicated with the air cavity through the second air conveying hole;
the driving seat is fixedly connected to the inside of the rotating cylinder;
the driving pipe is connected inside the driving seat in a sliding way, the inner wall of the driving seat is fixedly connected with a fixed key, and the side wall of the driving pipe is provided with an adaptive key slot;
the driving plate is fixedly connected to one end of the driving pipe, a compression spring is connected between the driving plate and the driving seat, a plurality of poking teeth are fixedly connected to the side face, close to the driving cover, of the driving plate, the poking teeth are uniformly distributed around the axis of the driving plate, and a plurality of limiting teeth matched with the poking teeth are fixedly connected to the inner wall of the driving cover;
the piston plate is fixedly connected to the driving plate through a connecting rod and is slidably connected to the inside of the air cavity.
2. The welding device of the door type robot according to claim 1, wherein the first adjusting mechanism comprises a first motor fixedly installed on the sliding rail, an output shaft of the first motor is fixedly connected with a first screw rod, and the first screw rod is in threaded connection with the sliding sleeve;
the second adjusting mechanism comprises a second motor fixedly connected inside the sliding sleeve, an output shaft of the second motor is fixedly connected with a second screw rod, and the second screw rod is in threaded connection with the lifting rod.
3. The welding device of claim 1, wherein the third adjusting mechanism comprises a third motor fixedly mounted on the cross plate, an output shaft of the third motor is fixedly connected with a third screw, and the third screw is in threaded connection with the first slider.
4. The welding device for the portal robot according to claim 1, wherein the fourth adjusting mechanism comprises a second chute formed in the bottom of the rotating block, a second sliding block is slidably connected in the second chute, the mechanical arm body is installed at the bottom of the second sliding block, a fourth motor is fixedly installed in the rotating block, an output shaft of the fourth motor is fixedly connected with a fourth screw rod, and the fourth screw rod is in threaded connection with the second sliding block.
5. The welding device of claim 1, wherein the first driving mechanism comprises a sixth motor fixedly mounted on the extension block, an output shaft of the sixth motor is fixedly connected with a first gear, the connecting column is fixedly connected with a second gear, and the first gear and the second gear are in meshed connection.
6. The welding device for the portal robot of claim 1, wherein the second driving mechanism comprises a plurality of fifth screws rotatably connected in the fourth sliding groove, the plurality of fifth screws are respectively in threaded connection with the plurality of clamping blocks, a cavity is formed in the clamping disc, one ends of the plurality of fifth screws extending into the cavity are fixedly connected with a first bevel gear, a seventh motor is fixedly arranged in the cavity, an output shaft of the seventh motor is fixedly connected with a second bevel gear, and the second bevel gear is in meshed connection with the plurality of first bevel gears.
CN202311143096.2A 2023-09-06 2023-09-06 Welding device for door type robot Active CN116871763B (en)

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CN117444353A (en) * 2023-12-08 2024-01-26 苏州思萃熔接技术研究所有限公司 Arc welding device and arc welding method
CN117600627A (en) * 2023-12-11 2024-02-27 江南大学 Teflon belt mould manufacturing plasma cutting equipment
CN117444489B (en) * 2023-12-20 2024-03-15 甘肃三阳仓储设备制造有限公司 Welding device for shelf laminate molding

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