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CN-122007749-A - Manipulator structure of non-trial teaching non-programming welding device

CN122007749ACN 122007749 ACN122007749 ACN 122007749ACN-122007749-A

Abstract

The invention relates to the technical field of welding, in particular to a manipulator structure of a pilot-free programming-free welding device, which comprises a linkage mechanism, a Hall sensor and an infrared temperature detection device, wherein the Hall sensor is connected with a wire of a welding gun, monitors the current change of the welding gun, is electrically connected with a rolling module, adjusts the pressure of the rolling module in real time along with the current change of the welding gun, the infrared temperature detection device is fixedly connected with the rolling module, the monitoring end is close to a welding surface, monitors the temperature of a welding line to control the hysteresis distance of the rolling module, the rolling module comprises an adjusting component, a cleaning component and a rolling wheel, the input end of the adjusting component is connected with the linkage mechanism, the output end of the adjusting component is connected with the rolling wheel in a sliding way, the cleaning component is rotationally attached to the working surface of the rolling wheel, and the welding current and the temperature of the welding line behind a molten pool are monitored in real time through the linkage mechanism, so that the device does not need manual teaching, and the rolling module controls the positive pressure of a rolling wheel pair welding line.

Inventors

  • WANG SHIXUN

Assignees

  • 久渡智能科技(上海)有限公司

Dates

Publication Date
20260512
Application Date
20260414

Claims (9)

  1. 1. A manipulator structure of a trial-free programming-free welding device is characterized by comprising The fixing frame (4) is fixedly connected with the tail end of the manipulator (2), and a coaxial welding gun (3) is detachably arranged on the fixing frame (4); The stabilizing table (5) is fixedly connected with the lower end of the fixing frame (4) and is coaxially arranged with the welding gun (3), the front end of the stabilizing table (5) is hinged with the polishing assembly (6), the rear end of the stabilizing table is slidably connected with the rolling module (7), and the polishing assembly (6) and the rolling module (7) are respectively positioned in front of and behind the welding travelling direction of the welding gun (3); The linkage mechanism (8) is provided with a Hall sensor (81) and an infrared temperature detection device (82), the Hall sensor (81) is connected with a lead of the welding gun (3), the current change of the welding gun (3) is monitored, the Hall sensor (81) is electrically connected with the rolling module (7), the pressure of the rolling module (7) is adjusted in real time along with the current change of the welding gun (3), the infrared temperature detection device (82) is fixedly connected with the rolling module (7) and the monitoring end is close to the welding surface, and the hysteresis distance of the rolling module (7) is controlled by monitoring the temperature of a welding line; The rolling module (7) comprises an adjusting assembly (73), a cleaning assembly (75) and a rolling wheel (7510), wherein the input end of the adjusting assembly (73) is connected with a linkage mechanism (8), the output end of the adjusting assembly is connected with the rolling wheel (7510) in a sliding mode, and the cleaning assembly (75) is rotationally attached to the working face of the rolling wheel (7510).
  2. 2. The mechanical arm structure of the non-teaching programming-free welding device is characterized in that the welding gun (3) is detachably arranged in the fixing frame (4), the lower surface of the welding gun (3) is fixedly connected with the stabilizing table (5), the stabilizing table (5) is internally provided with the sliding groove (51) and the mounting groove (52), the rolling module (7) is in sliding connection with the sliding groove (51) through a T-shaped protruding block, one side of the stabilizing table (5) is fixedly connected with the electric push rod II (9), the output end of the electric push rod II (9) is fixedly connected with the rolling module (7), and the electric push rod II (9) is electrically connected with the infrared temperature detection device (82).
  3. 3. The mechanical arm structure of the trial-and-error programming-free welding device according to claim 1, wherein the polishing assembly (6) comprises an electric push rod I (61), a connecting rod (62) and a steel wire wheel (63), one end of the electric push rod I (61) is hinged with the mounting groove (52), the output end of the electric push rod I (61) is rotatably connected with the middle position of the connecting rod (62), one end of the connecting rod (62) is hinged with the steel wire wheel (63), and the other end of the connecting rod (62) is hinged with the stabilizing table (5).
  4. 4. The mechanical arm structure of the trial-and-error programming-free welding device according to claim 1, wherein the adjusting component (73) comprises a motor (731), a first guide rod (733), a second guide rod (734), a sloping plate (735) and a sliding piece (738), an output end of the motor (731) is fixedly connected with an output shaft (732), the upper end surface and the lower end surface of the output shaft (732) are respectively fixedly connected with a first guide rod (733) and a second guide rod (734), the first guide rod (733) and the second guide rod (734) are respectively provided with four and are uniformly arranged, the length of the first guide rod (733) is longer than that of the second guide rod (734), and the sloping plate (735) is provided with four.
  5. 5. The mechanical arm structure of the trial-and-error programming-free welding device according to claim 4, wherein the lower ends of the four inclined plates (735) are inclined to the output shaft (732), a plurality of balance weight balls (736) which are uniformly arranged are sleeved on the outer surface of each inclined plate (735) through clearance fit, the upper end and the lower end of each inclined plate (735) are respectively connected with a first guide rod (733) and a second guide rod (734) in a sliding mode, a first spring (737) is sleeved on the surface of the output shaft (732), the upper end of the first spring (737) is fixedly connected with the first guide rod (733), the lower end of the first spring (737) is fixedly connected with the sliding part (738), the first spring (737) is in a compressed state in an initial state, the sliding part (738) is sleeved on the surface of the output shaft (732), and the balance weight balls (736) are sleeved on the outer ends of four corners of the sliding part (738) through clearance fit.
  6. 6. The mechanical arm structure of the no-test teaching programming-free welding device is characterized in that a monitoring component (74) is arranged in the rolling module (7), the monitoring component (74) comprises a conical ring (741), a second spring (743) and a pressure sensor (745), the conical ring (741) is in a truncated cone shape, the inner wall of the conical ring (741) is simultaneously contacted with four inclined plates (735) and is in rolling connection with a counterweight ball (736), the surface of the conical ring (741) is fixedly connected with a connecting plate (742), the connecting plate (742) is fixedly connected with a limiting rod (744), one end of the second spring (743) is fixedly connected with the connecting plate (742), the other end of the second spring (743) is in contact with a measuring end of the pressure sensor (745), the pressure sensor (745) is in sliding connection with the limiting rod (744), and one end of the connecting plate (742) far away from the conical ring (741) is in sliding connection with a guide plate (752).
  7. 7. The mechanical arm structure of the trial-and-error programming-free welding device according to claim 1, wherein the cleaning assembly (75) comprises a mounting plate (751), a scraper (754), a cleaning wheel (755) and a rolling wheel (751), the mounting plate (751) is fixedly connected with a limiting rod (744), the inner wall of the mounting plate (751) is elastically hinged with the scraper (754) through a torsion spring hinge (753), the cleaning wheel (755) and the rolling wheel (751) are both hinged with the mounting plate (751), and the cleaning wheel (755) is in contact with the rolling wheel (751).
  8. 8. The mechanical arm structure of the non-teaching programming-free welding device is characterized in that the mounting plate (751) is rotatably connected with a connecting column (758) through a bearing, the upper end of the connecting column (758) is fixedly connected with a synchronous rod (759), the synchronous rod (759) is spliced with the output shaft (732), the lower end of the connecting column (758) is fixedly connected with a bevel gear II (757), one side of the cleaning wheel (755) is fixedly connected with a bevel gear I (756), and the bevel gear I (756) is meshed with the bevel gear II (757).
  9. 9. The mechanical arm structure of the non-teaching programming-free welding device is characterized in that a mounting frame (71) is arranged on the surface of the rolling module (7), a fan (72) is fixedly connected to one side of the mounting frame (71), the output direction of the fan (72) points to the contact surface of the cleaning wheel (755) and the rolling wheel (7510), a pressure sensor (745), a guide plate (752) and a motor (731) are fixedly connected with the mounting frame (71), and the mounting plate (751) is in sliding connection with the mounting frame (71).

Description

Manipulator structure of non-trial teaching non-programming welding device Technical Field The invention relates to the technical field of welding, in particular to a manipulator structure of a trial-and-error programming-free welding device. Background In the field of automatic welding, a robot welding system has been widely applied to manufacturing of various metal structural members due to the advantages of high efficiency, stability, good repeatability and the like, and the common machine welding commonly used in large-scale equipment at present is industrial equipment for realizing automatic welding operation through a multi-axis linkage control system. The existing manipulator welding device generally needs to be performed and demonstrated before welding operation, namely a 'test teaching-reproduction' mode, an operator needs to guide the manipulator to teach point by point along a preset welding line track through a manual demonstrator, then the manipulator generates a machining program, batch welding can be performed after the machining program is completed, and the manipulator also needs to roll the welding line in the welding process. However, the above-mentioned "try teaching-reappearance" mode has high skill requirement to operators, the whole operation teaches time is long, because welding gun current and environmental condition all can produce the influence of different degree to the welded seam in the welding process at the same time, because speed and distance of rolling route and welding route are fixed completely under this mode at this moment, then can lead to the rolling process to produce damage and influence to the welded seam, need to teach again when the damage is comparatively serious, but frequent try teach Cheng Youhui has severely restricted production efficiency. Disclosure of Invention The invention aims to provide a manipulator structure of a trial-and-error programming-free welding device, so as to solve the problems in the background technology. In order to achieve the aim, the invention provides the following technical scheme that the manipulator structure of the trial-and-error free programming-free welding device comprises The fixing frame is fixedly connected with the tail end of the manipulator, and a coaxial welding gun is detachably arranged on the fixing frame; The stabilizing table is fixedly connected with the lower end of the fixing frame and is coaxially arranged with the welding gun, the front end of the stabilizing table is hinged with a polishing assembly, the rear end of the stabilizing table is slidably connected with a rolling module, and the polishing assembly and the rolling module are respectively positioned in front of and behind the welding travelling direction of the welding gun; The linkage mechanism is provided with a Hall sensor and an infrared temperature detection device, the Hall sensor is connected with a wire of a welding gun, the current change of the welding gun is monitored, the Hall sensor is electrically connected with the rolling module, the pressure of the rolling module is adjusted in real time along with the current change of the welding gun, the infrared temperature detection device is fixedly connected with the rolling module, the monitoring end is close to a welding surface, and the temperature of a welding line is monitored to control the lag distance of the rolling module; the rolling module comprises an adjusting assembly, a cleaning assembly and a rolling wheel, wherein the input end of the adjusting assembly is connected with the linkage mechanism, the output end of the adjusting assembly is connected with the rolling wheel in a sliding manner, and the cleaning assembly is rotationally attached to the working surface of the rolling wheel. Preferably, the welding gun is detachably arranged in the fixing frame, the lower surface of the welding gun is fixedly connected with the stabilizing table, the stabilizing table is internally provided with a sliding groove and an installation groove, the rolling module is in sliding connection with the sliding groove through a T-shaped convex block, one side of the stabilizing table is fixedly connected with a second electric push rod, the output end of the second electric push rod is fixedly connected with the rolling module, and the second electric push rod is electrically connected with the infrared temperature detection device. Preferably, the polishing assembly comprises an electric push rod I, a connecting rod and a steel wire wheel, one end of the electric push rod I is hinged with the mounting groove, the output end of the electric push rod I is rotationally connected with the middle position of the connecting rod, one end of the connecting rod is hinged with the steel wire wheel, and the other end of the connecting rod is hinged with the stabilizing table. Preferably, the adjusting component comprises a motor, a first guide rod, a second guide rod, a sloping plate and a sliding pie