CN220006555U - Welding robot auxiliary positioning device - Google Patents

Abstract

The utility model discloses an auxiliary positioning device of a welding robot, which comprises a base and a tool table, wherein a mechanical arm is arranged on the base, a plurality of tool plates are rotatably arranged on the tool table, a sliding mechanism is arranged on the tool plates, one end of the sliding mechanism is fixedly provided with a lifting mechanism, one end of the lifting mechanism is fixedly provided with a rotating mechanism, and a clamping mechanism for clamping and positioning a workpiece is fixedly arranged on the rotating mechanism. In the process of using the welding robot, when welding tubular and rod-shaped workpieces, an operator places the workpieces on the clamping mechanism, fixes the workpieces, adjusts angles among a plurality of workpieces by the lifting mechanism and the rotating mechanism, detects and welds the workpieces after the angles are adjusted, and when welding planar workpieces, the operator can turn over the tooling plate, hide the clamping mechanism below the tooling table and provide a larger placing space for the planar workpieces.

Description

Welding robot auxiliary positioning device

Technical Field

The utility model relates to the technical field of welding, in particular to an auxiliary positioning device of a welding robot.

Background

Welding robots are industrial robots that perform welding (including cutting and spraying), and according to the definition of the industry robot of the international organization for standardization, are multi-purpose, re-programmable, automatic control manipulators with three or more programmable axes for the field of industrial automation, in order to adapt to different applications, the mechanical interface of the last axis of the robot, usually a connecting flange, can be used to attach different tools or end effectors, and the welding robot is to attach welding tongs or welding (cutting) guns to the end flange of the industrial robot to enable welding, cutting or thermal spraying.

Among the prior art, a welding robot auxiliary positioning device of publication No. "CN216264186U" relates to welding technical field, includes: a guide device; the guide device consists of connecting blocks, the sections of the connecting blocks are of an I-shaped structure, the connecting blocks are hinged with each other front and back, the connecting blocks are arranged in a circumferential array mode, a sliding structure is slidably mounted on the guide device, and a connecting assembly is arranged at the top of the sliding structure; connecting block interconnect constitutes guider, lets guider can twine on the pipeline of arbitrary diameter, and sliding structure slidable mounting is provided with drive assembly between guider and the sliding structure, installs the drive assembly at sliding structure and can contact each other with guider to drive sliding structure and move on guider, solved welding equipment and can not be better be applicable to the pipeline outer wall, when welding equipment passes through the arc outer wall, can not be stable coincide with the arc outer wall, the pipeline of some diameters difference, the problem of being suitable for that can not be good.

However, the prior art still has great disadvantages, such as:

in the prior art and the welding robot in the device, when welding two parts, an operator needs to splice the parts to be welded manually, and then the welding robot welds the parts after welding spots are made, but when certain requirements are made on some tubular and rod-shaped parts, particularly on welding angles, errors are inevitably generated in the manual splicing of the welded parts, and even the welded parts are scrapped due to overlarge errors;

although the clamp for carrying out auxiliary positioning and clamping on the workpiece exists in the prior art, once the shape of the weldment is changed, an operator needs to remanufacture a special clamp for auxiliary clamping, so that the efficiency of processing and manufacturing is influenced, the special clamp can only aim at the same batch of products, and the special clamp can not be used any more after updating;

if the welding robot needs to temporarily weld other types of parts, such as plane parts, an operator needs to replace the fixture or the tooling table again, so that the operation is very inconvenient, and the processing efficiency is affected.

Disclosure of Invention

The utility model aims to provide an auxiliary positioning device for a welding robot, which is used for solving the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides a welding robot auxiliary positioning device, includes base and tool table, be provided with the arm on the base, be provided with soldered connection, sensor and welding machine on the arm, the rotation is provided with a plurality of frock boards on the tool table, a plurality of be provided with slide mechanism on the frock board, slide mechanism's one end is fixed to be provided with elevating system, elevating system's one end is fixed to be provided with slewing mechanism, the last fixture that is used for carrying out centre gripping location to the work piece that fixedly is provided with of slewing mechanism.

Preferably, the sliding mechanism comprises a T-shaped groove formed in the tooling plate, a sliding block matched with the T-shaped groove is movably arranged in the T-shaped groove, the lifting mechanism is fixedly arranged at one end of the sliding block, a bolt is rotatably arranged on the sliding block, a gasket is movably sleeved on the bolt, and when the bolt is screwed down, the lifting mechanism is fixed on the tooling plate.

Preferably, the lifting mechanism comprises a lifting cylinder fixedly arranged at one end of the sliding block, a lifting column is movably arranged in the lifting cylinder, and a rough adjusting mechanism and a fine adjusting mechanism are fixedly arranged on the side wall of the lifting cylinder

Preferably, the coarse adjustment mechanism comprises a large gear rotatably arranged on the side wall of the lifting cylinder, a first rack meshed with the large gear is arranged on the lifting column, a first hand wheel is fixedly arranged on the large gear, and when an operator rotates the first hand wheel, the large gear is meshed with the first rack to drive the lifting column to move in the lifting cylinder;

the fine adjustment mechanism comprises a pinion arranged on the side wall of the lifting cylinder in a rotating mode, the pinion is arranged on the opposite side of the large gear, a second rack meshed with the pinion is arranged on the lifting column, the second rack is arranged on the opposite side of the first rack, a second hand wheel is fixedly arranged on the pinion, and when an operator rotates the second hand wheel, the pinion is meshed with the second rack to drive the lifting column to move in the lifting cylinder.

Preferably, the rotating mechanism comprises a rotary table which is arranged at one end of the lifting column in a rotating mode, a plurality of end face teeth are arranged on the rotary table, an adjusting gear meshed with the end face teeth is arranged on the lifting column in a rotating mode, a third hand wheel is fixedly arranged at one end of the adjusting gear, and when an operator rotates the third hand wheel, the adjusting gear is meshed with the end face teeth to drive the rotary table to rotate around the axis of the rotary table.

Preferably, the clamping mechanism comprises a V-shaped clamping plate and a vertical plate which are fixedly arranged on the rotary table, wherein the V-shaped clamping plate is arranged on the opposite side of the vertical plate, an adjusting nut is rotatably arranged on the vertical plate, and an operator can clamp a workpiece by rotating the adjusting nut.

Preferably, the side wall of the tooling plate is fixedly provided with a rotating shaft, the rotating shaft is rotatably arranged on the tooling table, one end of the rotating shaft is fixedly provided with a reversing block, two ends of the reversing block are provided with positioning grooves, and the side wall of the tooling table is fixedly provided with positioning columns matched with the positioning grooves.

Preferably, positioning holes are formed in two ends of the reversing block, positioning pins are movably arranged on the side wall of the tool table, springs are sleeved on the positioning pins, and the positioning pins are matched with the positioning holes to fix and position the tool table.

Preferably, the reversing block is rotatably provided with a handle, and the handle is sleeved with an anti-skid sleeve.

Compared with the prior art, the utility model has the beneficial effects that:

1. through the arrangement of the clamping mechanisms, an operator can fix a plurality of workpieces to be welded (particularly tubular and rod-shaped workpieces) on the clamping mechanisms, the positions of the workpieces to be welded are adjusted through components such as a lifting mechanism, a steering mechanism and the like, after the workpieces to be welded are positioned and fixed, a welding robot detects and welds welding seams, and the clamping mechanisms are particularly suitable for clamping the workpieces with included angles between the two workpieces to be welded and high requirements on welding angles;

2. through pivoted frock board's setting, when welding plane part, operating personnel overturns the frock board, hides devices such as fixture in the bottom surface of frock platform, when welding tubular part, can overturn fixture to the surface of frock platform again, welds a plurality of pipe fittings.

In the process of using the welding robot, when welding tubular and rod-shaped workpieces, an operator places the workpieces on the clamping mechanism, fixes the workpieces, adjusts angles among a plurality of workpieces by the lifting mechanism and the rotating mechanism, detects and welds the workpieces after the angles are adjusted, and when welding planar workpieces, the operator can turn over the tooling plate, hide the clamping mechanism below the tooling table and provide a larger placing space for the planar workpieces.

Drawings

FIG. 1 is a schematic perspective view of the whole device of the present utility model;

FIG. 2 is a schematic perspective view of a slider of the present utility model disposed in a T-shaped slot;

FIG. 3 is a schematic perspective view of a sliding mechanism according to the present utility model;

FIG. 4 is a schematic perspective view of a lifting mechanism according to the present utility model;

FIG. 5 is a schematic perspective view of a coarse adjustment mechanism according to the present utility model;

FIG. 6 is a schematic perspective view of a rotating mechanism according to the present utility model;

FIG. 7 is a schematic view of a spring of the present utility model disposed on a locating pin in a three-dimensional configuration;

fig. 8 is a schematic perspective view of the whole device of the present utility model.

In the figure: 1. a base; 2. a tooling table; 3. a mechanical arm; 4. a welding head; 5. a sensor; 6. welding machine; 7. a tooling plate; 8. a sliding mechanism; 801. a T-shaped groove; 802. a slide block; 803. a bolt; 804. a gasket; 9. a lifting mechanism; 901. a lifting cylinder; 902. lifting columns; 903. a coarse adjustment mechanism; 904. a fine adjustment mechanism; 905. a large gear; 906. a first rack; 907. a first hand wheel; 908. a pinion gear; 909. a second rack; 910. the second hand wheel; 10. a rotating mechanism; 1001. a turntable; 1002. end face teeth; 1003. an adjusting gear; 1004. a third hand wheel; 11. a clamping mechanism; 1101. v-shaped clamping plates; 1102. a riser; 1103. an adjusting nut; 12. a rotating shaft; 13. a reversing block; 14. a positioning groove; 15. positioning columns; 16. positioning holes; 17. a positioning pin; 18. a spring; 19. a handle; 20. an anti-skid sleeve.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-8, the present utility model provides a technical solution:

embodiment one:

the auxiliary positioning device of the welding robot comprises a base 1 and a tool table 2, wherein a mechanical arm 3 is arranged on the base 1, a welding head 4, a sensor 5 and a welding machine 6 are arranged on the mechanical arm 3, the base 1, the mechanical arm 3, the welding head 4, the sensor 5 and the welding machine 6 in the embodiment are the technologies well known to the person skilled in the art, are the devices commonly used by the person skilled in the art, and are not repeated here;

the tooling table 2 is rotatably provided with a plurality of tooling plates 7, the tooling plates 7 in the embodiment are symmetrically arranged at two ends of the tooling table 2, the side wall of the tooling plate 7 is fixedly provided with a rotating shaft 12, the rotating shaft 12 is rotatably arranged on the tooling table 2, one end of the rotating shaft 12 is fixedly provided with a reversing block 13, two ends of the reversing block 13 are provided with positioning grooves 14, the side wall of the tooling table 2 is fixedly provided with positioning columns 15 matched with the positioning grooves 14, and the positioning columns 15 and the positioning grooves 14 in the embodiment enable the tooling plates 7 to be positioned more accurately after reversing;

the two ends of the reversing block 13 are provided with positioning holes 16, the side wall of the tooling table 2 is movably provided with positioning pins 17, the positioning pins 17 are sleeved with springs 18, the springs 18 in the embodiment are used for driving the positioning pins 17 to reset, the positioning pins 17 are matched with the positioning holes 16 to fix and position the tooling table 2, the reversing block 13 is rotatably provided with handles 19, when an operator reverses the tooling plate 7, the handles 19 can be opened, the reversing block 13 is rotated through the handles 19, the tooling plate 7 is driven by the reversing block 13 to finish reversing, after reversing is finished, the operators can fold the handles 19 to prevent the handles 19 from being bulged to scratch the operators, and the handles 19 are sleeved with anti-slip sleeves 20;

the fixture table 2 is used for placing workpieces to be welded, a plurality of fixture plates 7 are provided with sliding mechanisms 8, one ends of the sliding mechanisms 8 are fixedly provided with lifting mechanisms 9, one ends of the lifting mechanisms 9 are fixedly provided with rotating mechanisms 10, and clamping mechanisms 11 used for clamping and positioning the workpieces are fixedly arranged on the rotating mechanisms 10.

Embodiment two:

the sliding mechanism 8 comprises a T-shaped groove 801 formed in the tooling plate 7, a sliding block 802 matched with the T-shaped groove 801 is movably arranged in the T-shaped groove 801, the lifting mechanism 9 is fixedly arranged at one end of the sliding block 802, a bolt 803 is rotatably arranged on the sliding block 802, a gasket 804 is movably sleeved on the bolt 803, and when the bolt 803 is screwed up, the lifting mechanism 9 is fixed on the tooling plate 7;

the lifting mechanism 9 comprises a lifting cylinder 901 fixedly arranged at one end of a sliding block 802, a lifting column 902 is movably arranged in the lifting cylinder 901, a rough adjusting mechanism 903 and a fine adjusting mechanism 904 are fixedly arranged on the side wall of the lifting cylinder 901, the rough adjusting mechanism 903 can carry out rough adjustment on the height of the lifting column 902, and the fine adjusting mechanism 904 can carry out fine adjustment on the height of the lifting column 902;

the coarse adjustment mechanism 903 comprises a large gear 905 rotatably arranged on the side wall of the lifting cylinder 901, a first rack 906 meshed with the large gear 905 is arranged on the lifting column 902, a first hand wheel 907 is fixedly arranged on the large gear 905, and when an operator rotates the first hand wheel 907, the large gear 905 is meshed with the first rack 906 to drive the lifting column 902 to move in the lifting cylinder 901 at a larger distance, so that coarse adjustment of the height of the lifting column 902 is realized;

the fine adjustment mechanism 904 comprises a pinion 908 rotatably arranged on the side wall of the lifting cylinder 901, the pinion 908 is arranged on the opposite side of the large gear 905, a second rack 909 meshed with the pinion 908 is arranged on the lifting column 902, the second rack 909 is arranged on the opposite side of the first rack 906, a second hand wheel 910 is fixedly arranged on the pinion 908, when an operator rotates the second hand wheel 910, the pinion 908 is meshed with the second rack 909 to drive the lifting column 902 to move in the lifting cylinder 901 at a smaller distance, and fine adjustment of the height of the lifting column 902 is realized;

the rotating mechanism 10 comprises a rotary table 1001 rotatably arranged at one end of a lifting column 902, a plurality of end face teeth 1002 are arranged on the rotary table 1001, an adjusting gear 1003 meshed with the plurality of end face teeth 1002 is rotatably arranged on the lifting column 902, a third hand wheel 1004 is fixedly arranged at one end of the adjusting gear 1003, and when an operator rotates the third hand wheel 1004, the adjusting gear 1003 is meshed with the end face teeth 1002 to drive the rotary table 1001 to rotate around the axis of the rotary table 1001;

the clamping mechanism 11 comprises a V-shaped clamping plate 1101 fixedly arranged on the turntable 1001 and a vertical plate 1102, wherein the V-shaped clamping plate 1101 is arranged on the opposite side of the vertical plate 1102, an adjusting nut 1103 is rotatably arranged on the vertical plate 1102, and an operator can clamp a workpiece by rotating the adjusting nut 1103.

Working principle: in the using process, when a workpiece is to be welded and a part is planar, an operator rotates one end of the plane of a plurality of tooling plates 7 to the top surface of a tooling table 2, and after the workpiece is placed, a welding robot detects and welds the workpiece;

when a workpiece to be welded is a bar-shaped or tubular part, an operator pulls the positioning pin 17, rotates the reversing block 13 through the handle 19, drives the tooling plate 7 to rotate through the rotating shaft 12, rotates the clamping mechanisms 11 to the top surface of the tooling table 2, and when the workpiece is placed, firstly, places one workpiece to be welded on one of the clamping mechanisms 11, tightens the adjusting nut 1103, fixes the workpiece to be welded, and when the other workpiece to be welded is spliced with the fixed workpiece to be welded, respectively adjusts the positions of the sliding block 802, the lifting column 902 and the turntable 1001, and fixes the other workpiece to be welded;

in the adjusting process, an operator unscrews the bolt 803, the sliding block 802 can slide in the T-shaped groove 801, the position of the sliding block 802 is adjusted, the operator rotates the first hand wheel 907, the first hand wheel 907 drives the large gear 905 to rotate, the large gear 905 drives the first rack 906 to move, coarse adjustment on the height of the lifting column 902 is achieved, the operator rotates the second hand wheel 910, the pinion 908 rotates under the driving of the second hand wheel 910 to drive the second rack 909 to move, fine adjustment on the height of the lifting column 902 is achieved, the operator rotates the third hand wheel 1004, the third hand wheel 1004 drives the adjusting gear 1003 to rotate, and the adjusting gear 1003 drives the turntable 1001 to rotate through the end face teeth 1002, so that the angle of the turntable 1001 is adjusted.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. The utility model provides a welding robot auxiliary positioning device, includes base (1) and frock platform (2), its characterized in that: be provided with arm (3) on base (1), be provided with soldered connection (4), sensor (5) and welding machine (6) on arm (3), it is provided with a plurality of frock boards (7) to rotate on frock platform (2), a plurality of be provided with slide mechanism (8) on frock board (7), the fixed elevating system (9) that are provided with of one end of slide mechanism (8), the fixed slewing mechanism (10) that is provided with of one end of elevating system (9), fixedly on slewing mechanism (10) be provided with fixture (11) that are used for carrying out the centre gripping location to the work piece.

2. The welding robot aid positioning device as recited in claim 1, wherein: the sliding mechanism (8) comprises a T-shaped groove (801) formed in the tooling plate (7), a sliding block (802) matched with the T-shaped groove (801) is movably arranged in the T-shaped groove (801), the lifting mechanism (9) is fixedly arranged at one end of the sliding block (802), a bolt (803) is rotatably arranged on the sliding block (802), a gasket (804) is movably sleeved on the bolt (803), and when the bolt (803) is screwed down, the lifting mechanism (9) is fixed on the tooling plate (7).

3. The welding robot aid positioning device as recited in claim 2, wherein: the lifting mechanism (9) comprises a lifting cylinder (901) fixedly arranged at one end of the sliding block (802), a lifting column (902) is movably arranged in the lifting cylinder (901), and a coarse adjusting mechanism (903) and a fine adjusting mechanism (904) are fixedly arranged on the side wall of the lifting cylinder (901).

4. A welding robot aid positioning device as claimed in claim 3, wherein: the coarse adjustment mechanism (903) comprises a large gear (905) rotatably arranged on the side wall of the lifting cylinder (901), a first rack (906) meshed with the large gear (905) is arranged on the lifting column (902), a first hand wheel (907) is fixedly arranged on the large gear (905), and when an operator rotates the first hand wheel (907), the large gear (905) is meshed with the first rack (906) to drive the lifting column (902) to move in the lifting cylinder (901);

the fine adjustment mechanism (904) comprises a pinion (908) which is arranged on the side wall of the lifting cylinder (901) in a rotating mode, the pinion (908) is arranged on the opposite side of the large gear (905), a second rack (909) meshed with the pinion (908) is arranged on the lifting column (902), the second rack (909) is arranged on the opposite side of the first rack (906), a second hand wheel (910) is fixedly arranged on the pinion (908), when an operator rotates the second hand wheel (910), the pinion (908) is meshed with the second rack (909) to drive the lifting column (902) to move in the lifting cylinder (901).

5. The welding robot aid positioning device as recited in claim 4, wherein: the rotary mechanism (10) comprises a rotary table (1001) which is arranged at one end of a lifting column (902) in a rotating mode, a plurality of end face teeth (1002) are arranged on the rotary table (1001), an adjusting gear (1003) which is meshed with the plurality of end face teeth (1002) is arranged on the lifting column (902) in a rotating mode, a third hand wheel (1004) is fixedly arranged at one end of the adjusting gear (1003), and when an operator rotates the third hand wheel (1004), the adjusting gear (1003) is meshed with the end face teeth (1002) to drive the rotary table (1001) to rotate around the axis of the rotary table.

6. The welding robot aid positioning device as recited in claim 5, wherein: the clamping mechanism (11) comprises a V-shaped clamping plate (1101) and a vertical plate (1102) which are fixedly arranged on the turntable (1001), the V-shaped clamping plate (1101) is arranged on the opposite side of the vertical plate (1102), an adjusting nut (1103) is rotatably arranged on the vertical plate (1102), and an operator can clamp a workpiece by rotating the adjusting nut (1103).

7. The welding robot aid positioning device as recited in claim 6, wherein: the fixture comprises a fixture plate (7), and is characterized in that a rotating shaft (12) is fixedly arranged on the side wall of the fixture plate (7), the rotating shaft (12) is rotatably arranged on the fixture table (2), a reversing block (13) is fixedly arranged at one end of the rotating shaft (12), positioning grooves (14) are formed in two ends of the reversing block (13), and positioning columns (15) matched with the positioning grooves (14) are fixedly arranged on the side wall of the fixture table (2).

8. The welding robot aid positioning device as recited in claim 7, wherein: positioning holes (16) are formed in two ends of the reversing block (13), positioning pins (17) are movably arranged on the side wall of the tool table (2), springs (18) are sleeved on the positioning pins (17), and the positioning pins (17) are matched with the positioning holes (16) to fix and position the tool table (2).

9. The welding robot aid positioning device as recited in claim 8, wherein: the reversing block (13) is rotatably provided with a handle (19), and the handle (19) is sleeved with an anti-skid sleeve (20).