CN103862482B - A kind of robot grip repair welding positioning tool - Google Patents

Abstract

The invention discloses a kind of robot grip repair welding positioning tool, the arm of described robot is provided with robot gripping apparatus, robot grip repair welding positioning tool comprises substrate, substrate is provided with clamp column, clamp column is provided with the robot gripping apparatus positioning fixture that can coordinate with robot gripping apparatus, and robot gripping apparatus positioning fixture comprises gripping apparatus detent mechanism and gripping apparatus retaining mechanism.This frock Neng Shi robot gripping apparatus is aloft by robot gripping apparatus positioning fixture location and locking, thus more supported, from the external force of welder when can bear welding better, stably keep the position of robot gripping apparatus and even workpiece, ensure welding quality better.

Description

A robot grasping repair welding positioning tool

technical field

The invention relates to an automobile body assembly tool, more specifically, it relates to a robot gripper repair welding positioning tool.

Background technique

At present, in the automotive industry, robots have been widely used, especially on welding lines. On the existing automatic welding line, due to space constraints and cost considerations, the car body to be welded is usually fixed and clamped with a small number of shuttle fixtures and the positioning welding is completed, and then the workpiece that has completed the positioning welding is moved from Pick it up from the shuttle fixture and lift it into the air, other welding equipment gathers towards the workpiece, perform repair welding in the air to complete the welding of the remaining parts, while performing repair welding, the shuttle fixture can shuttle from the positioning welding station back to the loading station, Carry out the loading and fixing of the next workpiece, so as to avoid the situation that the shuttle fixture is occupied for a long time, while the loading station is waiting, so that the time can be fully utilized, the production cycle can be accelerated, and the production efficiency can be greatly improved. However, since the robot itself has a certain repetitive positioning error, it is generally required to be controlled within ±0.2mm. When the robot grabs the workpiece and fixes it in the air, there will be a slight allowable deviation, and then it will apply different directions to the workpiece when the welding equipment is welding at the same time. Due to the force, the workpiece will inevitably shake. Under the combined effect, the welding position may be deviated and the welding quality will be affected. The utility model with the publication number CN102825411A disclosed a motorcycle head assembly welding positioning tool on December 19, 2012. An upper positioning pin, a lower positioning pin and a bracket are arranged above the front part of the bottom plate. The second support is set, and the top of each second support is equipped with the first quick clamp; the third support is arranged at the right end of the middle rear part of the base plate, and the top of the third support is equipped with the second quick clamp; The left and right ends of the rear portion are provided with a fourth support, and the top of each fourth support is equipped with a second cylinder, and a rear positioning pin is fixed on the piston rod of each second cylinder. The invention can complete the welding work at one time, which not only simplifies the process, makes the positioning and welding operation simpler and more convenient, but also greatly reduces the labor intensity of workers, and improves the welding efficiency while ensuring the welding precision and accuracy . However, the tooling is designed for the unique structure of the motorcycle head, so the structural layout is special to meet the welding and positioning requirements of the motorcycle head, and the scope of application is relatively limited.

Contents of the invention

In the existing auto-manufacturing robot repair welding process, the robot can only rely on the robot arm itself to maintain the position of the workpiece when the robot grabs the workpiece for repair welding, and it is difficult to ensure that the position of the welding spot is accurate. The gripper is strengthened for positioning, so that the workpiece can be positioned more accurately and reliably. It is a gripper repair welding positioning tool.

The technical solution of the present invention is: a robot grasping piece repair welding positioning tool, the arm of the robot is provided with a robot grasper, the robot grasping piece repair welding positioning tool includes a base plate, a clamp column is arranged on the base plate, and a clamp column is arranged on the clamp column. A robot gripper positioning fixture that can cooperate with the robot gripper is provided, and the robot gripper positioning fixture includes a gripper positioning mechanism and a gripper locking mechanism. The robot grabs the workpiece through the robot gripper. When the robot grabs the workpiece into the air, the robot gripper moves to the robot gripper positioning fixture and cooperates with it. The robot gripper positioning fixture is locked by the gripper positioning mechanism and the gripper The mechanism captures and locks the robot gripper, providing a reinforced support structure for the robot gripper, so that the robot gripper has stronger external force resistance under the joint action of its own mechanical structure and the positioning fixture of the robot gripper, and can perform better Maintain the positioning accuracy of the workpiece to ensure the welding quality. Since the robot grabs the workpiece in the air, and when the robot grabs the workpiece, the workpiece is always below, so the fixture column needs to be set at a certain height to match the height of the robot gripper and the position of the workpiece, so as to ensure that the robot gripper is positioned without interference.

Preferably, a downward bending portion is provided at the top of the fixture column, and the gripper positioning mechanism and the gripper locking mechanism are arranged on the bending portion. When the robot grabs the workpiece, the workpiece is always down, so the top of the fixture column is bent downward, and the gripper positioning mechanism and the gripper locking mechanism are set to cooperate with the robot gripper from top to bottom, which can better adapt to the work of the robot arm way, so that the tooling can be more easily integrated with existing production lines.

Preferably, the robot gripper positioning fixture also includes a column connection plate and a fixture installation plate, the column connection plate is connected to the fixture installation plate, and the gripper locking mechanism includes a locking hook, a vertical lift cylinder and a swing cylinder, and the vertical lift The cylinder is fixedly connected to the fixture mounting plate, the piston rod of the vertical lift cylinder is also connected with a lifting slide plate, the cylinder body of the swing cylinder is fixedly connected to the lift slide plate, and the locking hook is fixedly connected to the output shaft of the swing cylinder. The opening of the hook portion of the locking hook is U-shaped and fits with the peripheral surface of the bar member constituting the robot gripper frame, and the opening edge of the hook portion of the locking hook is provided with chamfers. The function of the locking hook is to hook the frame of the robot gripper, and limit the deviation of the robot gripper together with the gripper positioning mechanism. The locking hook hooking the robot gripper needs to be decomposed into two actions, the locking hook flips and the locking hook moves vertically. The locking hook must have the flip function in order to let the channel rise to the robot gripper, and then turn it back , so that the U-shaped mouth of the locking hook is aligned with the rod of the robot gripper frame, and then the locking hook rises vertically to clamp the U-shaped mouth outside the rod of the robot gripper frame. The swing cylinder can realize the turning of the locking hook, and the vertical lifting cylinder can realize the vertical movement of the locking hook. The opening edge of the hook part of the locking hook is provided with chamfers, which eliminates the corners and can play a guiding role, so that the locking hook can be more easily matched with the robot gripper frame.

As a preference, a pair of guide rod support plates perpendicular to the column connection plate are arranged on the column connection plate, a guide rod is vertically fixed between the two guide rod support plates, a sliding connection part is provided on the lifting slide plate, and the sliding connection part sliding sleeve Attached to the guide rod. The guide rod passes through the lifting slide plate, so that the lifting slide plate has a definite sliding path. When the lifting slide plate is subjected to external force, the guide rod can share the force with the piston rod of the vertical lifting cylinder to reduce the radial compression of the piston rod of the vertical lifting cylinder. , to avoid the deflection of the piston rod in the long run, which will damage the service life.

As a preference, the gripper positioning mechanism includes at least two vertically downward positioning pins, the positioning pins are retractable and movable structures, the positioning pin bracket assembly is arranged on the clamp mounting plate, and the bottom of the positioning pin bracket assembly is fixed. There is a positioning pin telescopic cylinder, and the positioning pin is fixedly connected on the piston rod of the positioning pin telescopic cylinder, and the positioning pin end is provided with a taper. Using fixed positioning pins to locate workpieces requires high precision for robot delivery. Sometimes, if the workpiece is placed with a large deviation, the positioning pins may interfere with the workpiece. The movable positioning pins are extended after the workpiece is basically in place. It can be seen that the accuracy of robot delivery can ensure that the positioning hole and the positioning pin are mostly aligned when the workpiece is basically in place. After that, when the positioning pin is extended, the taper at the end of the positioning pin can be further guided and adjusted, and finally the positioning pin and the positioning hole on the workpiece A precise pin-hole fit is achieved.

Preferably, an intermediate connecting plate is provided between the column connecting plate and the clamp mounting plate, and the column connecting plate and the clamp mounting plate are bolted to the intermediate connecting plate respectively, parallel slot holes are arranged on the column connecting plate and the clamp mounting plate, and the column The parallel slots on the connecting plate and the parallel slots on the fixture mounting plate are perpendicular to each other, and the intermediate connecting plate is provided with threaded holes corresponding to the positions of the parallel slots on the column connecting plate and the fixture mounting plate. When connecting, the bolts first pass through the parallel slot holes on the column connecting plate and the fixture mounting plate, and then screw into the threaded holes on the intermediate connecting plate. Through this connection method, horizontal and vertical connections can be made between the column connecting plate and the fixture mounting plate. Relative position adjustment, so that the gripper positioning mechanism and the gripper locking mechanism can be adjusted to the best fit state with the robot gripper.

Preferably, there are two or three fixture columns. In order to ensure the stable positioning of the robot gripper, multiple locking hooks and positioning pins should be arranged in a dispersed manner. A certain passage is required for workpiece delivery, so it is not advisable to set too many fixture columns so as not to hinder the workpiece transportation. Two fixture columns are properly separated, or three fixture columns are arranged in an L shape, which can form enough channels.

The beneficial effects of the present invention are:

Improve the stability of the workpiece when the robot grabs the repair welding to ensure the quality of the repair welding. This tooling can make the robot gripper be positioned and locked by the robot gripper positioning fixture in the air, so as to get more support, better withstand the external force from the welding device during welding, and stably maintain the position of the robot gripper and even the workpiece , to better ensure the welding quality.

Description of drawings

Fig. 1 is a kind of structural representation of the present invention;

Fig. 2 is a schematic diagram of a state when the present invention cooperates with a robot gripper;

Fig. 3 is a schematic diagram of a working state when the present invention cooperates with a robot arm.

In the figure, 1-base plate, 2-fixture column, 3-locking hook, 4-vertical lifting cylinder, 5-swing cylinder, 6-column connecting plate, 7-fixture mounting plate, 8-lifting slide, 9-bending Department, 10-location pin bracket assembly, 11-location pin telescopic cylinder, 12-guide rod bracket plate, 13-guide rod, 14-intermediate connecting plate, 15-location pin, 16-robot gripper.

detailed description

The present invention will be further described below in conjunction with the specific embodiments of the accompanying drawings.

Example 1:

As shown in Fig. 1 and Fig. 2, a robot gripper repair welding positioning tool, the arm of the robot is provided with a robot gripper 16, the frame of the robot gripper is in the shape of "mesh", and the rods made of square tubes are welded There are three positioning holes on the robot gripper. The repair welding positioning tool for the robot grasping parts includes a base plate 1, which is embedded in the ground, and three vertical fixture columns 2 are connected to the base plate 1 through flanges, and the three fixture columns 2 are arranged in an L shape. The top of each fixture column 2 is provided with a bending part 9 bent downward, and the bending part 9 is provided with a robot gripper positioning fixture, and the robot gripper positioning fixture includes a gripper positioning mechanism and a gripper locking mechanism. Described robot gripper location fixture also comprises a column connecting plate 6 and clamp mounting plate 7, is provided with intermediate connecting plate 14 between column connecting plate 6 and clamp mounting plate 7, and column connecting plate 6 and clamp mounting plate 7 are respectively connected with The middle connecting plate 14 is connected by bolts, four parallel slots are respectively arranged on the column connecting plate 6 and the clamp mounting plate 7, the direction of the parallel slots on the column connecting plate 6 is the horizontal direction, and the direction of the parallel slots on the clamp mounting plate 7 is horizontal. For the vertical direction, the intermediate connecting plate 14 is provided with threaded holes corresponding to the positions of the parallel slots on the column connecting plate 6 and the fixture mounting plate 7 . The gripper locking mechanism includes a locking hook 3, a vertical lifting cylinder 4 and a swinging cylinder 5, the vertical lifting cylinder 4 is fixedly connected on the fixture mounting plate 7, and the piston rod of the vertical lifting cylinder 4 is also threaded with a lifting slide plate 8. The lifting slide 8 is L-shaped, with a horizontal plane and a vertical fixing surface. The horizontal plane is connected to the piston rod of the vertical lifting cylinder 4, and the cylinder body of the swinging cylinder 5 is fixedly connected to the vertical fixing surface of the lifting slide 8 by bolts. , the output shaft of the swing cylinder 5 is connected with a turntable key, and six threaded holes are evenly distributed on the upper surface of the turntable, and the locking hook 3 is provided with a shaft hole and a bolt hole, and the output shaft of the swing cylinder 5 passes through the The shaft hole is described, and the bolt perforation is connected with a threaded hole on the turntable through a bolt, so that the locking hook 3 is fixedly connected to the output shaft of the swing cylinder 5, and the opening of the hook part of the locking hook 3 is in the shape of a right angle U. And it is adapted to the square peripheral surface of the bar that constitutes the robot gripper frame, and the opening edge of the crotch part of the locking hook 3 is provided with chamfering. The column connecting plate 6 is provided with a pair of guide rod support plates 12 perpendicular to the column connecting plate 6, two guide rods 13 are vertically fixed between the two guide rod support plates 12, and the lifting slide plate 8 is provided with two sliding connections. The sliding connection part is a through hole with a linear bearing inside, and the sliding connection part is slidably sleeved on the guide rod 13. The gripper positioning mechanism includes three vertically downward positioning pins 15, and the positions of the positioning pins 15 correspond to the positions of the three positioning holes on the robot gripper. There is a positioning pin bracket assembly 10, and the positioning pin bracket assembly 10 is formed by two L-shaped plates and connected by bolts. The bottom of the positioning pin bracket assembly 10 is fixed with a positioning pin telescopic cylinder 11 by bolts. The bottom surface of Cheng 10 is a plane, and the positioning pin telescopic cylinder 11 is offset near the edge of one side of the bottom surface of the positioning pin bracket assembly 10, and the positioning pin 15 is threadedly connected to the piston rod of the positioning pin telescopic cylinder 11, and the end of the positioning pin 15 is provided with a taper .

The robot grasping repair welding positioning tool is controlled by PLC, and at the same time, the robot arm and the welding devices for repair welding are also controlled by the PLC. Each cylinder on the robot grasping repair welding positioning tool is equipped with an opening and closing position proximity switch , used to detect the expansion and contraction state of the piston rod or the opening and closing state of the output shaft, and input signals to the PLC. In the standby mode, the vertical lifting cylinder 4 piston rods stretch out, the lifting slide plate 8 falls to the bottom, the swinging cylinder 5 is in the open position, and the locking hook 3 is turned outwards. When the robot arm removes the workpiece that has completed tack welding from the shuttle fixture through the robot gripper and lifts it up to the positioning fixture of the robot gripper through the gap between the two fixture columns 2 with the largest distance, when the three positioning fixtures on the robot gripper After the hole is close to the bottom of the three positioning pin telescopic cylinder 11, the servo motor at the joint of the robot arm transmits the position signal to the PLC, and the PLC sends a command to control the solenoid valve of the positioning pin telescopic cylinder 11 to switch the gas path, and the positioning pin stretches The cylinder 11 drives the positioning pin 15 to stretch out and inserts it into the corresponding positioning hole of the robot gripper. The proximity switch on the positioning pin telescopic cylinder 11 that detects the extended state of the piston rod is triggered, and sends a corresponding signal to the PLC. The PLC then controls the swing cylinder. The solenoid valve 5 switches the air circuit, the output shaft of the swing cylinder 5 turns back to the closed state, the locking hook 3 retracts, the proximity switch on the swing cylinder 5 that detects the closed state of the output shaft is triggered, and the PLC makes the straight lift cylinder 4 act in the same way , the lifting slide plate 8 picks up, and the U-shaped opening of the locking hook 3 is aligned with the square tube rod of the robot gripper frame to block the peripheral surface of the rod, so that each locking hook 3 is opposite to the robot gripper frame from three directions. The bar forms a limit, and the bottom surface of the positioning pin bracket assembly 10 is just against the top surface of the bar of the robot gripper frame, and three locking hooks 3, three positioning pins 15, and the positioning pin bracket assembly 10 are combined to Form a firm positioning and locking on the robot gripper. Then each welding equipment that implements repair welding is automatically gathered at the workpiece to complete the repair welding. Finally, the welding equipment is evacuated, and the repair welding positioning tool of this robot returns to the standby state according to the steps inverse to the above steps, and the workpiece that has completed the repair welding is sent to the next process.

Example 2:

There are two fixture columns 2, the direction of the parallel slots on the column connecting plate 6 is the vertical direction, the direction of the parallel slots on the fixture mounting plate 7 is the horizontal direction, and there are two positioning pins 15 and two locking hooks 3. When the gripper positioning fixture positions the robot gripper, the positioning pins 15 are located on both sides of the robot gripper frame, as shown in FIG. 3 . All the other are with embodiment 1.

Claims (5)

1. a robot grip repair welding positioning tool, the arm of described robot is provided with robot gripping apparatus, it is characterized in that comprising substrate (1), substrate (1) is provided with clamp column (2), clamp column (2) is provided with the robot gripping apparatus positioning fixture that can coordinate with robot gripping apparatus, robot gripping apparatus positioning fixture comprises gripping apparatus detent mechanism and gripping apparatus retaining mechanism, described robot gripping apparatus positioning fixture also comprises upright post connecting plate (6) and fixture installing plate (7), upright post connecting plate (6) is close to fixture installing plate (7) and is connected, described gripping apparatus retaining mechanism comprises locking bail (3), vertical lift cylinder (4) and oscillating cylinder (5), vertical lift cylinder (4) is connected on fixture installing plate (7), the piston rod of vertical lift cylinder (4) is also connected with a lifter slide (8), the cylinder body of oscillating cylinder (5) is connected on lifter slide (8), locking bail (3) is connected on the output shaft of oscillating cylinder (5), the hook part opening of locking bail (3) takes the shape of the letter U and adaptive with the side face of the rod member forming robot gripping apparatus framework, the hook part edge of opening of locking bail (3) is provided with chamfering, middle connecting plate (14) is provided with between upright post connecting plate (6) and fixture installing plate (7), upright post connecting plate (6) is connected with middle connecting plate (14) bolt respectively with fixture installing plate (7), upright post connecting plate (6) and fixture installing plate (7) are equipped with parallel slotted hole, parallel slotted hole on upright post connecting plate (6) is vertical with the parallel slotted hole trend on fixture installing plate (7), middle connecting plate (14) is provided with the screwed hole corresponding with the parallel slotted hole position on upright post connecting plate (6) and fixture installing plate (7).

2. robot according to claim 1 grip repair welding positioning tool, it is characterized in that clamp column (2) top is provided with the downward bending part (9) of bending, described gripping apparatus detent mechanism and gripping apparatus retaining mechanism are located on bending part (9).

3. robot according to claim 1 grip repair welding positioning tool, it is characterized in that upright post connecting plate (6) is provided with a pair guide bar support plate (12) vertical with upright post connecting plate (6), guide rod (13) is vertically installed with between two guide bar support plates (12), lifter slide (8) is provided with slide contact part, and this slide contact part is slidably socketed on guide rod (13).

4. robot according to claim 1 grip repair welding positioning tool, it is characterized in that described gripping apparatus detent mechanism comprises at least two alignment pins (15) straight down, alignment pin (15) is telescopic action formula structure, fixture installing plate (7) is provided with locating pin bracket assembly (10), locating pin bracket assembly (10) bottom is installed with alignment pin telescopic cylinder (11), alignment pin (15) is connected on the piston rod of alignment pin telescopic cylinder (11), and alignment pin (15) end is provided with tapering.

5. the robot grip repair welding positioning tool according to claim 1 or 2 or 3 or 4, is characterized in that clamp column (2) is two or three.