CN109175822B - Oil tank welding draws collaboration mechanism fast - Google Patents
Oil tank welding draws collaboration mechanism fast Download PDFInfo
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- CN109175822B CN109175822B CN201811338361.1A CN201811338361A CN109175822B CN 109175822 B CN109175822 B CN 109175822B CN 201811338361 A CN201811338361 A CN 201811338361A CN 109175822 B CN109175822 B CN 109175822B
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- oil tank
- grabbing
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- positioning
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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
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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
- 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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to a quick oil tank welding and extracting cooperation mechanism, which comprises a storage platform, an oil tank welding fixing frame arranged on the storage platform and a grabbing arm mechanism matched with the oil tank welding fixing frame for grabbing, wherein the storage platform is provided with a plurality of oil tank welding fixing frames; the oil tank welding fixing frame is provided with an oil tank edge adjustable clamping assembly which is matched and clamped with the oil tank; the lower part of the oil tank welding fixing frame is also provided with a positioning strip, and the grabbing arm mechanism is provided with a matched positioning strip matched with the positioning strip for positioning; through the design, the oil tank is fixed on the oil tank welding fixing frame, and the grabbing arm mechanism and the oil tank welding fixing frame are matched for collaborative positioning grabbing, so that grabbing efficiency and precision can be greatly improved, and oil tank welding efficiency is improved; meanwhile, the distance between the oil tank edge positioning block and the oil tank edge clamping block can be adjusted by the oil tank locking screw rod, so that the requirement of locking and fixing oil tanks with different widths is met.
Description
Technical Field
The invention relates to a quick oil tank welding and extracting cooperation mechanism.
Background
In the manufacturing process of the existing engineering machinery oil tank, a plurality of plates are required to be welded and spliced, and when welding is performed, automatic welding is used for improving efficiency, the oil tank is fixed on a robot arm, and welding is completed through automatic welding equipment. In the prior art, the oil tank is required to be manually fixed on the welding frame body, then the welding frame body is connected on the robot arm, the installation efficiency is low, the precision is not enough, and the locking mechanisms with different widths are also required to be designed for the oil tanks with different sizes and widths; the efficiency and the precision of the oil tank welding are seriously affected, and the operation cost is high. The prior art is urgently required to provide a quick oil tank welding and extracting cooperation mechanism which can adapt to oil tank sizes with different widths and improve the connection efficiency of an oil tank and a robot arm.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides the oil tank welding quick extraction cooperation mechanism which can adapt to the sizes of oil tanks with different widths and improve the connection efficiency of the oil tank and a robot arm.
In order to achieve the above purpose, the technical scheme of the invention is to provide a rapid oil tank welding and extracting cooperation mechanism, which comprises a storage platform, an oil tank welding fixing frame arranged on the storage platform, and a grabbing arm mechanism matched with the oil tank welding fixing frame for grabbing, wherein the storage platform is provided with a plurality of oil tank welding fixing frames;
the oil tank welding fixing frame is provided with an oil tank edge adjustable clamping assembly which is matched and clamped with the oil tank; the oil tank edge adjustable clamping assembly comprises an oil tank edge positioning block and an oil tank edge clamping block which are respectively arranged on two sides of an oil tank, the oil tank edge clamping block is connected to a sliding rail in a sliding manner, a screw connecting block and an oil tank locking screw are further arranged between the oil tank edge positioning block and the oil tank edge clamping block, one end of the oil tank locking screw is rotationally connected with the oil tank edge positioning block, the other end of the oil tank locking screw is in threaded fit connection with the oil tank edge clamping block, and the oil tank locking screw is arranged in parallel with the sliding rail;
the lower part of the oil tank welding fixing frame is also provided with a positioning strip, and the grabbing arm mechanism is provided with a matched positioning strip matched with the positioning strip for positioning; the oil tank welding device is characterized in that a grabbing cylinder is fixed on the grabbing arm mechanism, and the end part of the grabbing cylinder is locked and released in a matched mode with the oil tank welding fixing frame.
Through the design, the oil tank is fixed on the oil tank welding fixing frame, and the grabbing arm mechanism and the oil tank welding fixing frame are matched for collaborative positioning grabbing, so that grabbing efficiency and precision can be greatly improved, and oil tank welding efficiency is improved; meanwhile, the distance between the oil tank edge positioning block and the oil tank edge clamping block can be adjusted by the oil tank locking screw rod, so that the requirement of locking and fixing oil tanks with different widths is met.
Preferably, the oil tank welding fixing frame comprises a fixed vertical plate and a fixed flat plate connected with the fixed vertical plate, and the fixed vertical plate and the fixed flat plate are matched to form an L-shaped fixing area; the oil tank edge adjustable clamping assembly is respectively provided with a group of fixed risers and fixed risers. According to the design, the oil tank is positioned in the L-shaped fixing area through the oil tank edge positioning block, then the oil tank edge adjustable clamping assembly is fixed on the oil tank welding fixing frame, when in welding, the oil tank is fixed with the oil tank welding fixing frame in position, and welding can be performed according to a preset program.
Preferably, the oil tank edge positioning block is provided with a positioning concave table which is matched with the oil tank edge for positioning; the oil tank edge clamping block is provided with a clamping groove matched and clamped with the oil tank edge;
the inner side of the oil tank edge clamping block is provided with a supporting bottom block matched and supported with the oil tank, the edge, close to the supporting bottom block, of the oil tank edge clamping block is outwards protruded to form a pressing convex edge, and the pressing convex edge is matched with the edge of the supporting bottom block to form a clamping groove; the supporting bottom block is provided with a screw hole matched with the locking screw rod of the oil tank;
and a plurality of supporting columns are fixed on the fixed vertical plates and/or the fixed flat plates, and the supporting columns are in matched contact with the surface of the oil tank.
The clamping and supporting design can enable the oil tank to be fixed and stable in the L-shaped fixing area, and the design of the supporting column body ensures the fixing stability and prevents the oil tank from deforming.
Preferably, a lower frame is arranged at the lower part of the oil tank welding fixing frame, the lower frame is cuboid, a positioning ring is arranged at the bottom of the lower frame, a positioning column which slides in a matched manner with the positioning ring is arranged on the storage platform, and a platform supporting frame which is matched and supported with the lower frame is also arranged on the storage platform;
the locating strips arranged horizontally are fixed at the bottoms of two sides of the fixed flat plate, and the locating strips arranged at the bottoms of the same side of the fixed flat plate comprise grabbing locating strips arranged in parallel with the inserting direction of the grabbing arm mechanism and grabbing transverse locating strips arranged perpendicular to the inserting direction of the grabbing arm mechanism.
By means of the design, accurate positioning can be achieved in the horizontal plane in the direction of insertion of the grabbing arm mechanism (along the direction of the grabbing side arm) and the direction perpendicular to the direction of insertion of the grabbing arm mechanism (along the direction perpendicular to the direction of the grabbing side arm), and grabbing and machining accuracy is improved.
Preferably, the grabbing arm mechanism is U-shaped and comprises two grabbing side arms arranged in parallel and a connecting arm for connecting the grabbing side arms, and a connecting disc connected with the robot arm is arranged on the connecting arm;
the same grabbing side arm comprises a grabbing direction matching locating strip which is arranged in parallel with the inserting direction of the grabbing arm mechanism and a grabbing transverse matching locating strip which is arranged perpendicular to the inserting direction of the grabbing arm mechanism; the grabbing direction matching locating strips are matched with the grabbing direction locating strips for locating, and the grabbing transverse matching locating strips are matched with the grabbing transverse locating strips for locating. By the aid of the design, the grabbing arm mechanism and the oil tank welding fixing frame can be matched and positioned, and a precision foundation is laid for subsequent actions.
Preferably, strip-shaped positioning grooves are formed in the bottoms of the grabbing directional positioning strips and the grabbing transverse positioning strips, and the cross sections of the positioning grooves are trapezoidal; the upper ends of the grabbing direction matching positioning strips and the grabbing transverse matching positioning strips are convexly provided with strip-shaped matching positioning convex strips, and the cross sections of the matching positioning convex strips are trapezoidal; the locating groove on the grabbing locating strip is matched with the matching locating convex strip on the grabbing locating strip, and the locating groove on the grabbing transverse locating strip is matched with the matching locating convex strip on the grabbing transverse matching locating strip. By means of the positioning and matching mode, the matching positions of the positioning grooves and the matching positioning convex strips can be automatically found, and errors in program positioning are made up.
Preferably, the grabbing side arm is connected with a grabbing cylinder, the grabbing cylinder is fixed with the grabbing side arm through a cylinder connecting frame, a driving rod of the grabbing cylinder is perpendicular to the grabbing side arm, and a locking head is connected to the driving end part of the driving rod of the grabbing cylinder;
the bottom of the lower frame is provided with a matched locking head supporting platform, and the matched locking head supporting platform is provided with a matched locking head matched with the locking head; the locking head is provided with a locking convex conical surface, and the matched locking head is provided with a matched locking concave conical surface matched with the locking convex conical surface. By means of the design, after the grabbing arm mechanism and the oil tank welding fixing frame are matched and positioned, the grabbing cylinder can drive the locking head to be matched and pressed with the matching locking head, the grabbing arm mechanism and the oil tank welding fixing frame are connected into a whole, and integrity assurance is provided for welding.
Preferably, the cylinder connecting frame is a rectangular frame, and the matched positioning strip is fixed on the upper surface of the rectangular frame; the outer side wall of the rectangular frame is fixed with the grabbing side arm; the grabbing cylinder is fixed inside the rectangular frame, and a driving rod of the grabbing cylinder vertically penetrates through the bottom of the rectangular frame to be locked or released in a matched mode with the matched locking head; two grabbing cylinders are connected to each grabbing side arm in parallel. By means of the design, the oil tank welding fixing frame can be stably grabbed from the storage platform through the four grabbing cylinders on the two grabbing side arms, meanwhile, grabbing strength can be guaranteed during welding, and welding efficiency and quality are improved. The vertical setting of snatch cylinder can save installation space, avoids snatching arm mechanism and other parts interference when the operation.
Preferably, the lower frame is further provided with a model identification plate, a plurality of identification holes are formed in the model identification plate side by side, and identification caps are connected in the identification holes in a matched mode. By such a design, the model of the fuel tank to be processed can be obtained according to the combination (presence and absence) of different identification caps on the plurality of identification holes.
Preferably, the storage platform is provided with a matching recognition plate, the upper part of the matching recognition plate is connected with a plurality of light sensors side by side, and each light sensor is correspondingly arranged with a recognition hole on the recognition plate. The model of the oil tank to be processed can be read by population, can be obtained by the light sensor, and is summarized and transmitted to a control center (PLC or other control chips), and the mechanical arm can obtain the information of the oil tank to be processed during processing.
The invention has the advantages and beneficial effects that: through the design, the oil tank is fixed on the oil tank welding fixing frame, and the grabbing arm mechanism and the oil tank welding fixing frame are matched for collaborative positioning grabbing, so that grabbing efficiency and precision can be greatly improved, and oil tank welding efficiency is improved; meanwhile, the distance between the oil tank edge positioning block and the oil tank edge clamping block can be adjusted by the oil tank locking screw rod, so that the requirement of locking and fixing oil tanks with different widths is met.
Drawings
FIG. 1 is a schematic diagram of a structure of a fuel tank welding fixture and a fuel tank matched and connected with each other;
FIG. 2 is a schematic diagram of a welding fixture of the oil tank of the present invention (from a front view, omitting a model identification plate; and cooperating with an identification plate);
FIG. 3 is a schematic view of the invention of the tank welding fixture in combination with tanks of different widths;
FIG. 4 is a schematic view (perspective view) of the welding fixture of the fuel tank of the present invention;
FIG. 5 is a schematic view of the welding fixture (bottom view) of the oil tank of the present invention;
FIG. 6 is a schematic diagram of the structure of the oil tank welding fixture, the oil tank and the grabbing arm mechanism matched and connected in the invention;
fig. 7 is a schematic structural view of a grabbing arm mechanism of the present invention.
In the figure: 1. an oil tank; 2. an edge; 3. a storage platform; 4. the oil tank is welded with the fixing frame; 5. a gripper arm mechanism; 6. a positioning strip; 7. matching with a positioning strip; 8. grabbing an air cylinder; 9. fixing a vertical plate; 10. fixing the flat plate; 11. an L-shaped fixing area; 12. a support column; 13. an oil tank edge positioning block; 14. a screw connecting block; 15. a sliding rail; 16. the oil tank locks the screw rod; 17. a lower frame; 18. a positioning ring; 19. positioning columns; 20. a platform support; 21. a locking head supporting platform is matched; 22. grabbing an orientation positioning strip; 23. grabbing a transverse positioning strip; 24. grabbing a side arm; 25. a connecting arm; 26. a connecting disc; 27. grabbing and matching the positioning strips; 28. grabbing a transverse matched positioning strip; 29. a positioning groove; 30. matching and positioning convex strips; 31. matching with a locking head; 32. locking the convex conical surface; 33. matching with a locking concave conical surface; 34. a rectangular frame; 37. a model identification board; 38. identifying the hole; 39. identifying the cap; 40. matching with an identification plate; 41. a light sensor; 42. positioning concave table; 43. a support bottom block; 44. an oil tank edge clamping block; 45. compressing the convex edge; 46. a locking head.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings and examples. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1 to 7, a rapid extraction collaboration mechanism for welding an oil tank 1 comprises a storage platform 3, an oil tank welding fixing frame 4 arranged on the storage platform 3, and a grabbing arm mechanism 5 matched with the oil tank welding fixing frame 4 for grabbing;
the oil tank welding fixing frame 4 is provided with an oil tank 1 edge adjustable clamping assembly which is matched and clamped with the oil tank 1; the edge adjustable clamping assembly of the oil tank 1 comprises an oil tank edge positioning block 13 and an oil tank edge clamping block 44 which are respectively arranged at two sides of the oil tank 1, wherein the oil tank edge clamping block 44 is slidably connected to a sliding rail 15, a screw connecting block 14 and an oil tank locking screw 16 are further arranged between the oil tank edge positioning block 13 and the oil tank edge clamping block 44, one end of the oil tank locking screw 16 is rotationally connected with the oil tank edge positioning block 13, the other end of the oil tank locking screw 16 is in threaded fit connection with the oil tank edge clamping block 44, and the oil tank locking screw 16 is parallel to the sliding rail 15;
the lower part of the oil tank welding fixing frame 4 is also provided with a positioning strip 6, and the grabbing arm mechanism 5 is provided with a matched positioning strip 7 matched with the positioning strip 6 for positioning; the grabbing arm mechanism 5 is fixedly provided with a grabbing cylinder 8, and the end part of the grabbing cylinder 8 is locked and released in a matched mode with the oil tank welding fixing frame 4.
The oil tank welding fixing frame 4 comprises a fixed vertical plate 9 and a fixed flat plate 10 connected with the fixed vertical plate 9, and the fixed vertical plate 9 and the fixed flat plate 10 are matched to form an L-shaped fixed area 11; the edge adjustable clamping components of the oil tank 1 are respectively provided with a group on the fixed vertical plate 9 and the fixed vertical plate 9.
The oil tank edge positioning block 13 is provided with a positioning concave table 42 which is in matched contact positioning with the edge of the oil tank 1; the oil tank edge clamping block 44 is provided with a clamping groove matched and clamped with the edge of the oil tank 1;
the inside of the oil tank edge clamping block 44 is provided with a supporting bottom block 43 matched and supported with the oil tank 1, the edge of the oil tank edge clamping block 44, which is close to the supporting bottom block 43, protrudes outwards to form a pressing convex edge 45, and the pressing convex edge 45 is matched with the edge of the supporting bottom block 43 to form a clamping groove; the supporting bottom block 43 is provided with a screw hole matched with the oil tank locking screw 16;
a plurality of supporting columns 12 are fixed on the fixed vertical plates 9 and/or the fixed flat plates 10, and the supporting columns 12 are in matched contact with the surface of the oil tank 1.
The lower part of the oil tank welding fixing frame 4 is provided with a lower frame 17, the lower frame 17 is cuboid, the bottom of the lower frame 17 is provided with a positioning ring 18, the storage platform 3 is provided with a positioning column 19 which slides in a matched manner with the positioning ring 18, and the storage platform 3 is also provided with a platform support frame 20 which is matched and supported with the lower frame 17;
the positioning strips 6 which are horizontally arranged are fixed at the bottoms of the two sides of the fixed flat plate 10, and the positioning strips 6 at the bottoms of the same side of the fixed flat plate 10 comprise grabbing direction positioning strips 22 which are arranged in parallel with the inserting direction of the grabbing arm mechanism 5 and grabbing transverse positioning strips 23 which are arranged perpendicular to the inserting direction of the grabbing arm mechanism 5.
The grabbing arm mechanism 5 is U-shaped and comprises two grabbing side arms 24 which are arranged in parallel and a connecting arm 25 which connects the grabbing side arms 24, and a connecting disc 26 which is connected with the robot arm is arranged on the connecting arm 25;
the same grabbing side arm 24 comprises a grabbing direction matching locating strip 27 which is arranged in parallel with the inserting direction of the grabbing arm mechanism 5 and a grabbing transverse matching locating strip 28 which is arranged perpendicular to the inserting direction of the grabbing arm mechanism 5; the grabbing direction matching locating strip 27 is matched with the grabbing direction locating strip 22, and the grabbing transverse matching locating strip 28 is matched with the grabbing transverse locating strip 23.
The bottoms of the grabbing positioning strips 22 and the grabbing transverse positioning strips 23 are provided with strip-shaped positioning grooves 29, and the cross sections of the positioning grooves 29 are trapezoidal; the upper ends of the grabbing direction matching positioning strips 27 and the grabbing transverse matching positioning strips 28 are convexly provided with strip-shaped matching positioning convex strips 30, and the cross section of each matching positioning convex strip 30 is trapezoidal; the positioning groove 29 on the grabbing positioning strip 22 is matched with the matching positioning convex strip 30 on the grabbing matching positioning strip 27, and the positioning groove 29 on the grabbing transverse positioning strip 23 is matched with the matching positioning convex strip 30 on the grabbing transverse matching positioning strip 28.
The grabbing side arm 24 is connected with a grabbing cylinder 8, the grabbing cylinder 8 is fixed with the grabbing side arm 24 through a cylinder connecting frame, a driving rod of the grabbing cylinder 8 is perpendicular to the grabbing side arm 24, and a locking head 46 is connected to a driving end of the driving rod of the grabbing cylinder 8;
the bottom of the lower frame 17 is provided with a matched locking head supporting platform 21, and the matched locking head supporting platform 21 is provided with a matched locking head 31 matched with the locking head 46; the locking head 46 is provided with a locking convex conical surface 32, and the matching locking head 31 is provided with a matching locking concave conical surface 33 matched with the locking convex conical surface 32.
The cylinder connecting frame is a rectangular frame 34, and the matched positioning strip 7 is fixed on the upper surface of the rectangular frame 34; the outer side wall of the rectangular frame 34 is fixed with the grabbing side arm 24; the grabbing cylinder 8 is fixed inside the rectangular frame 34, and a driving rod of the grabbing cylinder 8 vertically penetrates through the bottom of the rectangular frame 34 to be matched and locked or released with the matched locking head 31; two grabbing cylinders 8 are connected to each grabbing side arm 24 in parallel.
The lower frame 17 is further provided with a model identification plate 37, the model identification plate 37 is provided with a plurality of identification holes 38 side by side, and the identification holes 38 are internally matched and connected with an identification cap 39.
The storage platform 3 is provided with a matching identification plate 40, a plurality of light sensors 41 are connected to the upper portion of the matching identification plate 40 side by side, and each light sensor 41 corresponds to an identification hole 38 in the identification plate.
Example 1
The utility model provides a cooperation mechanism is drawed fast in oil tank 1 welding which characterized in that: the device comprises a storage platform 3, an oil tank welding fixing frame 4 arranged on the storage platform 3, and a grabbing arm mechanism 5 matched with the oil tank welding fixing frame 4 for grabbing;
the oil tank welding fixing frame 4 is provided with an oil tank 1 edge adjustable clamping assembly which is matched and clamped with the oil tank 1; the edge adjustable clamping assembly of the oil tank 1 comprises an oil tank edge positioning block 13 and an oil tank edge clamping block 44 which are respectively arranged at two sides of the oil tank 1, wherein the oil tank edge clamping block 44 is slidably connected to a sliding rail 15, a screw connecting block 14 and an oil tank locking screw 16 are further arranged between the oil tank edge positioning block 13 and the oil tank edge clamping block 44, one end of the oil tank locking screw 16 is rotationally connected with the oil tank edge positioning block 13, the other end of the oil tank locking screw 16 is in threaded fit connection with the oil tank edge clamping block 44, and the oil tank locking screw 16 is parallel to the sliding rail 15;
the lower part of the oil tank welding fixing frame 4 is also provided with a positioning strip 6, and the grabbing arm mechanism 5 is provided with a matched positioning strip 7 matched with the positioning strip 6 for positioning; the grabbing arm mechanism 5 is fixedly provided with a grabbing cylinder 8, and the end part of the grabbing cylinder 8 is locked and released in a matched mode with the oil tank welding fixing frame 4.
The oil tank welding fixing frame 4 comprises a fixed vertical plate 9 and a fixed flat plate 10 connected with the fixed vertical plate 9, and the fixed vertical plate 9 and the fixed flat plate 10 are matched to form an L-shaped fixed area 11; the edge adjustable clamping components of the oil tank 1 are respectively provided with a group on the fixed vertical plate 9 and the fixed vertical plate 9.
The oil tank edge positioning block 13 is provided with a positioning concave table 42 which is in matched contact positioning with the edge of the oil tank 1; the oil tank edge clamping block 44 is provided with a clamping groove matched and clamped with the edge of the oil tank 1;
the inside of the oil tank edge clamping block 44 is provided with a supporting bottom block 43 matched and supported with the oil tank 1, the edge of the oil tank edge clamping block 44, which is close to the supporting bottom block 43, protrudes outwards to form a pressing convex edge 45, and the pressing convex edge 45 is matched with the edge of the supporting bottom block 43 to form a clamping groove; the supporting bottom block 43 is provided with a screw hole matched with the oil tank locking screw 16;
a plurality of supporting columns 12 are fixed on the fixed vertical plates 9 and/or the fixed flat plates 10, and the supporting columns 12 are in matched contact with the surface of the oil tank 1.
The lower part of the oil tank welding fixing frame 4 is provided with a lower frame 17, the lower frame 17 is cuboid, the bottom of the lower frame 17 is provided with a positioning ring 18, the storage platform 3 is provided with a positioning column 19 which slides in a matched manner with the positioning ring 18, and the storage platform 3 is also provided with a platform support frame 20 which is matched and supported with the lower frame 17;
the positioning strips 6 which are horizontally arranged are fixed at the bottoms of the two sides of the fixed flat plate 10, and the positioning strips 6 at the bottoms of the same side of the fixed flat plate 10 comprise grabbing direction positioning strips 22 which are arranged in parallel with the inserting direction of the grabbing arm mechanism 5 and grabbing transverse positioning strips 23 which are arranged perpendicular to the inserting direction of the grabbing arm mechanism 5.
The grabbing arm mechanism 5 is U-shaped and comprises two grabbing side arms 24 which are arranged in parallel and a connecting arm 25 which connects the grabbing side arms 24, and a connecting disc 26 which is connected with the robot arm is arranged on the connecting arm 25;
the same grabbing side arm 24 comprises a grabbing direction matching locating strip 27 which is arranged in parallel with the inserting direction of the grabbing arm mechanism 5 and a grabbing transverse matching locating strip 28 which is arranged perpendicular to the inserting direction of the grabbing arm mechanism 5; the grabbing direction matching locating strip 27 is matched with the grabbing direction locating strip 22, and the grabbing transverse matching locating strip 28 is matched with the grabbing transverse locating strip 23.
The bottoms of the grabbing positioning strips 22 and the grabbing transverse positioning strips 23 are provided with strip-shaped positioning grooves 29, and the cross sections of the positioning grooves 29 are trapezoidal; the upper ends of the grabbing direction matching positioning strips 27 and the grabbing transverse matching positioning strips 28 are convexly provided with strip-shaped matching positioning convex strips 30, and the cross section of each matching positioning convex strip 30 is trapezoidal; the positioning groove 29 on the grabbing positioning strip 22 is matched with the matching positioning convex strip 30 on the grabbing matching positioning strip 27, and the positioning groove 29 on the grabbing transverse positioning strip 23 is matched with the matching positioning convex strip 30 on the grabbing transverse matching positioning strip 28.
When in use, one side edge of the oil tank 1 is positioned through the oil tank edge positioning block 13, and the oil tank edge positioning block 13 is provided with two (more) fixing risers 9 and fixing plates 10 respectively; the bottom surface and the side surface of the oil tank 1 are preferably in matched contact with a supporting column 12, and the height of the supporting column can be adjusted according to the specific shape of the oil tank; the edge of the oil tank 1 is provided with a border 2 with a certain width, the positioned oil tank 1 is clamped by matching with an adjustable clamping component at the edge of the oil tank 1, the oil tank locking screw 16 is adjusted in a rotating mode, and the oil tank edge clamping block 44 is adjusted to slide on the sliding rail 15, so that the oil tank 1 is clamped between the positioning concave table 42 and the clamping groove; the oil tank 1 is fixed.
The grabbing side walls are connected with the robot arm through the connecting disc 26, the robot arm controls the grabbing side walls to extend below the bottoms of two sides of the fixed flat plate 10 (the grabbing cylinder 8 is in a retraction state) through program control, then the grabbing side walls are lifted upwards gradually, the locating strips 6 and the locating strips 7 are located in a matched mode, the grabbing locating strips 27 and the grabbing locating strips 22 are located in a matched mode, the grabbing transverse locating strips 28 and the grabbing transverse locating strips 23 are located in a matched mode, and as the grabbing locating strips 23 are perpendicular to each other, accurate locating can be achieved on a horizontal plane in the inserting direction of the grabbing arm mechanism 5 (the direction along the grabbing side arm 24) and the inserting direction of the grabbing arm mechanism 5 (the direction perpendicular to the direction along the grabbing side arm 24), and grabbing and machining accuracy is improved;
in particular, by matching the trapezoid surface, the matching position of the positioning groove 29 and the matching positioning convex strip 30 can be automatically found, so as to compensate the error in program positioning.
The robot arm controls the grabbing side wall to stop temporarily, the grabbing cylinder 8 operates, a driving rod of the grabbing cylinder extends downwards, and the end part of the grabbing cylinder is matched and locked with the oil tank welding fixing frame 4; the grabbing arm mechanism 5 is fixedly connected with the oil tank welding fixing frame 4;
the robot arm controls the grabbing side wall to continue ascending, and the locating ring 18 and the locating column 19 under the oil tank welding fixing frame 4 are separated in a sliding mode, so that one-time grabbing is achieved.
Example 2
Further optimizing the embodiment 1, a grabbing air cylinder 8 is connected to the grabbing side arm 24, the grabbing air cylinder 8 is fixed to the grabbing side arm 24 through an air cylinder connecting frame, a driving rod of the grabbing air cylinder 8 is perpendicular to the grabbing side arm 24, and a locking head 46 is connected to a driving end of the driving rod of the grabbing air cylinder 8;
the bottom of the lower frame 17 is provided with a matched locking head supporting platform 21, and the matched locking head supporting platform 21 is provided with a matched locking head 31 matched with the locking head 46; the locking head 46 is provided with a locking convex conical surface 32, and the matching locking head 31 is provided with a matching locking concave conical surface 33 matched with the locking convex conical surface 32.
The cylinder connecting frame is a rectangular frame 34, and the matched positioning strip 7 is fixed on the upper surface of the rectangular frame 34; the outer side wall of the rectangular frame 34 is fixed with the grabbing side arm 24; the grabbing cylinder 8 is fixed inside the rectangular frame 34, and a driving rod of the grabbing cylinder 8 vertically penetrates through the bottom of the rectangular frame 34 to be matched and locked or released with the matched locking head 31; two grabbing cylinders 8 are connected to each grabbing side arm 24 in parallel.
In order to improve the locking stability of the grabbing cylinder 8, a locking head 46 is connected to the driving end of the driving rod; the mating locking head 31 is provided with a mating locking female conical surface 33 which is adapted to the locking male conical surface 32. The locking convex conical surface 32 of the locking head 46 and the matching locking concave conical surface 33 can be locked and matched, and the matching position can be found again, so that the locking head 46 and the matching locking head 31 are more locked and the matching between the faces is more stable due to the matching of the locking convex conical surface 32 and the matching locking concave conical surface 33.
For structural balance, two grabbing cylinders 8 are connected to each grabbing side arm 24 in parallel, and four grabbing cylinders 8 form a stable locking structure with four points;
the lower frame 17 is further provided with a model identification plate 37, the model identification plate 37 is provided with a plurality of identification holes 38 side by side, and the identification holes 38 are internally matched and connected with an identification cap 39. By such a design, the model of the fuel tank 1 to be processed can be obtained according to the combination of the different identification caps 39 (with the identification caps 39 and without the identification caps 39) on the plurality of identification holes 38.
The storage platform 3 is provided with a matching identification plate 40, a plurality of light sensors 41 are connected to the upper portion of the matching identification plate 40 side by side, and each light sensor 41 corresponds to an identification hole 38 in the identification plate. The model of the oil tank 1 to be processed can be read by population, can also be obtained through the optical sensor 41 (the signals formed by the identification cap 39 and the non-identification cap 39 are 1 and 0 respectively), and are transmitted to the control center (PLC or other control chips) in a summarizing way, and the mechanical arm can obtain the information of the oil tank 1 to be processed during processing.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present invention, and these modifications and variations should also be regarded as the scope of the invention.
Claims (6)
1. The utility model provides a cooperation mechanism is drawed fast in oil tank welding which characterized in that: the device comprises a storage platform, an oil tank welding fixing frame arranged on the storage platform, and a grabbing arm mechanism matched with the oil tank welding fixing frame for grabbing;
the oil tank welding fixing frame is provided with an oil tank edge adjustable clamping assembly which is matched and clamped with the oil tank; the oil tank edge adjustable clamping assembly comprises an oil tank edge positioning block and an oil tank edge clamping block which are respectively arranged on two sides of an oil tank, the oil tank edge clamping block is connected to a sliding rail in a sliding manner, a screw connecting block and an oil tank locking screw are further arranged between the oil tank edge positioning block and the oil tank edge clamping block, one end of the oil tank locking screw is rotationally connected with the oil tank edge positioning block, the other end of the oil tank locking screw is in threaded fit connection with the oil tank edge clamping block, and the oil tank locking screw is arranged in parallel with the sliding rail;
the lower part of the oil tank welding fixing frame is also provided with a positioning strip, and the grabbing arm mechanism is provided with a matched positioning strip matched with the positioning strip for positioning; a grabbing cylinder is fixed on the grabbing arm mechanism, and the end part of the grabbing cylinder is locked and released in a matched manner with the oil tank welding fixing frame;
the oil tank welding fixing frame comprises a fixed vertical plate and a fixed flat plate connected with the fixed vertical plate, and the fixed vertical plate and the fixed flat plate are matched to form an L-shaped fixing area; the oil tank edge adjustable clamping assembly is respectively provided with a group of fixed vertical plates and a group of fixed vertical plates;
the oil tank edge positioning block is provided with a positioning concave table which is matched with the oil tank edge for positioning; the oil tank edge clamping block is provided with a clamping groove matched and clamped with the oil tank edge;
the inner side of the oil tank edge clamping block is provided with a supporting bottom block matched and supported with the oil tank, the edge, close to the supporting bottom block, of the oil tank edge clamping block is outwards protruded to form a pressing convex edge, and the pressing convex edge is matched with the edge of the supporting bottom block to form a clamping groove; the supporting bottom block is provided with a screw hole matched with the locking screw rod of the oil tank;
the lower part of the oil tank welding fixing frame is provided with a lower frame which is cuboid, the bottom of the lower frame is provided with a positioning ring, the storage platform is provided with a positioning column which slides in a matched manner with the positioning ring, and the storage platform is also provided with a platform support frame which is matched and supported with the lower frame;
the bottom parts of two sides of the fixed flat plate are fixedly provided with positioning strips which are horizontally arranged, and the positioning strips at the bottom parts of the same side of the fixed flat plate comprise grabbing direction positioning strips which are arranged in parallel with the inserting direction of the grabbing arm mechanism and grabbing transverse positioning strips which are arranged perpendicular to the inserting direction of the grabbing arm mechanism;
the grabbing arm mechanism is U-shaped and comprises two grabbing side arms arranged in parallel and a connecting arm for connecting the grabbing side arms, and a connecting disc connected with the robot arm is arranged on the connecting arm;
the same grabbing side arm comprises a grabbing direction matching locating strip which is arranged in parallel with the inserting direction of the grabbing arm mechanism and a grabbing transverse matching locating strip which is arranged perpendicular to the inserting direction of the grabbing arm mechanism; the grabbing direction matching locating strips are matched with the grabbing direction locating strips for locating, and the grabbing transverse matching locating strips are matched with the grabbing transverse locating strips for locating.
2. The tank welding quick pick-up collaboration mechanism of claim 1, wherein: the bottom of the grabbing directional positioning strip and the bottom of the grabbing transverse positioning strip are provided with strip-shaped positioning grooves, and the cross section of each positioning groove is trapezoidal; the upper ends of the grabbing direction matching positioning strips and the grabbing transverse matching positioning strips are convexly provided with strip-shaped matching positioning convex strips, and the cross sections of the matching positioning convex strips are trapezoidal; the locating groove on the grabbing locating strip is matched with the matching locating convex strip on the grabbing locating strip, and the locating groove on the grabbing transverse locating strip is matched with the matching locating convex strip on the grabbing transverse matching locating strip.
3. The tank welding quick pick-up collaboration mechanism of claim 2, wherein: the gripping arm is connected with a gripping cylinder, the gripping cylinder is fixed with the gripping arm through a cylinder connecting frame, a driving rod of the gripping cylinder is perpendicular to the gripping arm, and a locking head is connected to the driving end part of the driving rod of the gripping cylinder;
the bottom of the lower frame is provided with a matched locking head supporting platform, and the matched locking head supporting platform is provided with a matched locking head matched with the locking head; the locking head is provided with a locking convex conical surface, and the matched locking head is provided with a matched locking concave conical surface matched with the locking convex conical surface.
4. A tank welding quick pick-up co-operation mechanism as claimed in claim 3, wherein: the cylinder connecting frame is a rectangular frame, and the matched positioning strips are fixed on the upper surface of the rectangular frame; the outer side wall of the rectangular frame is fixed with the grabbing side arm; the grabbing cylinder is fixed inside the rectangular frame, and a driving rod of the grabbing cylinder vertically penetrates through the bottom of the rectangular frame to be locked or released in a matched mode with the matched locking head; each grabbing side arm is connected with two grabbing cylinders in parallel.
5. The tank welding quick pick-up co-operation mechanism as claimed in any one of claims 1 to 4, wherein: the lower frame is also provided with a model identification plate, a plurality of identification holes are formed in the model identification plate side by side, and identification caps are connected in the identification holes in a matched mode.
6. The tank welding quick pick-up collaboration mechanism of claim 5, wherein: the storage platform is provided with a matched recognition plate, a plurality of light sensors are connected with the upper portion of the matched recognition plate side by side, and each light sensor corresponds to a recognition hole in the recognition plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811338361.1A CN109175822B (en) | 2018-11-12 | 2018-11-12 | Oil tank welding draws collaboration mechanism fast |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811338361.1A CN109175822B (en) | 2018-11-12 | 2018-11-12 | Oil tank welding draws collaboration mechanism fast |
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| CN109175822B true CN109175822B (en) | 2023-09-12 |
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| CN109664062B (en) * | 2019-03-01 | 2023-09-08 | 江苏耀坤液压股份有限公司 | Quick locating component for oil tank welding |
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Address after: No. 907, Binjiang West Road, Jiangyin City, Wuxi City, Jiangsu Province Applicant after: Jiangsu Yaokun Hydraulic Co.,Ltd. Address before: 214400 West Jiangyin Xi village, Lingang street, Jiangyin, Wuxi, Jiangsu Applicant before: JIANGYIN HYDRAULIC OIL TUBE Co.,Ltd. |
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