CN111716072B - Welding robot arm machining operation platform device and operation method - Google Patents
Welding robot arm machining operation platform device and operation method Download PDFInfo
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- CN111716072B CN111716072B CN202010707767.3A CN202010707767A CN111716072B CN 111716072 B CN111716072 B CN 111716072B CN 202010707767 A CN202010707767 A CN 202010707767A CN 111716072 B CN111716072 B CN 111716072B
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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
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
Abstract
A welding robot arm machining operation platform device comprises a base, a mounting frame, clamping rods, a push plate, a rotating rod, a worm gear sleeve, a balance sleeve, a worm gear cover, a supporting rod, a limiting sleeve, a robot arm and a synchronous balance driving device, wherein the mounting frame is connected to the upper side of the base, the mounting frame is arranged on two sides of the base, the upper end of the mounting frame is connected with the clamping rods through a mounting shaft, the clamping rods rotate on the mounting shaft, the upper ends of the clamping rods are connected with clamping blocks, the inner sides of the clamping blocks are matched with the robot arm, the robot arm is connected to the inner sides of the clamping blocks, the clamping blocks are clamped on the robot arm, a sliding groove is formed in the lower side of the clamping rods, a push rod is arranged at the outer end of the push plate and is connected with the clamping rods through a sliding shaft, the sliding shaft is connected in the sliding groove, the sliding shaft slides in the sliding groove.
Description
Technical Field
The invention relates to the field of welding robots, in particular to an operation platform device and an operation method for arm machining of a welding robot.
Background
In the processing and installation operation process of welding robot arm, it is fixed to need carry out the centre gripping to welding robot arm, and current welding robot arm centre gripping operation is complicated, and stability is not good, can't realize supporting and centre gripping to welding robot arm and accomplish in coordination, has influenced the degree of accuracy of processing and the effect of processing, and inefficiency, the result of use is not good.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a welding robot arm machining operation platform device and an operation method for improving coordination and working efficiency.
The purpose of the invention is realized by the following technical scheme:
an arm processing operation platform device of a welding robot comprises a base, a mounting frame, clamping rods, a push plate, a rotating rod, a worm gear sleeve, a balance sleeve, a worm gear cover, a supporting rod, a limiting sleeve, a robot arm and a synchronous balance driving device, the upper side of the base is connected with a mounting frame which is arranged at two sides of the base, the upper end of the mounting frame is connected with a clamping rod through a mounting shaft, the clamping rod rotates on the mounting shaft, the upper end of the clamping rod is connected with the clamping block, the upper end of the clamping rod is provided with a fastening convex rod, the two sides of the fastening convex rod are provided with fastening grooves, the outer side of the clamping block is matched with the fastening convex rod, the fastening convex rod is connected with the clamping block, the fastening convex rod is inserted into the clamping block, the inner side of the clamping block is connected with a robot arm, two sides of the clamping block are connected with fastening nails through threads, and the inner ends of the fastening nails are clamped in the fastening grooves; the inner side of the clamping block is matched with a robot arm, the robot arm is connected with the inner side of the clamping block, the clamping block is clamped on the robot arm, a sliding groove is formed in the lower side of the clamping rod, a push rod is arranged at the outer end of the push plate and is connected with the clamping rod through a sliding shaft, the sliding shaft is connected in the sliding groove, and the sliding shaft slides in the sliding groove; the synchronous balance driving device comprises a balance sleeve, a push plate groove, a rotating rod groove, an installation bulge and a worm gear sleeve groove, wherein the lower part of the balance sleeve is connected with the base through an installation frame, a motor drives the rotating rod to rotate, the rotating rod rotates to drive the push plate to symmetrically and symmetrically slide on two sides of the rotating rod, a worm and the worm gear sleeve are synchronously meshed with each other, the rotating rod groove is arranged in the middle of the balance sleeve, the push plate sleeve is arranged on the lower part of the balance sleeve, the push plate groove is arranged on the inner side of the push plate sleeve, the worm gear groove is arranged on the upper part of the rotating rod groove, the worm gear sleeve groove is arranged on the left side of the balance sleeve, and the balance sleeve is symmetrically arranged; the automatic feeding device comprises a rotating rod, a motor, a balance sleeve, a worm wheel cover, a mounting boss, a worm wheel cover and a mounting frame, wherein one end of the rotating rod is connected with the motor, the rotating rod is embedded into a rotating rod groove, the balance sleeve is symmetrically arranged on two sides of the rotating rod, the rotating rod rotates in the rotating rod groove, the rotating rod is provided with a toothed bar, the push plate groove is matched with the push plate, the push plate is connected with the push plate groove, the push plate slides in the push plate groove, the push plate is connected with the toothed bar through a toothed pattern, the push plate is symmetrically arranged on the upper side and the lower side of the toothed bar, the rotating rod is provided with a worm, the balance sleeve is horizontally arranged, the worm is arranged on the upper side of the toothed bar, the worm groove is arranged on the upper side of the rotating rod groove, the outer side of the mounting boss is connected with the worm wheel cover, the mounting boss is connected with the base through the mounting frame, a worm wheel sleeve groove is formed inside the mounting boss and the worm wheel groove is corresponding to the middle of the worm groove, the inner side of the worm gear sleeve groove is connected with a worm gear sleeve, the worm gear sleeve rotates in the worm gear sleeve groove, the worm gear sleeve is connected with a worm, the worm and the worm gear sleeve are meshed with each other, the inside of the worm gear sleeve is connected with a supporting rod through threads, the upper end of the supporting rod is connected with a supporting plate, the lower side of the robot arm is connected with the supporting plate, the lower side of the robot arm is clamped in the supporting plate, two sides of the supporting plate are connected with limiting rods, the limiting rods are matched with the limiting sleeves, the inside of the limiting sleeves is connected with the limiting rods, the lower parts of the limiting rods are connected with the limiting sleeves, and; the utility model discloses a robot arm, including backup pad, mounting plate, magnet cover, magnet block, backup pad middle part card, backup pad upside and mounting plate suit, the backup pad upside suits with the mounting plate, mounting plate downside joint support board, the mounting plate card is in the backup pad, the mounting plate upside suits with robot arm, robot arm is connected to the mounting plate upside, the magnet block is connected in the mounting plate outside, the magnet cover is connected in the backup pad outside, the mutual actuation of magnet cover and magnet block, in the magnet block middle part card was gone into in the magnet cover, the backup pad middle part has balanced dead lever, balanced dead lever sets up in the backup pad both sides.
Positioning convex grooves are formed in two sides of the push plate, positioning protrusions are formed in two sides of the push plate groove, the positioning protrusions are matched with the positioning convex grooves, the positioning convex grooves are connected with the positioning protrusions, the positioning convex grooves are clamped in the positioning protrusions, and the positioning convex grooves slide in the positioning protrusions; the push plate sleeve is provided with a limiting convex ring, the inner side of the limiting convex ring is connected with the rotating rod, the limiting convex ring is clamped on the rotating rod, and the limiting convex ring is symmetrically arranged on two sides of the rotating rod.
Has the advantages that:
1. utilize the mounting bracket to fix balanced cover, worm wheel cover on the base, the protruding groove card of location is in the location is protruding, makes the push pedal only can carry out parallel translation in push pedal groove 1, realizes that the push pedal is at dwang bilateral symmetry balanced slip, and then inject push pedal and push pedal cover connected state down only can be on a parallel with the base and remove, can not take place the skew. When the push plate pushes the push rod to move outwards, the position of the sliding shaft changes along with the push plate, so that the sliding shaft slides towards the upper side of the sliding groove and drives the lower part of the clamping rod to move outwards, the upper end of the clamping rod overturns towards the middle of the base, and the distance between the clamping blocks on the two sides is adjusted. Utilize the insection meshing between push pedal and insection pole, when insection pole rotated, relative motion can be produced to upper and lower both sides push pedal, and the displacement equals the balance for both sides supporting rod turned angle can be the same in real time, and then makes the relative base middle part symmetry of both sides grip block, and robot arm both sides atress is even, is difficult for taking place the skew. Synchronous balance drive arrangement realizes that worm and insection pole rotate in step, when the balanced slip of push pedal carries out position control, utilize the worm, worm wheel cover rotation can be realized in the meshing between the worm wheel cover, utilize threaded connection between worm wheel cover and bracing piece, under the bracing piece does not take place the pivoted condition, worm wheel cover rotates the position that can change the relative worm wheel cover of bracing piece 2, adjust the bracing piece height, change the height of the relative base of backup pad, synchronous balance drive arrangement realizes synchronous drive, harmony and work efficiency have been improved.
2. The limiting rod slides in the limiting sleeve, so that the limiting sleeve limits the vertical movement of the limiting rod, the sliding of the supporting plate is stable in the height change process, the limiting rods on two sides are matched to limit the supporting plate to rotate, and the supporting plate does not vertically move under the rotating condition. The supporting rod axis can be located in the middle of the base by utilizing different lengths of the push plates on the two sides, so that the clamping blocks coincide with the axis of the supporting plate under the back clamping state of the robot arm, the robot arm is uniformly stressed, and shaking or shifting is not easy to occur. The positive and negative rotation of the toothed bar 11 can adjust the push plates on the two sides to be relatively close to or far away from each other, so that the distance between the clamping blocks on the two sides is changed, and the clamping state of the robot arm is changed. The central line of the worm gear sleeve groove corresponds to the middle of the worm gear groove, so that the relative position of the worm and the worm gear sleeve is determined, the position of the supporting rod relative to the rotating rod is further determined, the clamping position of the robot arm can be determined by the clamping block and the supporting plate, and the possibility of deviation of the robot arm is reduced.
3. When the motor rotates forwards, the push plates on the two sides are relatively far away, the clamping blocks on the two sides are relatively close to each other, meanwhile, the supporting plate is driven by the supporting rod to move downwards, and the axes of the clamping blocks, the supporting plate and the robot arm are completely overlapped to clamp the robot arm; when the motor reverses, the push plates on the two sides are relatively close to each other, the clamping blocks on the two sides are relatively far away from each other, the supporting rod drives the supporting plate to move upwards, the clamping blocks are separated from the robot arm, and the robot arm is supported by the supporting plate to be convenient to remove. Utilize the motor just reversing, make grip block and backup pad can synchronous regulation, the grip block is mutually supported with the backup pad, can realize the centre gripping or hold up robot arm, is convenient for carry out the centre gripping or remove robot arm. The robot arm is arranged on the inner side of the supporting plate before clamping, the robot arm is supported, an initial height is provided for the robot arm, the robot arm is reduced from colliding with the clamping blocks, the robot arm can be placed in parallel to the base, the connecting lines of the clamping blocks on the two sides and the center of the robot arm are located on the same horizontal line, the connecting lines of the clamping blocks on the two sides and the diameter of the robot arm coincide, and the clamping tightness effect is improved. The support plate still supports the robot arm when the clamping block clamps the robot arm, so that the robot arm cannot fall down. The limiting convex ring is clamped on the rotating rod, so that the rotating rod cannot move in the horizontal direction, and the rotating rod is stable in integral rotation.
4. The robot arm clamping device has the advantages that clamping and height lifting of the robot arm can be synchronously carried out, the working efficiency is improved, the robot arm is uniformly stressed when being clamped, the height of the robot arm is lifted along with the clamping state is relieved, the robot arm is convenient to remove, and the convenience of processing operation is realized; the working efficiency is improved; the clamping blocks and the supporting plate are respectively provided with two groups, the balance sleeve is horizontally arranged, the rotating rod is rotated in the horizontal direction, the rotating rod is utilized, the heights of the two ends of the robot arm are kept consistent, the uniformity of the whole stress of the robot arm is improved, the height of the robot arm is determined and the clamping operation can be synchronously carried out, and the working efficiency is improved.
Drawings
Fig. 1 is a front view of the welding robot arm processing operation platform device according to the present invention.
FIG. 2 is a cross-sectional view of FIG. 1A-A in accordance with the present invention.
FIG. 3 is a cross-sectional view of FIGS. 1B-B illustrating the present invention.
Fig. 4 is a schematic structural view of the released state of fig. 2 according to the present invention.
Fig. 5 is a schematic structural view of the released state of fig. 3 according to the present invention.
Fig. 6 is a top partial cross-sectional view of fig. 2 in accordance with the present invention.
Fig. 7 is a partial cross-sectional view of fig. 1 in accordance with the present invention.
Fig. 8 is an isometric view of a balance sleeve according to the present invention.
Figure 9 is an isometric view of a push plate according to the present invention.
Figure 10 is a perspective view of a gripper bar according to the present invention.
FIG. 11 is a schematic view of the fastener of the present invention being engaged in a fastening groove.
Detailed Description
The invention is explained in more detail below with reference to the figures and examples:
a welding robot arm processing operation platform device comprises a base 1, a mounting frame 2, a clamping rod 4, a push plate 9, a rotating rod 10, a worm wheel sleeve 13, a balance sleeve 14, a worm wheel cover 23, a supporting rod 25, a limiting rod 27, a limiting sleeve 28, a robot arm 30 and a synchronous balance driving device, wherein the mounting frame 2 is connected to the upper side of the base 1, the mounting frame 2 is arranged on two sides of the base 1, the upper end of the mounting frame 2 is connected with the clamping rod 4 through a mounting shaft 3, the clamping rod 4 rotates on the mounting shaft 3, the upper end of the clamping rod 4 is connected with a clamping block 5, the inner side of the clamping block 5 is matched with the robot arm 30, the robot arm 30 is connected to the inner side of the clamping block 5, the clamping block 5 is clamped on the robot arm 30, a sliding groove 6 is arranged on the lower side of the clamping rod 4, a push rod 8 is arranged at the outer end of the push plate, the sliding shaft 7 is connected in the sliding groove 6, and the sliding shaft 7 slides in the sliding groove 6; synchronous balance driving device includes balanced cover 14, push pedal cover 15, push pedal groove 16, rotating rod groove 20, installation arch 22, worm wheel cover groove 24, base 1 is connected through the mounting bracket in balanced cover 14 lower part, motor drive drives dwang 10 and rotates, dwang 10 rotates and drives push pedal 9 at dwang 10 both sides symmetry balanced slip, worm 12 and worm wheel cover 13 synchronous intermeshing, realize the balanced slip of push pedal 9 and the synchronous lift of bracing piece 25, synchronous balance driving device realizes going on in step of robot arm 30 centre gripping and high lift, atress is even when making robot arm 30 receive the centre gripping, along with the relieving of clamping state, robot arm 30 height risees along with it, be convenient for robot arm 30 to remove. The clamping operation and the removal of the robot arm 30 can be continuously performed, and the working efficiency is improved;
referring to fig. 8, the middle of the balance sleeve 14 is provided with a rotating rod groove 20, the lower part of the balance sleeve 14 is provided with a push plate sleeve 15, the inner side of the push plate sleeve 15 is provided with a push plate groove 16, the upper part of the rotating rod groove 20 is provided with a worm rod groove 21, the left side of the balance sleeve 14 is provided with a worm wheel sleeve groove 24, and the balance sleeve 14 is symmetrically arranged; one end of the rotating rod 10 is connected with a motor,
with reference to fig. 6, the rotating rod 10 is embedded into the rotating rod groove 20, the balance sleeves 14 are symmetrically arranged on two sides of the rotating rod 10, the rotating rod 10 rotates in the rotating rod groove 20, the rotating rod 10 is provided with a toothed rod 11, the push plate groove 16 is matched with the push plate 9, the push plate 9 is connected with the push plate groove 16, the push plate 9 slides in the push plate groove 16, the push plate 9 is connected with the toothed rod 11 through a toothed thread, the push plate 9 is symmetrically arranged on the upper side and the lower side of the toothed rod 11, the rotating rod 10 is provided with a worm 12, the balance sleeves 14 are horizontally arranged, the rotating rod 10 rotates in the horizontal direction, the push plate 9 symmetrically arranged on the upper side and the lower side is driven to symmetrically slide on two sides of the rotating rod 10 in a balanced manner, and the balance effect of the push plate 9 is realized; the worm 12 is arranged on the upper side of the toothed bar 11, the worm groove 21 is arranged at one third of the upper side of the rotating bar groove 20, the outer side of the mounting protrusion 22 is connected with a worm wheel cover 23, the lower part of the mounting protrusion 22 and the worm wheel cover 23 is connected with the base 1 through a mounting rack, a worm wheel sleeve groove 24 is formed inside the mounting protrusion 22 and the worm wheel cover 23, the center line of the worm wheel sleeve groove 24 corresponds to the middle part of the worm groove 21, the worm wheel sleeve groove 24 is communicated with the worm groove 21, the inner side of the worm wheel sleeve groove 24 is connected with a worm wheel sleeve 13, the worm wheel sleeve 13 rotates in the worm wheel sleeve groove 24, the worm wheel sleeve 13 is connected with the worm 12, the worm 12 is mutually meshed with the worm wheel sleeve 13, the inner part of the worm wheel sleeve 13 is connected with the support bar 25 through threads, the upper end of the support bar 25 is connected with the support plate 26, the lower side of the robot arm 30 is clamped in the support plate 26, the utility model discloses a spacing structure, including backup pad 26, gag lever post 27 and stop collar 28 suit, 28 internal connection gag lever posts 27 of stop collar, gag lever post 27 sub-unit connection stop collar 28, gag lever post 27 slides in stop collar 28.
The upper side of the supporting plate 26 is adapted to the upper supporting plate 61, the lower side of the upper supporting plate 61 is connected with the supporting plate 26, the upper supporting plate 61 is clamped on the supporting plate 26, the upper side of the upper supporting plate 61 is adapted to the robot arm 30, the robot arm 30 is connected to the upper side of the upper supporting plate 61, the magnetic block 63 is connected to the outer side of the upper supporting plate 61, the magnetic sleeve 62 is connected to the outer side of the supporting plate 26, the magnetic sleeve 62 and the magnetic block 63 are attracted to each other, the middle part of the magnetic block 63 is clamped into the magnetic sleeve 62, the middle part of the supporting plate 26 is provided with a balance fixing rod 64, the balance fixing rod 64 is arranged on two sides of the supporting plate 26, the balance fixing rod 64 penetrates through the upper supporting plate 61 to be connected with a balance fixing nut 65, the upper end of the clamping rod 4 is provided with a fastening convex rod 51, fastening grooves 52 are arranged on two sides of the fastening convex rod 51, the outer side of the clamping block 5 is adapted to the fastening convex rod 51, the clamping block 5 is connected with the clamping block 51, the fastening convex rod 51 is inserted into the clamping block 5, the inner side of the clamping block 5 is connected with the robot arm 30, two sides of the clamping block 5 are connected with fastening nails 53 through threads, and the inner ends of the fastening nails 53 are clamped in fastening grooves 52;
Utilize the screw to screw the tight nail 53, make the inner of tight nail 53 can block in fastening groove 52, the inner of tight nail 53 all is the round platform structure with fastening groove 52, and both inclined planes angle is the same, consequently along with the screw in of tight nail 53, grip block 5 can be close to fastening protruding pole 51 gradually, and then makes grip block 5 and fastening protruding pole 51 can firm in connection, is difficult for taking place the skew when pressing from both sides tightly robot arm 30. The inner diameter of the clamping block 5 and the upper supporting plate 61 can cooperate with each other to clamp the robot arm 30. The clamping block 5 and the upper supporting plate 61 can be replaced, different specifications can be selected, and the robot arm 30 parameters can be replaced simultaneously, so that the robot arms 30 with different sizes can be clamped conveniently, the stress is more balanced, and the structure is more stable.
The push pedal 9 both sides have location protruding groove 18, push pedal groove 16 both sides have location arch 17, location arch 17 suits with location protruding groove 18, location protruding groove 18 is connected location arch 17, location protruding groove 18 card is in location arch 17, location protruding groove 18 slides in location arch 17.
The push plate sleeve 15 is provided with a limiting convex ring 19, the inner side of the limiting convex ring 19 is connected with the rotating rod 10, the limiting convex ring 19 is clamped on the rotating rod 10, and the limiting convex ring 19 is symmetrically arranged on two sides of the rotating rod 10.
Through the rotation of clamping rod 4 on installation axle 3, can change grip block 5 positions, and then change the relative distance between both sides grip block 5, utilize the inboard radian of grip block 5, can inject robot arm 30 position between grip block 5 with robot arm card after 5 intervals of grip block shorten to carry out the centre gripping to robot arm 30. Utilize the mounting bracket to fix balanced cover 14, worm wheel cover 23 on base 1, location protruding groove 18 card is in location arch 17, makes push pedal 9 can only carry out parallel translation in push pedal groove 16, realizes push pedal 9 at dwang 10 both sides symmetry balanced slip, and then inject push pedal 9 and push pedal cover 15 connected state down only can be on a parallel with base 1 and remove, can not take place the skew. When the push plate 9 pushes the push rod 8 to move outwards, the position of the sliding shaft 7 is changed, so that the sliding shaft 7 slides towards the upper side of the sliding groove 6 and simultaneously drives the lower part of the clamping rod 4 to move outwards, the upper end of the clamping rod 4 overturns towards the middle of the base 1, and the distance between the clamping blocks 5 on the two sides is adjusted. Utilize the meshing of insection between push pedal 9 and insection pole 11, when insection pole 11 rotates, upper and lower both sides push pedal 9 can produce relative motion, and the displacement equals the balance for 4 turned angle of both sides supporting rod can be same in real time, and then make the relative base 1 middle part symmetry of both sides grip block 5, and robot arm 30 both sides atress is even, is difficult for taking place the skew. Synchronous balance drive arrangement realizes that worm 12 and insection pole 11 rotate in step, when push pedal 9 balanced slip carries out position control, utilize worm 12, meshing between worm gear cover 13 can realize worm gear cover 13 and rotate, utilize threaded connection between worm gear cover 13 and bracing piece 25, under the pivoted condition does not take place for bracing piece 25, worm gear cover 13 rotates and can change the position of the relative worm gear cover 13 of bracing piece 25, adjust the bracing piece 25 height, change the relative base 1's of backup pad 26 height, realize synchronous drive, harmony and work efficiency have been improved. The limiting rod 27 slides in the limiting sleeve 28, so that the limiting sleeve 28 limits the vertical movement of the limiting rod 27, the sliding of the supporting plate 26 is stable in the height changing process, the limiting rods 27 on the two sides are matched, the supporting plate 26 is limited to rotate, and the supporting plate 26 does not vertically move under the rotating condition.
The supporting rod 25 can be positioned in the middle of the base 1 by utilizing different lengths of the push plates 9 on the two sides, so that the clamping block 5 coincides with the axis of the supporting plate 26 in the back clamping state of the robot arm 30, the robot arm 30 is uniformly stressed, and shaking or shifting is not easy to occur. The positive and negative rotation of the toothed bar 11 can adjust the push plates 9 on the two sides to be relatively close to or far away from each other, so that the distance between the clamping blocks 5 on the two sides is changed, and the clamping state of the robot arm 30 is changed.
The central line of the worm gear sleeve groove 24 corresponds to the middle of the worm gear groove 21, so that the relative position of the worm 12 and the worm gear sleeve 13 is determined, the position of the support rod 25 relative to the rotating rod 10 is further determined, the clamping position of the robot arm 30 by the clamping block 5 and the support plate 26 can be determined, and the possibility of deviation of the robot arm 30 is reduced.
When the motor rotates forwards, the push plates 9 on the two sides are relatively far away, the clamping blocks 5 on the two sides are relatively close to each other, meanwhile, the supporting rod 25 drives the supporting plate 26 to move downwards, the axes of the clamping blocks 5, the supporting plate 26 and the robot arm 30 are completely overlapped, and the robot arm 30 is clamped; when the motor rotates reversely, the push plates 9 on the two sides are relatively close to each other, the clamping blocks 5 on the two sides are relatively far away from each other, meanwhile, the supporting rod 25 drives the supporting plate 26 to move upwards, the clamping blocks 5 are separated from the robot arm 30, the robot arm 30 is supported by the supporting plate 26, and the robot arm 30 is convenient to remove. Utilize the motor just reversing, make grip block 5 and backup pad 26 can synchronous regulation, grip block 5 and backup pad 26 mutually support, can realize the centre gripping or the support of robot arm 30, and the atress is more balanced, and stability is better, is convenient for carry out the centre gripping or remove robot arm 30. The robot arm 30 is placed on the inner side of the supporting plate 26 before clamping, the robot arm 30 is supported, an initial height is provided for the robot arm 30, the collision of the robot arm 30 on the clamping blocks 5 is reduced, the robot arm 30 can be placed in parallel to the base 1, the connecting line of the clamping blocks 5 on the two sides and the center of the robot arm 30 are located on the same horizontal line, the connecting line of the clamping blocks 5 on the two sides and the diameter of the robot arm 30 coincide, and the clamping tightness effect is improved. The support plate 26 still supports the robot arm 30 in a state where the robot arm 30 is clamped by the clamp block 5, so that the robot arm 30 does not fall down. The limiting convex ring 19 is clamped on the rotating rod 10, so that the rotating rod 10 cannot move in the horizontal direction, and the rotating rod 10 can rotate stably as a whole.
The robot arm clamping device has the advantages that clamping and height lifting of the robot arm can be synchronously carried out, the working efficiency is improved, the robot arm is uniformly stressed when being clamped, the height of the robot arm is lifted along with the clamping state is relieved, the robot arm is convenient to remove, and the convenience of processing operation is realized; the working efficiency is improved; the clamping blocks and the supporting plate are respectively provided with two groups, the balance sleeve is horizontally arranged, the rotating rod is rotated in the horizontal direction, the rotating rod is utilized, the heights of the two ends of the robot arm are kept consistent, the uniformity of the whole stress of the robot arm is improved, the height of the robot arm is determined and the clamping operation can be synchronously carried out, and the working efficiency is improved.
An operation method of an arm processing operation platform device of a welding robot is characterized by comprising the following steps:
firstly, a robot arm 30 is arranged on the inner side of a supporting plate 26, a motor rotates forwards, the push plates 9 on two sides are relatively far away by utilizing the tooth line meshing between the push plates 9 and a tooth line rod 11, a push rod 8 drives a sliding shaft 7 to push the lower part of a clamping rod 4 outwards, the upper part of the clamping rod 4 rotates inwards to drive clamping blocks 5 on two sides to be relatively close, and the clamping blocks 5 are clamped on two sides of the robot arm 30; simultaneously, the worm 12 and the toothed rod 11 synchronously rotate, the worm gear sleeve 13 can axially rotate by utilizing the meshing between the worm gear sleeve 13 and the worm 12, the supporting rod 25 is lowered while the clamping block 5 is relatively close to the supporting rod by utilizing the threaded connection between the worm gear sleeve 13 and the supporting rod 25, the limiting rod 27 slides downwards in the limiting sleeve 28 until the axis of the supporting rod 25 coincides with the axes of the clamping block 5 and the robot arm 30, and the robot arm 30 is clamped;
secondly, after the processing operation of the robot arm 30 is finished, the motor rotates reversely, the push plates 9 on the two sides are relatively close to each other, the clamping rod 4 pulls the clamping block 5 to be relatively far away, the clamping block 5 is separated from the robot arm 30, and the clamped state of the robot arm 30 is released; meanwhile, the worm 12 and the toothed bar 11 rotate synchronously, the worm gear sleeve 13 can rotate axially by utilizing the meshing between the worm gear sleeve 13 and the worm 12, the supporting rod 25 rises in height by utilizing the threaded connection between the worm gear sleeve 13 and the supporting rod 25, the limiting rod 27 slides upwards in the limiting sleeve 28, the robot arm 30 is lifted, and the robot arm 30 can be removed.
Claims (3)
1. The utility model provides a welding robot arm processing operation platform device, characterized by: comprises a base, a mounting rack, a clamping rod, a push plate, a rotating rod, a worm gear sleeve, a balance sleeve, a worm gear cover, a supporting rod, a limiting sleeve, a robot arm and a synchronous balance driving device, the upper side of the base is connected with a mounting frame which is arranged at two sides of the base, the upper end of the mounting frame is connected with a clamping rod through a mounting shaft, the clamping rod rotates on the mounting shaft, the upper end of the clamping rod is connected with the clamping block, the upper end of the clamping rod is provided with a fastening convex rod, the two sides of the fastening convex rod are provided with fastening grooves, the outer side of the clamping block is matched with the fastening convex rod, the fastening convex rod is connected with the clamping block, the fastening convex rod is inserted into the clamping block, the inner side of the clamping block is connected with a robot arm, two sides of the clamping block are connected with fastening nails through threads, and the inner ends of the fastening nails are clamped in the fastening grooves; the inner side of the clamping block is matched with a robot arm, the robot arm is connected with the inner side of the clamping block, the clamping block is clamped on the robot arm, a sliding groove is formed in the lower side of the clamping rod, a push rod is arranged at the outer end of the push plate and is connected with the clamping rod through a sliding shaft, the sliding shaft is connected in the sliding groove, and the sliding shaft slides in the sliding groove; the synchronous balance driving device comprises a balance sleeve, a push plate groove, a rotating rod groove, an installation bulge and a worm gear sleeve groove, wherein the lower part of the balance sleeve is connected with the base through an installation frame, a motor drives the rotating rod to rotate, the rotating rod rotates to drive the push plate to symmetrically and symmetrically slide on two sides of the rotating rod, a worm and the worm gear sleeve are synchronously meshed with each other, the rotating rod groove is arranged in the middle of the balance sleeve, the push plate sleeve is arranged on the lower part of the balance sleeve, the push plate groove is arranged on the inner side of the push plate sleeve, the worm gear groove is arranged on the upper part of the rotating rod groove, the worm gear sleeve groove is arranged on the left side of the balance sleeve, and the balance sleeve is symmetrically arranged; the automatic feeding device comprises a rotating rod, a motor, a balance sleeve, a worm wheel cover, a mounting boss, a worm wheel cover and a mounting frame, wherein one end of the rotating rod is connected with the motor, the rotating rod is embedded into a rotating rod groove, the balance sleeve is symmetrically arranged on two sides of the rotating rod, the rotating rod rotates in the rotating rod groove, the rotating rod is provided with a toothed bar, the push plate groove is matched with the push plate, the push plate is connected with the push plate groove, the push plate slides in the push plate groove, the push plate is connected with the toothed bar through a toothed pattern, the push plate is symmetrically arranged on the upper side and the lower side of the toothed bar, the rotating rod is provided with a worm, the balance sleeve is horizontally arranged, the worm is arranged on the upper side of the toothed bar, the worm groove is arranged on the upper side of the rotating rod groove, the outer side of the mounting boss is connected with the worm wheel cover, the mounting boss is connected with the base through the mounting frame, a worm wheel sleeve groove is formed inside the mounting boss and the worm wheel groove is corresponding to the middle of the worm groove, the inner side of the worm gear sleeve groove is connected with a worm gear sleeve, the worm gear sleeve rotates in the worm gear sleeve groove, the worm gear sleeve is connected with a worm, the worm and the worm gear sleeve are meshed with each other, the inside of the worm gear sleeve is connected with a supporting rod through threads, the upper end of the supporting rod is connected with a supporting plate, the lower side of the robot arm is connected with the supporting plate, the lower side of the robot arm is clamped in the supporting plate, two sides of the supporting plate are connected with limiting rods, the limiting rods are matched with the limiting sleeves, the inside of the limiting sleeves is connected with the limiting rods, the lower parts of the limiting rods are connected with the limiting sleeves, and the limiting rods slide in the limiting sleeves; the utility model discloses a robot arm, including backup pad, mounting plate, magnet cover, magnet block, backup pad middle part card, backup pad upside and mounting plate suit, the backup pad upside suits with the mounting plate, mounting plate downside joint support board, the mounting plate card is in the backup pad, the mounting plate upside suits with robot arm, robot arm is connected to the mounting plate upside, the magnet block is connected in the mounting plate outside, the magnet cover is connected in the backup pad outside, the mutual actuation of magnet cover and magnet block, in the magnet block middle part card was gone into in the magnet cover, the backup pad middle part has balanced dead lever, balanced dead lever sets up in the backup pad both sides, balanced dead lever passes the mounting plate and connects balanced fixation nut.
2. The welding robot arm machining operation platform device of claim 1, wherein the push plate has positioning protrusion grooves on both sides, the push plate has positioning protrusions on both sides, the positioning protrusions are matched with the positioning protrusion grooves, the positioning protrusion grooves are connected with the positioning protrusions, the positioning protrusion grooves are clamped in the positioning protrusions, and the positioning protrusion grooves slide in the positioning protrusions; the push plate sleeve is provided with a limiting convex ring, the inner side of the limiting convex ring is connected with the rotating rod, the limiting convex ring is clamped on the rotating rod, and the limiting convex ring is symmetrically arranged on two sides of the rotating rod.
3. The operation method of the welding robot arm machining operation platform device according to claim 1, comprising the steps of:
firstly, a robot arm is arranged on the inner side of a supporting plate, a motor rotates forwards, the push plates on two sides are relatively far away by utilizing the insection meshing between the push plates and insection rods, a push rod drives a sliding shaft to push the lower parts of clamping rods outwards, the upper parts of the clamping rods rotate inwards to drive clamping blocks on two sides to be relatively close, and the clamping blocks are clamped on two sides of the robot arm; simultaneously, the worm and the toothed rod synchronously rotate, the worm gear sleeve can axially rotate by utilizing the meshing between the worm gear sleeve and the worm, the supporting rod is lowered while the clamping block is relatively close to the supporting rod by utilizing the threaded connection between the worm gear sleeve and the supporting rod, the limiting rod slides downwards in the limiting sleeve until the axis of the supporting rod is superposed with the clamping block and the axis of the arm of the robot, and the arm of the robot is clamped;
secondly, after the machining operation of the robot arm is finished, the motor rotates reversely, the push plates on the two sides are relatively close to each other, the clamping rod pulls the clamping block to be relatively far away, the clamping block is separated from the robot arm, and the clamped state of the robot arm is released; simultaneously, the worm and the toothed bar synchronously rotate, the worm gear sleeve and the worm are meshed, the worm gear sleeve can axially rotate, the worm gear sleeve is in threaded connection with the supporting rod, the supporting rod is high in height, the limiting rod upwards slides in the limiting sleeve, the robot arm is supported, and the robot arm can be removed.
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| CN113001446B (en) * | 2021-03-24 | 2023-05-02 | 哈尔滨商业大学 | Computer display screen clamping device and operation method thereof |
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| KR100747792B1 (en) * | 2006-03-17 | 2007-08-08 | 정동옥 | Apparatus for supporting welded object |
| CN207873214U (en) * | 2018-02-08 | 2018-09-18 | 东莞市超强运动器材有限公司 | A kind of shuttlecock handle processing single spindle milling machine |
| CN208304438U (en) * | 2018-04-02 | 2019-01-01 | 青岛欧昊精密机械有限公司 | Cylinder block process equipment |
| CN209887139U (en) * | 2019-04-09 | 2020-01-03 | 九江职业技术学院 | Adjustable positioning axis supporting device for machining movable guide vane |
| CN210703125U (en) * | 2019-10-30 | 2020-06-09 | 余霞东 | Four sides linkage positioning fixture |
| CN110899767B (en) * | 2019-12-11 | 2020-10-16 | 平阳县浙瑞电机有限公司 | Motor end cover through hole boring equipment |
| CN111390484B (en) * | 2020-04-18 | 2020-11-10 | 上海绿地建设(集团)有限公司 | Steel structure supporting structure adjusting and positioning equipment and adjusting and positioning method |
| CN111425770B (en) * | 2020-05-20 | 2020-10-27 | 杭州唛唐智能科技有限公司 | Pipeline detection device with positioning function |
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