CN112139720A - Robot jig capable of accurately welding small circular weld - Google Patents
Robot jig capable of accurately welding small circular weld Download PDFInfo
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- CN112139720A CN112139720A CN202011116159.1A CN202011116159A CN112139720A CN 112139720 A CN112139720 A CN 112139720A CN 202011116159 A CN202011116159 A CN 202011116159A CN 112139720 A CN112139720 A CN 112139720A
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- welding
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- clamping arm
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
Abstract
The invention discloses a robot jig capable of accurately welding a small circular weld, which comprises a first clamping arm and a second clamping arm, wherein the first clamping arm is fixed at the tail end of a welding robot, the tail end of the first clamping arm in the length direction is rotatably connected with the first end of the second clamping arm through a limiting device, the limiting device can limit the rotating angle of the first end of the second clamping arm relative to the first clamping arm, the rotating axis of the rotating connection part is vertical to the axis of the first clamping arm in the length direction, and the second end of the second clamping arm is provided with a clamping hole for a welding gun to pass through. The invention can realize the accurate welding of the small circular welding line, and has simple structure, convenient operation and high efficiency.
Description
Technical Field
The invention relates to the field of welding, in particular to a robot jig capable of accurately welding a small circular weld.
Background
At present, automatic (semi-automatic) welding robot has extensive application in present industrial production, replace manual welding and can reduce cost, raise the efficiency, when welding robot welds, it is according to the procedure operation of the settlement that corresponds with the welding route itself, and welder is the snap-on at welding robot terminal, welder can't adjust and welding robot terminal relative position promptly, therefore difficult welding department diameter is less than 12 ~ 14 mm's circular arc welding seam, in addition, in the in-process of welding small circular arc welding seam, rely on each joint coordination action of robot self to weld totally, the welding seam shaping after the welding is difficult to be done very circularly, be unfavorable for realizing high quality welding.
In addition, the existing welding robot sets a welding program by collecting information of a plurality of points on a welding line, for example, when a circular welding seam is welded, 3 points of the circular welding seam are generally recorded in the program, and an arc is determined through the 3 points.
In conclusion, when welding small circular welds by the existing welding robot, the welding quality is uneven and difficult to control, the welding failure rate is high, the requirement of manual welding of the small circular quilting on workers is high, the efficiency is low, and the production requirement cannot be met, so that the welding of the small circular welds by high-efficiency and high-quality welding is a technical problem to be solved urgently in the whole industry.
Disclosure of Invention
The invention discloses a robot jig capable of accurately welding small circular welds, which solves the technical problems of uneven welding quality, low percent of pass and time and labor consumption in the welding process in the prior art when the small circular welds are welded, can quickly, efficiently and accurately weld the small circular quilts, can reduce the labor intensity of programmers, reduce the capability requirements on the programmers, and is beneficial to reducing the production cost of enterprises, and adopts the following technical scheme:
the utility model provides a but robot tool of accurate welding small circle welding seam, includes first centre gripping arm and second centre gripping arm, first centre gripping arm is fixed in welding robot end, just stop device is passed through to first centre gripping arm along length direction's end and the first end of second centre gripping arm and is rotated and be connected, stop device can restrict the turned angle of the relative first centre gripping arm of first end of second centre gripping arm, just the axis of rotation junction is perpendicular with the axis of first centre gripping arm length direction, the second end of second centre gripping arm is equipped with the centre gripping hole that supplies welder to pass.
On the basis of the technical scheme, first centre gripping arm can be dismantled and be connected with first flange, first flange can be dismantled with the terminal flange of welding robot and be connected, just be equipped with first slot hole on the first centre gripping arm, the different positions of first slot hole relatively of first flange can be dismantled with first centre gripping arm and be connected. Preferably, the first flange is provided with a U-shaped groove for accommodating the first clamping arm.
On the basis of the technical scheme, the limiting device is a bolt assembly, the bolt assembly comprises a stud and a nut matched with the stud, the tail end of the first clamping arm in the length direction is provided with two clamping arms, the first end of the second clamping arm is arranged between the two clamping arms and in clearance fit with the two inner side walls opposite to the two clamping arms, and the stud penetrates through the two clamping arms and the first end of the second clamping arm and presses the two clamping arms and the first end of the second clamping arm tightly through the nut.
On the basis of the technical scheme, the bottom surface between the two clamping arms is provided with a downward inclined angle.
On the basis of the technical scheme, the first end of the second clamping arm and/or the two clamping arms are/is provided with a second long hole, the stud penetrates through the two clamping arms and the first end of the second clamping arm, and the two clamping arms and the first end of the second clamping arm are pressed tightly through nuts.
On the basis of the technical scheme, the clamping device further comprises a fastening device, an opening extending to the outer side wall of the second clamping arm is formed in the inner side wall of the clamping hole, and the fastening device is used for pressing the first side wall forming the opening and the second side wall forming the opening inwards. Preferably, the fastening means may be one of a screw or bolt assembly.
On the basis of the technical scheme, the welding gun is tightly matched with the clamping hole through the insulating sleeve.
On the basis of the technical scheme, an anti-collision sensor is arranged between the first flange and the flange at the tail end of the welding robot, and the anti-collision sensor is electrically connected with a controller of the welding robot.
On the basis of the technical scheme, the anti-collision device further comprises a linear module, wherein the moving part of the linear module is connected with the first clamping arm, and the fixing part of the linear module is fixedly connected to the welding robot or the anti-collision sensor.
On the basis of the technical scheme, a laser centering device is further arranged below the first clamping arm, and a laser beam emitted by the laser centering device is collinear with the central line of the tail end of the welding robot.
Advantageous effects
The welding gun is detachably connected with the tail end of the welding robot, and the relative position of the welding gun and the welding robot can be adjusted manually, so that when a small round welding seam with a smaller diameter is welded, the debugging work before the welding of the small round welding seam can be realized by the way that the welding robot is fixed and the welding gun is adjusted relative to the welding robot, even the small round welding seam with the smaller diameter can be well welded, and the problem that the welding of the small round welding seam cannot be realized with high quality due to the fact that the coordination action of each joint of the welding robot is not ideal in the prior art can be overcome.
When the small circular weld is welded, the diameter of the small circular weld can be determined by adjusting the vertical distance between the tail end point of the welding gun and the central line of the tail end of the welding robot, then the central line of the tail end of the welding robot is moved to be overlapped with the circle center of the small circular weld to be welded, at the moment, a worker operates the welding robot to record the position of the circle center point and sets the tail end of the welding robot to rotate for a certain angle around the circle center point, and then the welding of the small circular weld is completed.
The robot jig disclosed by the invention is simple and easy to operate in the positioning and programming processes in welding the small circular weld, so that the robot jig is suitable for the welding process of small-batch workpieces with frequent model change and is beneficial to popularization and application.
According to the invention, the first clamping arm can be adjusted left and right relative to the tail end of the welding robot, the first end of the second clamping arm can be moved left and right and rotated up and down relative to the tail end of the first clamping arm, and in addition, the welding gun can be adjusted up and down relative to the second clamping arm, so that the welding of circular welding seams with more sizes or positions can be realized under the condition that the tail end of the welding robot is fixed.
The laser centering device is also included in the invention, which is beneficial to positioning the central line of the tail end of the welding robot at the position of the circle center of the circular welding line, thereby ensuring higher welding quality and welding precision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary of the invention, and that other embodiments can be derived from the drawings provided by those skilled in the art without inventive effort.
FIG. 1: the invention has a structure schematic diagram;
FIG. 2: the structure of the front view of the invention is schematic;
Detailed Description
The invention is further illustrated by the following figures and examples:
reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The robot jig capable of accurately welding the small circular weld seam as shown in fig. 1-2 comprises a first clamping arm 1 and a second clamping arm 2.
First centre gripping arm 1 has compact heap 5 and first bolt, and is equipped with the vertical through-hole that supplies first bolt to pass on the compact heap 5, be equipped with first flange 6 above the first centre gripping arm 1, first flange 6 can with the terminal flange spiro union of welding robot, and still be equipped with on the first flange 6 with first bolt complex screw hole, be equipped with vertical first slot hole 7 on the first centre gripping arm 1, first bolt passes through-hole on the compact heap 5, first slot hole 7 on the first centre gripping arm 1 and with first flange 6 spiro union, and in addition, the higher authority of compact heap 5 is equipped with the U-shaped recess that is used for the first centre gripping arm 1 of holding, and the bottom surface of first flange 6 is equipped with the U-shaped recess that is used for the first centre gripping arm 1 of holding, so can steadily adjust the relative position of first centre gripping arm 1 and first flange 6. In addition, a laser centering device 14 is screwed below the pressing block 5, and a laser beam emitted by the laser centering device 14 is collinear with the central line of the tail end of the welding robot, so that the central line of the welding robot can be conveniently positioned to the circle center of a circular weld, wherein the laser centering device 14 is the prior art, and the technical personnel in the field can select and purchase the welding robot according to requirements.
The tail end of the first clamping arm 1 along the length direction is rotatably connected with the first end of the second clamping arm 2 through a limiting device, the limiting device is a bolt assembly 9, the bolt assembly 9 comprises a stud and a nut matched with the stud, the tail end of the first clamping arm 1 along the length direction is provided with two clamping arms 8, the two clamping arms 8 are spaced by 6-10 mm, the first end of the second clamping arm 2 is provided with a second long hole 10 in the horizontal direction, and the first end of the second clamping arm 2 is arranged between the two clamping arms 8 and is in clearance fit with the two inner side walls opposite to the two clamping arms 8, through holes for studs to pass through are arranged on the two clamping arms 8, the studs pass through the through holes on the two clamping arms 8 and the second long hole 10 on the first end of the second clamping arm 2, the two clamping arms 8 are pressed against the first end of the second clamping arm 2 by screwing the nut at the end of the stud. The bolt assembly 9 can make the first end of the second clamping arm 2 rotate relative to the end of the first clamping arm 1, and on the other hand, the bolt assembly can ensure that the second clamping arm 2 is fixed relative to the first clamping arm 1 in the working process through the matching of the stud and the nut. In addition, the bottom surface between the two clamping arms 8 is provided with a downward inclined angle, so that the first end of the second clamping arm 2 can be limited to rotate upwards, and misoperation is prevented.
And a second end of the second clamping arm 2 is provided with a clamping hole 4 for a welding gun 3 to pass through. The opening 11 that extends to 2 lateral walls of second centre gripping arms is seted up to the inside wall of centre gripping hole 4, opening 11 size is 0.5 ~ 1mm, still includes fastening device, 12, fastening device 12 and bolt for be equipped with on the first lateral wall that forms opening 11 and supply the counter bore and the through-hole that the bolt passed, and form and be equipped with on the open-ended second lateral wall with bolt complex screw hole, the bolt passes through the through-hole on the first lateral wall and with the screw hole spiro union on the second lateral wall with this with first lateral wall and the inboard side compression of second lateral wall, realize promptly that it presss from both sides tightly to welder 3 in the centre gripping hole 4. And an insulating sleeve 13 is arranged between the outer side wall of the welding gun 3 and the inner side wall of the clamping hole 4, so that the welding robot can be protected from receiving the influence of welding current.
In addition, an anti-collision sensor (not shown) is arranged between the first flange 6 and the flange at the tail end of the welding robot, the anti-collision sensor is electrically connected with a controller of the welding robot, the anti-collision sensor is the prior art, and a person skilled in the art can select and purchase the anti-collision sensor according to requirements.
Working process
Firstly, each part of a robot jig is assembled, then the robot jig is screwed on a flange at the tail end of a welding robot through a first flange 6, the vertical distance between the tail end point of a welding gun 3 and the central line of the welding robot is manually adjusted according to the radius of a small circular welding line to be welded, the vertical distance is the radius of the small circular welding line, then the welding robot is moved to enable the central line of the welding robot or the laser beam of a laser centering device to pass through the circle center of the small circular welding line and enable the tail end point of the welding gun 3 to be close to the small circular welding line, the welding robot is controlled in a control panel of the welding robot to record the position information at the moment, the rotation angle and the rotation speed of the tail end of the welding robot around the central line are set, then the welding robot is started to act according to the set information, the welding process is completed, and the programming steps in the welding process are, and even a small-diameter circular weld can ensure high-quality accurate welding. In addition, if the tail end of the welding robot collides with an adjacent part in the moving process, the anti-collision sensor on the tail end of the welding robot acts and generates a signal to the welding robot controller, and the controller can control the tail end of the welding robot to continue moving, so that the welding equipment can be protected, and the welding process can be continuously carried out.
The present invention has been described above by way of example, but the present invention is not limited to the above-described specific embodiments, and any modification or variation made based on the present invention is within the scope of the present invention as claimed.
Claims (10)
1. The utility model provides a but robot tool of accurate welding small circle welding seam, its characterized in that, includes first centre gripping arm (1) and second centre gripping arm (2), first centre gripping arm (1) is fixed in welding robot end, just first centre gripping arm (1) is passed through stop device along length direction's end and the first end of second centre gripping arm (2) and is rotated and be connected, stop device can restrict the turned angle of the relative first centre gripping arm (1) of first end of second centre gripping arm (2), just the axis of rotation junction is perpendicular with the axis of first centre gripping arm (1) length direction, the second end of second centre gripping arm (2) is equipped with centre gripping hole (4) that supply welder (3) to pass.
2. The robot jig capable of accurately welding the small circular weld according to claim 1, wherein the first clamping arm (1) is detachably connected with a first flange (6), the first flange (6) is detachably connected with a flange at the tail end of the welding robot, the first clamping arm (1) is provided with a first long hole (7), and the first flange (6) can be detachably connected with the first clamping arm at different positions relative to the first long hole (7).
3. The robot jig capable of accurately welding small circular weld joints according to claim 1, wherein the limiting device is a bolt assembly (9), the bolt assembly (9) comprises a stud and a nut matched with the stud, the first clamping arm (1) is provided with two clamping arms (8) at the end along the length direction, the first end of the second clamping arm (2) is arranged between the two clamping arms (8) and in clearance fit with the two inner side walls opposite to the two clamping arms, the stud penetrates through the first ends of the two clamping arms (8) and the second clamping arm (2), and the two clamping arms (8) and the first end of the second clamping arm (2) are pressed tightly through the nut.
4. Robot jig capable of accurately welding small circular welds according to claim 3, characterized in that the bottom surface located in the middle of the two clamping arms (8) is provided with a downward-sloping angle.
5. The robot jig capable of accurately welding small circular welds according to claim 3, characterized in that the first end of the second clamping arm (2) and/or the two clamping arms (8) are provided with second long holes (10), and the stud penetrates through the two clamping arms (8) and the first end of the second clamping arm (2), and the two clamping arms (8) and the first end of the second clamping arm (2) are pressed tightly by a nut.
6. The robot jig capable of accurately welding the small circular weld according to claim 1, further comprising a fastening device (12), wherein the inner side wall of the clamping hole (4) is provided with an opening (11) extending to the outer side wall of the second clamping arm (2), and the fastening device (12) is used for pressing the first side wall forming the opening (11) and the second side wall forming the opening inwards.
7. The robot jig capable of accurately welding small circular welds according to claim 1, characterized in that the welding gun (3) is tightly fitted with the clamping hole (4) through an insulating sleeve (13).
8. The robot jig capable of accurately welding small circular welds according to any one of claims 1 to 9, characterized in that an anti-collision sensor is arranged between the first flange (6) and the flange at the end of the welding robot, and the anti-collision sensor is electrically connected with the controller of the welding robot.
9. The robot jig capable of accurately welding small circular welds according to claim 8, further comprising a linear module, wherein the moving portion of the linear module is fixedly connected to the first clamping arm (1), and the fixing portion of the linear module is fixedly connected to the welding robot or the anti-collision sensor.
10. The robot jig capable of accurately welding small circular welds according to claim 8, characterized in that a laser centering device (14) is further arranged below the first clamping arm (1), and a laser beam emitted by the laser centering device (14) is collinear with the central line of the end of the welding robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011116159.1A CN112139720A (en) | 2020-10-19 | 2020-10-19 | Robot jig capable of accurately welding small circular weld |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011116159.1A CN112139720A (en) | 2020-10-19 | 2020-10-19 | Robot jig capable of accurately welding small circular weld |
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| Publication Number | Publication Date |
|---|---|
| CN112139720A true CN112139720A (en) | 2020-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011116159.1A Pending CN112139720A (en) | 2020-10-19 | 2020-10-19 | Robot jig capable of accurately welding small circular weld |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206633A (en) * | 2023-11-09 | 2023-12-12 | 二重（德阳）重型装备有限公司 | Surfacing equipment and surfacing method for pump shell of nuclear power main pump |
-
2020
- 2020-10-19 CN CN202011116159.1A patent/CN112139720A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206633A (en) * | 2023-11-09 | 2023-12-12 | 二重（德阳）重型装备有限公司 | Surfacing equipment and surfacing method for pump shell of nuclear power main pump |
| CN117206633B (en) * | 2023-11-09 | 2024-02-20 | 二重（德阳）重型装备有限公司 | Surfacing equipment and surfacing method for pump shell of nuclear power main pump |
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