CN113458545A

CN113458545A - Intelligent robot arc tracking clamp

Info

Publication number: CN113458545A
Application number: CN202110811801.6A
Authority: CN
Inventors: 陆璐; 朱维金; 张书生
Original assignee: Weifang Xinsong Robot Automation Co ltd
Current assignee: Weifang Xinsong Robot Automation Co ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2021-10-01

Abstract

The invention belongs to the technical field of welding arc tracking of intelligent robots, and particularly relates to an arc tracking clamp of an intelligent robot. Including welder, drive flexible member and arc tracking anchor clamps, wherein welder connects at intelligent welding robot's execution end, the one end and the welder connection of drive flexible member, the anchor clamps are tracked to the other end and arc, arc tracking anchor clamps set up in the back weld department that the Y type groove T type that forms welded between arc work piece and annular work piece, arc tracking anchor clamps can follow-up with welder in real time and trail, and can balance the back weld department magnetic field of Y type groove T type welding. The invention can demagnetize the magnetized arc-shaped workpiece and the magnetized annular workpiece which are butted with each other, so that the arc-shaped workpiece and the annular workpiece are in a magnetic balance state, the influence of a magnetic field on a welding arc can be effectively reduced, the arc is prevented from generating magnetic blow, the stability of an arc column is ensured, and a good welding effect is achieved.

Description

Intelligent robot arc tracking clamp

Technical Field

The invention belongs to the technical field of welding arc tracking of intelligent robots, and particularly relates to an arc tracking clamp of an intelligent robot.

Background

The principle of robot arc tracking is that a welding gun swings in the welding process, current signals in welding are sampled in real time, and horizontal and vertical path correction data obtained through analysis are transmitted to a robot control cabinet in time according to welding current deviation values and trends at two swinging ends. The robot corrects the motion track in real time and ensures that the stable welding requirement is met. The use conditions are as follows: 1. the swing amplitude is required to be 1.5 times of the diameter of the welding wire at the minimum on the premise of stable and reliable welding; 2. is not suitable for special welding processes such as aluminum plate welding and the like; 3. the welding starting point is fixed, on the premise that the welding seam does not exceed 1 m, the maximum deviation distance of the end point is one tenth of the length of the welding seam, for example, the length of the welding seam is 200mm, and the position of the end point can be different from the theoretical position by 20 mm; 4. before the welding device is used, a welding process is tested, and a tracked reference current is designated after a good welding effect is obtained; the current parameter in the Weld data is the tracking reference current.

The electric welding arc starting rear arc deviation is mainly caused by the following reasons:

1. electric arc magnetic blow-off: when the direct current electric welding machine is adopted, the improper position of a grounding wire can cause magnetic blow, because the current passing through a weldment generates a magnetic field in space, when a welding rod is vertical to the weldment, the density of magnetic lines on the left side of an electric arc is large, the magnetic lines on the right side of the electric arc are sparse, and the uneven distribution of the magnetic lines causes the large-density side to generate thrust to the electric arc, so that the electric arc deviates from an axis.

The solution is as follows: (1) the welding rod is inclined towards the opposite direction of magnetic blow by adjusting the welding method so as to change the size of the left space and the right space of the electric arc, so that the density of magnetic lines is uniform, and the blow degree is reduced; (2) the position of the grounding wire can be adjusted or the grounding wires can be added on the two sides of the weldment; (3) the direct current welding machine is easy to generate blow, and an alternating current welding machine or an arc welding rectifier can be adopted;

2. the solution of the blow caused by the eccentricity of the welding rod core is to change the welding rod;

3. the outdoor wind power is large, the welding is stopped when the blow-off is caused by the wind power influence in the welding process, and the problem is solved by adopting methods such as a wind shielding barrier and the like.

However, the back weld seam of the Y-groove T-shaped welding of the arc-shaped member can cause arc tracking arc magnetic blow and arc deflection after arc striking of the electric welding in the welding technology of the intelligent robot. Therefore, an intelligent robot arc tracking fixture is urgently needed.

Disclosure of Invention

Aiming at the problems, the invention aims to provide an intelligent robot arc tracking clamp to solve the problems that arc tracking arc magnetic blow and electric welding arc starting arc deviation of an intelligent robot in the welding technology can be caused by a back welding seam of a Y-shaped groove T-shaped welding of an arc-shaped component.

In order to achieve the purpose, the invention adopts the following technical scheme:

the embodiment of the invention provides an intelligent robot arc tracking clamp which comprises a welding gun, a driving flexible rod piece and an arc tracking clamp, wherein the welding gun is connected to the execution tail end of an intelligent welding robot, one end of the driving flexible rod piece is connected with the welding gun, the other end of the driving flexible rod piece is connected with the arc tracking clamp, the arc tracking clamp is arranged at a back welding seam of a Y-shaped groove T-shaped welding formed between an arc workpiece and an annular workpiece, the arc tracking clamp can track with the welding gun in a real-time follow-up mode, and a magnetic field at the back welding seam of the Y-shaped groove T-shaped welding can be balanced.

In one possible implementation, the arc tracking fixture includes a fixture body; one end of the fixture body is of a wedge-shaped structure, and the wedge-shaped structure is in contact with a back weld of the Y-shaped groove T-shaped welding.

In a possible implementation manner, the other end of the clamp body is provided with an inner groove;

the other end of the driving flexible rod piece is provided with a driving rigid ball which is accommodated in the inner groove, and the driving rigid ball is in point-surface contact with two side walls of the inner groove.

In a possible implementation manner, an elastic piece is arranged in the inner groove;

the driving rigid ball is abutted against the elastic member.

In a possible implementation manner, the elastic member is a plate spring, one end of the plate spring is connected with the bottom of the inner groove, and the other end of the plate spring is in point-surface contact with the driving rigid ball.

In a possible implementation manner, the inner grooves on the fixture body are formed along the radial direction of the arc-shaped workpiece.

In one possible implementation manner, the back weld of the Y-groove T-shaped weld includes a flat joint surface and an arc joint surface, and the flat joint surface and the arc joint surface are coated with conductive adhesive.

In a possible implementation manner, the arc-shaped tracking clamp is made of a metal material.

In one possible implementation, the driving flexible rod is of an L-shaped structure.

The invention has the advantages and beneficial effects that: according to the intelligent robot arc tracking clamp, the arc tracking clamp and the welding gun are tracked in a follow-up manner in real time, the arc tracking clamp is in close contact with the back weld seam of the Y-groove T-shaped welding, magnetized arc workpieces and magnetized annular workpieces which are butted with each other can be demagnetized, the arc workpieces and the annular workpieces are in a magnetic balance state, the influence of a magnetic field on a welding arc can be effectively reduced, the arc is prevented from generating magnetic blow, the stability of an arc column is guaranteed, and a good welding effect is achieved; meanwhile, the arc tracking clamp plays a role in supporting and positioning the arc workpiece, so that the welding process is stable, and the welding quality is improved.

According to the intelligent robot arc tracking clamp, the flexible connection structure of the flexible rod piece and the arc tracking clamp is driven, so that the arc tracking clamp can adapt to the size deviation of a back weld joint of the Y-groove T-shaped welding and cannot interfere with the welding work of a welding gun; meanwhile, the device can adapt to arc-shaped workpieces and annular workpieces of various scanning types, and has a wide application range.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is an isometric view of an intelligent robotic arc tracking fixture of the present invention;

FIG. 2 is an enlarged view taken at point I in FIG. 1;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;

in the figure: 1 is the frock, 2 is annular work piece, 3 is the arc work piece, 4 is intelligent welding robot, 5 is welder, 6 is the flexible member of drive, 7 is the drive rigid ball, 8 is arc tracking fixture, 9 is the inner groovy, 10 is the leaf spring, 11 is the flat face of connecing, 12 is the arc face of connecing.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and 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, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

The embodiment of the invention provides an intelligent robot arc tracking clamp which can demagnetize magnetized arc-shaped workpieces and magnetized annular workpieces which are butted with each other, so that the arc-shaped workpieces and the annular workpieces are in a magnetic balance state, the influence of a magnetic field on a welding arc can be effectively reduced, the arc is prevented from generating magnetic blow, the stability of an arc column is ensured, and a good welding effect is achieved. Referring to fig. 1 to 3, this intelligent robot arc tracking anchor clamps, including welder 5, drive flexible member 6 and arc tracking anchor clamps 8, wherein welder 5 is connected at intelligent welding robot 4's execution end, the one end and the welder 5 of drive flexible member 6 are connected, the other end is connected with arc tracking anchor clamps 8, arc tracking anchor clamps 8 set up in the back weld seam department of the Y type groove T type welding that forms between arc work piece 3 and annular work piece 2, arc tracking anchor clamps 8 can follow up with welder 5 in real time and track, and can balance the back weld seam department magnetic field of Y type groove T type welding, can support location arc work piece 3 simultaneously.

Referring to fig. 1, in the embodiment of the present invention, an annular workpiece 2 is supported and fixed by a plurality of tools 1, an arc-shaped workpiece 3 is placed on an upper plane of the annular workpiece 2, and a Y-groove T-shaped weld is formed between the arc-shaped workpiece 3 and the annular workpiece 2, and the Y-groove T-shaped weld includes a front weld and a back weld which are respectively located inside and outside the arc-shaped workpiece 3. Intelligent welding robot 4 sets up in the inboard of arc work piece 3 and annular work piece 2, and intelligent welding robot 4 welds the preceding welding seam of Y type groove T type welding through carrying out terminal welder 5, and arc tracking anchor clamps 8 are located the outside of arc work piece 3 this moment, and contact with the back weld seam of Y type groove T type welding.

Referring to fig. 2, in an embodiment of the present invention, the arc-shaped tracking jig 8 includes a jig body; one end of the fixture body is of a wedge-shaped structure, and the wedge-shaped structure is in contact with a back weld seam of the Y-shaped groove T-shaped welding, namely the wedge-shaped structure is inserted into the back weld seam of the Y-shaped groove T-shaped welding and is in close contact with the inner wall of the back weld seam of the Y-shaped groove T-shaped welding.

Referring to fig. 3, in the embodiment of the present invention, the back weld of the Y-groove T-weld includes a flat joint surface 11 and an arc joint surface 12, specifically, the flat joint surface 11 is a part of the upper surface of the annular workpiece 2, and the arc joint surface 12 is a part of the lower end surface of the arc-shaped workpiece 3. The arc tracking clamp 8 is made of metal materials, and the arc tracking clamp 8 is in contact with the flat joint surface 11 and the arc joint surface 12 through a wedge-shaped structure at one end to play a role in conducting electricity. At this time, the arc tracking jig 8 is magnetized, and the arc tracking jig 8 balances the magnetic field changing around by its own strong magnetism.

Furthermore, the flat joint surface 11 and the arc joint surface 12 are coated with conductive adhesive, so that the arc tracking clamp 8, the annular workpiece 2 and the arc workpiece 3 are conductive, the arc tracking clamp 8, the annular workpiece 2 and the arc workpiece 3 are lubricated relatively, the arc tracking clamp 8 can slide conveniently, a magnetic field can reach a magnetic force balance state quickly, the magnetization effect can be enhanced, and demagnetization of a magnetized steel plate is realized.

Referring to fig. 3, in the embodiment of the present invention, the other end of the clamp body is provided with an inner groove 9, the other end of the driving flexible rod member 6 is provided with a driving rigid ball 7 accommodated in the inner groove 9, and the driving rigid ball 7 is in point-surface contact with two side walls of the inner groove 9.

Further, an inner groove 9 on the fixture body is formed along the radial direction of the arc-shaped workpiece 3, and an elastic part is arranged in the inner groove 9; the rigid ball 7 is driven to abut against the elastic piece, so that the arc tracking clamp 8 can adapt to the size deviation of a back weld joint of the Y-shaped groove T-shaped welding and cannot interfere with the welding work of the welding gun 5; meanwhile, the device can adapt to arc-shaped workpieces 3 and annular workpieces 2 of various scanning types, and has a wide application range.

Specifically, the elastic member is a plate spring 10, one end of the plate spring 10 is connected with the bottom of the inner groove 9, and the other end is in point-surface contact with the driving rigid ball 7, that is, the plate spring 10 is limited in the inner groove 9 by the driving rigid ball 7. The driving rigid ball 7 can horizontally translate in the horizontal direction and the vertical direction in the inner groove 9 by driving the flexible rod piece 6 to pull, and can swing in any direction, so that the real-time tracking with the welding gun 5 is realized.

Furthermore, the driving flexible rod piece 6 is of an L-shaped structure, the structure avoids the interference between the driving flexible rod piece 6 and the arc-shaped workpiece 3, and the arc-shaped tracking clamp 8 can keep translational motion, so that the welding stability is improved.

In the embodiment of the invention, the driving rigid ball 7 and the inner walls of the two sides of the inner groove 9 form point-surface matching, so that the arc-shaped tracking clamp 8 can track the welding gun 5 of the intelligent welding robot 4 in a real-time follow-up manner. The rigid ball 7 is driven to enable the arc-shaped tracking clamp 8 to be simultaneously attached to the flat joint surface 11 of the annular workpiece 2 and the arc joint surface 12 of the arc-shaped workpiece 3 in real time through the plate spring 10, and stability of electric conductivity is guaranteed.

Annular workpiece 2 and arc workpiece 3 constitute the Y type groove T type welding of arc component, because the butt joint face 11 of back weld and the existence of arc joint face 12, intelligent welding robot 4 passes through welder 5 at the back welding in-process, and arc tracking has the problem of arc tracking arc magnetic blow and electric welding arc starting back arc off tracking, the leading cause: first, the presence of inductive reactance and electrical impedance at the flat 11 and arcing 12 junctions differs from conventional; secondly, in the welding process alternating circuit system, the inductance and the electrical impedance of the annular workpiece 2 and the arc-shaped workpiece 3 are different. The embodiment of the invention provides an intelligent robot arc tracking clamp, an arc tracking clamp 8 is added in the welding operation process to move along with the arc tracking clamp, the arc tracking clamp 8 conducts electricity between an annular workpiece 2 and an arc workpiece 3, and can demagnetize the magnetized annular workpiece 2 and the arc workpiece 3 which are butted with each other, so that a magnetic field can quickly reach a magnetic force balance state, the structure is in a magnetic balance state, the magnetic blow-off phenomenon is weakened, the influence of the magnetic field on welding arcs is effectively reduced, and the welding quality is improved.

The embodiment of the invention provides an intelligent robot arc tracking clamp, which is characterized in that an arc tracking clamp is arranged at the back welding seam of a Y-shaped groove T-shaped welding of an arc component between an annular workpiece and an arc workpiece, so that the annular workpiece and the arc workpiece form an integral structure, a state of magnetic force balance is achieved, the demagnetizing effect on the magnetized workpiece is realized by utilizing the principle of magnetic force balance, the magnetic blow phenomenon during welding is solved, and the smooth welding is realized.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The utility model provides an intelligent robot arc tracking anchor clamps, a serial communication port, including welder (5), drive flexible member (6) and arc tracking anchor clamps (8), wherein welder (5) are connected at the execution of intelligent welding robot (4) end, the one end and welder (5) of drive flexible member (6) are connected, the other end is connected with arc tracking anchor clamps (8), arc tracking anchor clamps (8) set up the back weld seam department that Y type groove T type that forms between arc work piece (3) and annular work piece (2) welded, arc tracking anchor clamps (8) can with welder (5) follow-up in real time tracks, and can balance the back weld seam department magnetic field that Y type groove T type welded.

2. The intelligent robotic arc tracking clamp according to claim 1, wherein the arc tracking clamp (8) comprises a clamp body; one end of the fixture body is of a wedge-shaped structure, and the wedge-shaped structure is in contact with a back weld of the Y-shaped groove T-shaped welding.

3. The intelligent robotic arc tracking clamp according to claim 2, wherein the other end of the clamp body is provided with an inner groove (9);

the other end of the driving flexible rod piece (6) is provided with a driving rigid ball (7) accommodated in the inner groove (9), and the driving rigid ball (7) is in point-surface contact with two side walls of the inner groove (9).

4. The intelligent robotic arc tracking clamp according to claim 3, wherein an elastic member is provided inside the inner groove (9);

the driving rigid ball (7) is abutted against the elastic member.

5. The intelligent robotic arc tracking clamp according to claim 4, wherein the resilient member is a leaf spring (10);

one end of the plate spring (10) is connected with the bottom of the inner groove (9), and the other end of the plate spring is in point-surface contact with the driving rigid ball (7).

6. An intelligent robotic arc tracking clamp according to claim 3, wherein the inner grooves (9) on the clamp body open in the radial direction of the arc-shaped workpiece (3).

7. The intelligent robot arc tracking clamp according to claim 1, wherein the back weld of the Y-groove T-shaped weld comprises a flat joint surface (11) and an arc joint surface (12), and the flat joint surface (11) and the arc joint surface (12) are coated with conductive adhesive.

8. The intelligent robot arc tracking clamp according to claim 1, wherein the arc tracking clamp (8) is made of metal.

9. The intelligent robotic arc tracking clamp according to claim 1, wherein the driven flexible rod (6) is an L-shaped structure.