CN113664843A - Anti-deviation device for welding robot operation and anti-deviation method thereof - Google Patents
Anti-deviation device for welding robot operation and anti-deviation method thereof Download PDFInfo
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- CN113664843A CN113664843A CN202110904961.5A CN202110904961A CN113664843A CN 113664843 A CN113664843 A CN 113664843A CN 202110904961 A CN202110904961 A CN 202110904961A CN 113664843 A CN113664843 A CN 113664843A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to an anti-deflection device for welding robot operation and an anti-deflection method thereof, relating to the field of industrial robots, and comprising a supporting bottom plate, a machine base bearing plate, an outer protective frame and a plurality of groups of horizontal shock absorption parts; a support base plate; and the machine base bearing plate is arranged on the upper side of the supporting bottom plate and used for bearing the machine base of the welding robot. Through set up horizontal shock attenuation part on welding robot frame, can be fixed welding robot frame with this device centre gripping, and the horizontal vibrations that produce welding robot frame cushion the shock attenuation, simultaneously through setting up the vertical shockproof part on horizontal shock attenuation part, can cushion the shock attenuation to the vertical vibrations that welding robot frame produced, thereby avoid arm and welding equipment to take place the skew because vibrations in welding process, guarantee the welding result when not only reducing welding error, also can avoid vibrations to the influence of connecting between each part of welding robot, avoid the damage of spare part, use and cost of maintenance are reduced.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an anti-deviation device for operation of a welding robot and an anti-deviation method thereof.
Background
An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device used in the industrial field, has certain automaticity, can realize various industrial processing and manufacturing by depending on self power energy and control capability, and is widely applied to aspects such as stacking, welding, assembling, detecting and the like, wherein the welding robot is used for assembling a welding clamp or a welding (cutting) gun on a tail shaft flange of the industrial robot so as to weld, cut or thermally spray the tail shaft flange.
The welding robot mainly comprises a robot part and a welding device part, wherein the welding device part is a part for realizing a welding function, the robot part mainly comprises a wrist, a multi-degree-of-freedom arm, a base and the like, a user utilizes a tail shaft flange at the tail end of the wrist to connect a welding gun and stably fix the base, and the multi-degree-of-freedom arm can be used for driving the welding gun to swing to realize the welding work of the welding gun at different positions and angles during work.
The current welding robot frame often can cause vibrations because the motion of self or the fast rotation of arm in the course of the work, can drive arm and welding equipment when the frame takes place vibrations and take place the vibrations of different degrees, lead to arm and welding equipment to take place the skew easily in welding process, not only can influence the welding result, cause great welding error, these vibrations also can cause the influence to the connection between each part of welding robot, cause certain vibrations damage to relevant spare part easily, thereby increase user's use cost of maintenance.
Disclosure of Invention
The purpose of the invention is as follows: the anti-deviation device and the anti-deviation method for the welding robot operation are provided, and the horizontal damping component for fixing the welding robot base is arranged and is matched with the vertical anti-vibration component arranged on the horizontal damping component, so that the problems in the prior art are solved.
The technical scheme is as follows: an anti-deviation device for operation of a welding robot comprises a supporting bottom plate, a machine base bearing plate, an outer protective frame and a plurality of groups of horizontal shock absorption parts;
a support base plate;
the machine base bearing plate is arranged on the upper side of the supporting base plate and used for bearing the machine base of the welding robot, and a plurality of groups of vertical shockproof components for damping vertical shock generated by the machine base of the welding robot are connected between the supporting base plate and the machine base bearing plate;
the outer protection frame is connected to the upper end of the support bottom plate and used for protecting the welding robot base;
the horizontal shock attenuation parts of multiunit set up in between outer protection frame inner wall and the welding robot frame for the horizontal vibrations that produce the welding robot frame are carried out the shock attenuation.
In a further embodiment, the vertical shock absorbing member includes a shock absorbing lower column, a shock absorbing upper column, and a first shock absorbing plate;
the lower damping column is connected to the upper end of the support bottom plate;
the welding robot base is placed on the base bearing plate when in use, the welding robot base can drive the base bearing plate and the upper damping column to move when vertical vibration occurs, and the welding robot base can enter the first upper damping moving groove of the upper damping column when moving to a first preset distance;
first shock attenuation board, with first shock attenuation shift groove looks adaptation and slip locate first shock attenuation shift groove in, be connected with between first shock attenuation board and the supporting baseplate and be used for vertical absorbing first damping spring, there is first predetermined distance first shock attenuation board distance shock attenuation lower prop upper end, when the shock attenuation upper prop removes the second predetermined distance under the effect of welding robot frame vibrations, the butt takes place for shock attenuation upper prop and first shock attenuation board, later drives first damping spring and takes place deformation, forms the shock attenuation of second grade.
In a further embodiment, the vertical anti-vibration component further comprises a step shock absorbing bumper post and a second shock absorbing plate;
the step damping buffer column is arranged in the damping lower column and is fixedly connected with the upper end of the support bottom plate, a second damping moving groove and a damping moving hole which are matched with the step damping buffer column are respectively drilled on the damping upper column and the first damping plate, and when the damping upper column abuts against the first damping plate and moves to a third preset distance, the step damping buffer column can enter the second damping moving groove of the damping upper column through the damping moving hole;
the second shock absorption plate is matched with the second shock absorption moving groove in a sliding mode and is arranged in the second shock absorption moving groove, a second shock absorption spring used for vertical shock absorption is connected between the second shock absorption plate and the base bearing plate, a second preset distance exists between the second shock absorption plate and the lower end of the shock absorption upper column, when the step shock absorption buffering column enters a fourth preset distance in the second shock absorption moving groove, the second shock absorption plate can abut against the second shock absorption plate, then the second shock absorption spring is driven to deform, and three-level shock absorption is formed.
In a further embodiment, the vertical anti-vibration component further comprises a main damping spring;
main damping spring, connect in between supporting baseplate and the frame loading board, and locate the post outside in shock attenuation lower prop and shock attenuation, be used for the cooperation first damping spring and second damping spring carry out the shock attenuation, and when the shock attenuation lower prop and shock attenuation upper prop take place relative movement, main damping spring takes place deformation immediately, forms the one-level buffering shock attenuation to the vertical vibrations that welding robot frame takes place.
In a further embodiment, an inner protection frame for protecting the welding robot base is connected to the base bearing plate, and the inner protection frame comprises a plurality of protection plates and a plurality of horizontal moving grooves;
the protection plates are fixedly connected to the base bearing plate and used for protecting the welding robot base, and preferably four protection plates are arranged and fixedly connected with the upper end face of the base bearing plate;
and the plurality of horizontal moving grooves are respectively drilled on the protection plates.
In a further embodiment, the horizontal damping component comprises a pair of horizontal fixing blocks, a horizontal damping sliding column, a pair of horizontal damping sliding blocks and a base clamping plate;
the pair of horizontal fixing blocks are fixedly connected to the inner wall of the outer protection frame and used for fixing the horizontal damping sliding columns;
the horizontal damping sliding column is connected between the pair of horizontal fixing blocks;
the pair of horizontal damping sliding blocks are arranged on the horizontal damping sliding column in a sliding mode and are symmetrically arranged around the central axis of the horizontal damping sliding column;
frame splint, the frame splint are close to the one side of outer protection frame and are connected with articulated piece, all articulated have shockproof bull stick between articulated piece and a pair of horizontal shock attenuation slider, place welding robot frame during the use on the frame loading board to fix welding robot frame centre gripping on the frame loading board through a plurality of frame splint, when welding robot frame takes place horizontal vibrations, can drive the frame splint of syntropy and take place to remove, it takes place to rotate to drive a pair of bull stick that takes precautions against earthquakes simultaneously, and promote a pair of horizontal shock attenuation slider and take place to remove on horizontal shock attenuation traveller, thereby carry out the shock attenuation to the vibrations in this direction.
In a further embodiment, the horizontal shock absorbing member further comprises two first dissipative springs and a second dissipative spring;
the two first energy dissipation springs are respectively connected between the horizontal damping sliding blocks and the horizontal fixing block, and when the pair of horizontal damping sliding blocks slide on the horizontal damping sliding columns, the two first energy dissipation springs are respectively driven to deform, so that transverse vibration is buffered and damped;
the second energy dissipation spring is connected between the pair of horizontal damping sliding blocks, the second energy dissipation spring and the two first energy dissipation springs are arranged on the outer sides of the horizontal damping sliding columns, when the pair of horizontal damping sliding blocks slide on the horizontal damping sliding columns, the two first energy dissipation springs can be driven to deform respectively, and the second energy dissipation spring can be driven to deform, so that transverse vibration is buffered and damped under the matching of the two first energy dissipation springs and the second energy dissipation spring.
In a further embodiment, the horizontal damping member further comprises a plurality of energy dissipating damping columns, a damping slide hole and a plurality of energy dissipating damping slots;
the energy-consuming shock absorption columns are fixedly connected to the outer wall of the horizontal shock absorption sliding column and are made of elastic materials;
the damping slide holes penetrate through the pair of horizontal damping slide blocks and are matched with the horizontal damping slide columns, and the damping slide holes are connected with the horizontal damping slide columns in a sliding mode through the damping slide holes;
a plurality of power consumption shock attenuation grooves, cut in on the shock attenuation slide opening inner wall, and correspond the setting with power consumption shock attenuation post, the area of a plurality of power consumption shock attenuation grooves all is less than the area of corresponding power consumption shock attenuation post, when making horizontal shock attenuation slider move on horizontal shock attenuation slide post, can cause certain resistance, thereby cushion the shock attenuation to horizontal vibrations between the power consumption of energy absorption, thereby reduce the influence of vibrations to welding robot work, avoid arm and welding equipment to take place the skew in welding process, guarantee the welding result when not only reducing welding error, also can avoid the influence of vibrations to connecting between each part of welding robot, avoid the damage of spare part, reduce use and cost of maintenance.
An anti-shift method of an anti-shift device for welding robot operation, comprising the steps of:
s1, placing the welding robot base on the base bearing plate, and clamping and fixing the welding robot base through a horizontal damping component;
s2, when the welding robot base vibrates vertically, the vertical shockproof components act;
s3, the upper damping column moves into the first damping moving groove of the lower damping column and reciprocates under the action of the main damping spring, the first damping spring and the second damping spring, so that vertical vibration is damped;
s4, when the welding robot base vibrates transversely, the horizontal damping component along the vibration direction acts;
and S5, the pair of horizontal damping sliding blocks moves on the horizontal damping sliding columns and reciprocates under the action of the second energy dissipation springs and the two first energy dissipation springs, so that transverse vibration is damped.
Has the advantages that: the invention relates to an anti-deviation device for welding robot operation and an anti-deviation method thereof, wherein a horizontal shock absorption part is arranged on a welding robot base, the welding robot base and the device can be clamped and fixed, the horizontal shock generated by the welding robot base is buffered and damped, and the vertical shock generated by the welding robot base can be buffered and damped by a vertical shock absorption part arranged on the horizontal shock absorption part, so that the deviation of a mechanical arm and welding equipment due to shock in the welding process is avoided, the welding error is reduced, the welding result is ensured, the influence of the shock on the connection between each part of the welding robot is avoided, the damage of parts is avoided, and the use and maintenance cost is reduced.
Drawings
Fig. 1 is a perspective view of the overall structure of the present invention.
Fig. 2 is a cross-sectional view of the present invention in use.
FIG. 3 is a front view of the vertical anti-vibration component of the present invention.
FIG. 4 is a cross-sectional view of the vertical shock absorbing member of the present invention.
FIG. 5 is a perspective view of the horizontal shock absorbing member of the present invention.
Fig. 6 is an exploded view of the horizontal shock absorbing member of the present invention.
The figures are numbered: 1. the damping device comprises a supporting baseplate, 2, a base bearing plate, 3, a vertical anti-vibration component, 301, a damping lower column, 302, a damping upper column, 303, a first damping moving groove, 304, a first damping plate, 305, a first damping spring, 306, a step damping buffer column, 307, a damping moving hole, 308, a second damping moving groove, 309, a second damping plate, 310, a second damping spring, 311, a main damping spring, 4, an inner protection frame, 401, a horizontal moving groove, 5, an outer protection frame, 6, a horizontal damping component, 601, a horizontal fixing block, 602, a horizontal damping sliding column, 603, a horizontal damping sliding block, 604, a base clamping plate, 605, a hinge block, 606, an anti-vibration rotating rod, 607, a first energy dissipation spring, 608, a second energy dissipation spring, 609, an energy dissipation damping column, 610, a damping sliding hole, 611 and an energy dissipation damping groove.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
As shown in fig. 1 to 6, the present invention discloses an anti-shift apparatus for welding robot work and an anti-shift method thereof. Wherein, an anti-shifting device for welding robot operation includes supporting baseplate 1, frame loading board 2, outer protection frame 5 and multiunit horizontal shock-absorbing component 6.
A plurality of bolt holes are drilled in the supporting bottom plate 1, the supporting bottom plate 1 can be fixed on a working platform through bolts during use, and the device is supported and fixed through the supporting bottom plate 1.
Frame loading board 2 sets up in 1 upside of supporting baseplate for bear welding robot frame, place welding robot frame on frame loading board 2 during the use, be connected with the multiunit between supporting baseplate 1 and the frame loading board 2 and be used for carrying out the vertical shock attenuation part 3 of absorbing to the vertical vibrations that welding robot frame produced, when welding robot frame takes place vertical vibrations, thereby can drive the 3 emergence effects of vertical shock attenuation parts and cushion vertical vibrations.
The outer protection frame 5 is connected to the upper end of the support base plate 1 and used for protecting the base of the welding robot.
Multiunit horizontal shock attenuation part 6 sets up between 5 inner walls of outer protection frame and welding robot frame for the horizontal vibrations that produce welding robot frame are absorbed, when the welding robot frame takes place horizontal vibrations, thereby can drive 6 emergence effects of horizontal shock attenuation part and cushion the shock attenuation to horizontal vibrations.
As shown in fig. 3 to 4, the vertical shock-absorbing member 3 includes a shock-absorbing lower column 301, a shock-absorbing upper column 302, and a first shock-absorbing plate 304.
Wherein, the shock-absorbing lower column 301 is connected to the upper end of the support base plate 1.
The shock attenuation is gone up post 302 and is connected in frame loading board 2 lower extreme, and correspond the setting with supporting baseplate 1, the shock attenuation is interior to have dug the first shock attenuation shifting chute 303 with shock attenuation upper prop 302 looks adaptation in the post 301 down, lay the welding robot frame on frame loading board 2 during the use, when the vertical vibrations takes place for the welding robot frame, can drive frame loading board 2 and shock attenuation upper prop 302 and take place to remove, when the shock attenuation upper prop 302 removes first predetermined distance, can get into in the first shock attenuation shifting chute 303 of shock attenuation upper prop 302.
First shock attenuation board 304 and first shock attenuation shifting chute 303 looks adaptation and slide and locate in first shock attenuation shifting chute 303, be connected with between first shock attenuation board 304 and the supporting baseplate 1 and be used for vertical absorbing first damping spring 305, first damping spring 305 is compression spring, there is first predetermined distance first shock attenuation board 304 apart from shock attenuation lower prop 301 upper end, when the shock attenuation upper prop 302 removes the second predetermined distance under the effect of welding robot frame vibrations, the butt takes place for shock attenuation upper prop 302 and first shock attenuation board 304, later drive first damping spring 305 and take place deformation, form the shock attenuation of second grade buffering.
As shown in fig. 1 to 4, the vertical anti-vibration member 3 further includes a step shock absorbing strut 306 and a second shock absorbing plate 309.
The step shock absorption buffer column 306 is arranged in the shock absorption lower column 301 and is fixedly connected with the upper end of the support base plate 1, the shock absorption upper column 302 and the first shock absorption plate 304 are respectively provided with a second shock absorption moving groove 308 and a shock absorption moving hole 307 which are matched with the step shock absorption buffer column 306, and when the shock absorption upper column 302 abuts against the first shock absorption plate 304 and moves to a third preset distance, the step shock absorption buffer column 306 enters the second shock absorption moving groove 308 of the shock absorption upper column 302 through the shock absorption moving hole 307.
Second shock attenuation board 309 and second shock attenuation moving slot 308 looks adaptation and slip locate in second shock attenuation moving slot 308, be connected with between second shock attenuation board 309 and the frame loading board 2 and be used for vertical absorbing second damping spring 310, there is the second predetermined distance second shock attenuation board 309 and shock attenuation upper prop 302 lower extreme, when step shock attenuation buffering post 306 gets into the fourth predetermined distance in second shock attenuation moving slot 308, can take place the butt with second shock attenuation board 309, later drive second damping spring 310 and take place deformation, second damping spring 310 is compression spring, form tertiary buffering shock attenuation.
In addition, the vertical anti-vibration component 3 further comprises a main damping spring 311, the main damping spring 311 is a compression spring, and the main damping spring 311, the second damping spring 310 and the first damping spring 305 jointly form a step damping effect, so that the damping effect on the welding robot base is improved.
The main damping spring 311 is connected between the supporting base plate 1 and the machine base bearing plate 2, and is arranged outside the lower damping column 301 and the upper damping column 302, and is used for being matched with the first damping spring 305 and the second damping spring 310 to damp.
As shown in fig. 1 to 4, an inner protection frame 4 for protecting the welding robot stand is connected to the stand loading plate 2, and the inner protection frame 4 includes a plurality of protection plates and a plurality of horizontal moving grooves 401.
A plurality of guard plates, equal fixed connection is on frame loading board 2 for to welding robot frame formation protection, preferred, the guard plate is provided with four, all with 2 up end fixed connection of frame loading board.
A plurality of horizontal moving grooves 401 cut on the plurality of guard plates, respectively.
As shown in fig. 5 to 6, the horizontal damping member 6 includes a pair of horizontal fixing blocks 601, a horizontal damping strut 602, a pair of horizontal damping sliders 603, and a base clamping plate 604.
A pair of horizontal fixing blocks 601 is fixedly connected to the inner wall of the outer protection frame 5 for fixing the horizontal shock-absorbing sliding column 602.
The horizontal shock-absorbing strut 602 is connected between a pair of horizontal fixing blocks 601.
The pair of horizontal damping sliders 603 are slidably disposed on the horizontal damping strut 602 and are symmetrically disposed about a central axis of the horizontal damping strut 602.
The one side that frame splint 604 is close to outer protection frame 5 is connected with articulated piece 605, it has shockproof bull stick 606 all to articulate between articulated piece 605 and a pair of horizontal damping slider 603, place the welding robot frame on frame loading board 2 during the use, and fix the welding robot frame centre gripping on frame loading board 2 through a plurality of frame splint 604, when the welding robot frame takes place horizontal vibrations, can drive syntropy frame splint 604 and take place to remove, it takes place to rotate to drive a pair of bull stick 606 that takes precautions against earthquakes simultaneously, and promote a pair of horizontal damping slider 603 and take place to remove on horizontal damping traveller 602, thereby shock attenuation is carried out to the vibrations in this direction.
As shown in fig. 1 to 6, the horizontal damping member 6 further includes two first dissipative springs 607 and two second dissipative springs 608.
The two first energy dissipation springs 607 are respectively connected between the horizontal damping sliding block 603 and the horizontal fixing block 601, and when the pair of horizontal damping sliding blocks 603 slide on the horizontal damping sliding column 602, the two first energy dissipation springs 607 are respectively driven to deform, so as to buffer and damp the transverse vibration, and the first energy dissipation springs 607 are compression springs.
The second energy dissipating spring 608 is connected between the pair of horizontal damping sliders 603, and the second energy dissipating spring 608 and the two first energy dissipating springs 607 are both disposed outside the horizontal damping strut 602, when the pair of horizontal damping sliders 603 slide on the horizontal damping strut 602, the pair of horizontal damping sliders 603 not only respectively drive the two first energy dissipating springs 607 to deform, but also drive the second energy dissipating spring 608 to deform, so that the two first energy dissipating springs 607 and the second energy dissipating spring 608 are matched to buffer and damp transverse vibration, and the second energy dissipating spring 608 is an extension spring.
In addition, the horizontal shock absorbing member 6 further includes a plurality of dissipative shock absorbing columns 609, a shock absorbing sliding hole 610 and a plurality of dissipative shock absorbing grooves 611.
The plurality of energy dissipation shock absorption columns 609 are fixedly connected to the outer wall of the horizontal shock absorption sliding column 602, and the plurality of energy dissipation shock absorption columns 609 are made of elastic materials.
The damping slide holes 610 penetrate through the pair of horizontal damping slides 603 and are matched with the horizontal damping slide columns 602, and the damping slide holes 610 are connected with the horizontal damping slide columns 602 in a sliding mode through the damping slide holes 610.
A plurality of power consumption shock attenuation grooves 611 are dug on shock attenuation slide opening 610 inner wall, and correspond the setting with power consumption shock attenuation post 609, the area of a plurality of power consumption shock attenuation grooves 611 all is less than the area of corresponding power consumption shock attenuation post 609, when making horizontal shock attenuation slider 603 move on horizontal shock attenuation slide post 602, can cause certain resistance, thereby cushion the shock attenuation to horizontal vibrations between the energy-absorbing power consumption, thereby reduce the influence of vibrations to welding robot work, avoid arm and welding equipment to take place the skew in welding process, guarantee welding result when not only reducing welding error, also can avoid the influence of vibrations to connecting between each part of welding robot, avoid the damage of spare part, reduce use and cost of maintenance.
Based on the technical scheme, the specific working process of the invention is as follows: firstly, place the welding robot frame on base loading board 2, and press from both sides tight fixedly to the welding robot frame through horizontal shock attenuation part 6, when specifically placing, move a plurality of frame splint 604 to the direction of keeping away from each other earlier, the bull stick 606 that takes precautions against earthquakes takes place to rotate between horizontal shock attenuation slider 603 and articulated piece 605 this moment, drive horizontal shock attenuation slider 603 and move on horizontal shock attenuation traveller 602 simultaneously, and drive first power consumption spring 607 and second power consumption spring 608 and take place deformation, then place the welding robot frame between a plurality of frame splint 604, later loosen a plurality of frame splint 604, it fixes on base loading board 2 to drive a plurality of frame splint 604 to press from both sides tight the welding robot frame under the effort that first power consumption spring 607 and second power consumption spring 608 reply deformation.
When the welding robot base generates vertical vibration, the plurality of vertical vibration-proof components 3 act, the vibration-absorbing upper column 302 moves towards the direction of the first vibration-absorbing moving groove 303 of the vibration-absorbing lower column 301, when the vibration-absorbing lower column 301 and the vibration-absorbing upper column 302 move relatively, the main vibration-absorbing spring 311 deforms immediately, a first-stage buffering vibration absorption is formed on the vertical vibration generated by the welding robot base, when the vibration-absorbing upper column 302 moves to a first preset distance, the vibration-absorbing upper column 302 enters the first vibration-absorbing moving groove 303 of the vibration-absorbing upper column 302, when the vibration-absorbing upper column 302 moves to a second preset distance under the vibration of the welding robot base, the vibration-absorbing upper column 302 abuts against the first vibration-absorbing plate 304, then the first vibration-absorbing spring 305 is driven to deform to form a second-buffering vibration absorption, when the vibration-absorbing upper column 302 abuts against the first vibration-absorbing plate 304 and moves to a third preset distance, the step vibration-absorbing buffering column 306 enters the second vibration-absorbing moving groove 308 of the vibration-absorbing upper column 302 through the vibration-absorbing moving hole 307, when step shock attenuation buffering post 306 gets into the fourth predetermined distance in the second shock attenuation moving chute 308, can take place the butt with second damper plate 309, drive second damper spring 310 afterwards and take place deformation, form tertiary buffering shock attenuation, later take place reciprocating motion under main damper spring 311, first damper spring 305 and second damper spring 310's effect to carry out the shock attenuation to vertical vibrations.
When the welding robot base generates transverse vibration, the horizontal damping component 6 along the vibration direction acts to drive the base clamping plates 604 in the same direction to move, and simultaneously drives the pair of anti-vibration rotating rods 606 to rotate and push the pair of horizontal damping sliding blocks 603 to move on the horizontal damping sliding column 602, when the pair of horizontal damping sliding blocks 603 slide on the horizontal damping sliding column 602, the pair of horizontal damping sliding blocks 603 not only respectively drive the two first energy dissipation springs 607 to deform, but also drive the second energy dissipation spring 608 to deform, so that the transverse vibration is buffered and damped under the cooperation of the two first energy dissipation springs 607 and the second energy dissipation spring 608, and meanwhile, the arrangement of the energy dissipation damping column 609, the damping sliding hole 610 and the energy dissipation damping groove 611 can enable the horizontal damping sliding block 603 to move on the horizontal damping sliding column 602, so as to generate a certain resistance, thereby buffering and damping the transverse vibration between energy dissipation and energy dissipation, a pair of horizontal damping sliders 603 move on the horizontal damping strut 602 and reciprocate under the action of a second dissipative spring 608 and two first dissipative springs 607, thereby damping lateral vibrations.
As above, while the invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An anti-displacement device for welding robot operation, comprising:
a support base plate;
the machine base bearing plate is arranged on the upper side of the supporting base plate and used for bearing the machine base of the welding robot, and a plurality of groups of vertical shockproof components for damping vertical shock generated by the machine base of the welding robot are connected between the supporting base plate and the machine base bearing plate;
the outer protection frame is connected to the upper end of the support bottom plate and used for protecting the welding robot base;
the horizontal shock attenuation parts of multiunit set up in between outer protection frame inner wall and the welding robot frame for the horizontal vibrations that produce the welding robot frame are carried out the shock attenuation.
2. The displacement prevention device for welding robot work according to claim 1, characterized in that: the vertical anti-vibration member includes:
the lower damping column is connected to the upper end of the support bottom plate;
the damping upper column is connected to the lower end of the machine base bearing plate and is arranged corresponding to the support bottom plate, and a first damping moving groove matched with the damping upper column is formed in the damping lower column in a chiseled mode;
the first damping plate is matched with the first damping moving groove and is arranged in the first damping moving groove in a sliding mode, and a first damping spring used for vertical damping is connected between the first damping plate and the supporting bottom plate.
3. The shift preventing device for welding robot work according to claim 2, characterized in that: the vertical anti-vibration member further includes:
the step damping buffer column is arranged in the damping lower column and is fixedly connected with the upper end of the support bottom plate, and a second damping moving groove and a damping moving hole which are matched with the step damping buffer column are respectively chiseled on the damping upper column and the first damping plate;
and the second damping plate is matched with the second damping moving groove and is arranged in the second damping moving groove in a sliding manner, and a second damping spring for vertical damping is connected between the second damping plate and the machine base bearing plate.
4. The displacement prevention device for welding robot work according to claim 1, characterized in that: the vertical anti-vibration member further includes:
and the main damping spring is connected between the supporting bottom plate and the base bearing plate, arranged on the outer sides of the lower damping column and the upper damping column and used for being matched with the first damping spring and the second damping spring to damp.
5. The shift preventing device for welding robot work according to claim 4, characterized in that: be connected with the interior protection frame that is used for protecting welding robot frame on the frame loading board, interior protection frame includes:
the protection plates are fixedly connected to the base bearing plate and used for protecting the welding robot base;
and the plurality of horizontal moving grooves are respectively drilled on the protection plates.
6. The displacement prevention device for welding robot work according to claim 1, characterized in that: the horizontal shock-absorbing member includes:
the pair of horizontal fixed blocks are fixedly connected to the inner wall of the outer protection frame;
the horizontal damping sliding column is connected between the pair of horizontal fixing blocks;
the pair of horizontal damping sliding blocks are arranged on the horizontal damping sliding column in a sliding mode and are symmetrically arranged around the central axis of the horizontal damping sliding column;
the engine base clamping plate, the one side that the engine base clamping plate is close to outer protection frame is connected with articulated piece, it has shockproof bull stick all to articulate between articulated piece and a pair of horizontal shock attenuation slider.
7. The displacement prevention device for welding robot work according to claim 1, characterized in that: the horizontal shock-absorbing member further includes:
the two first energy dissipation springs are respectively connected between the horizontal damping sliding block and the horizontal fixing block;
and the second energy dissipation spring is connected between the pair of horizontal damping sliding blocks, and the second energy dissipation spring and the two first energy dissipation springs are arranged on the outer sides of the horizontal damping sliding columns.
8. The displacement prevention device for welding robot work according to claim 1, characterized in that: the horizontal shock-absorbing member further includes:
the energy-consuming shock absorption columns are fixedly connected to the outer wall of the horizontal shock absorption sliding column;
the damping slide holes penetrate through the pair of horizontal damping slide blocks and are matched with the horizontal damping slide columns, and the damping slide holes are connected with the horizontal damping slide columns in a sliding mode through the damping slide holes;
and the energy dissipation damping grooves are drilled on the inner wall of the damping slide hole and are arranged corresponding to the energy dissipation damping columns.
9. An anti-displacement method of an anti-displacement device for welding robot operation, characterized by comprising the steps of:
s1, placing the welding robot base on the base bearing plate, and clamping and fixing the welding robot base through a horizontal damping component;
s2, when the welding robot base vibrates vertically, the vertical shockproof components act;
s3, the upper damping column moves into the first damping moving groove of the lower damping column and reciprocates under the action of the main damping spring, the first damping spring and the second damping spring, so that vertical vibration is damped;
s4, when the welding robot base vibrates transversely, the horizontal damping component along the vibration direction acts;
and S5, the pair of horizontal damping sliding blocks moves on the horizontal damping sliding columns and reciprocates under the action of the second energy dissipation springs and the two first energy dissipation springs, so that transverse vibration is damped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110904961.5A CN113664843A (en) | 2021-08-07 | 2021-08-07 | Anti-deviation device for welding robot operation and anti-deviation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110904961.5A CN113664843A (en) | 2021-08-07 | 2021-08-07 | Anti-deviation device for welding robot operation and anti-deviation method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227762A (en) * | 2021-12-29 | 2022-03-25 | 上海创志实业有限公司 | Anti-deviation device for welding robot operation and anti-deviation method thereof |
| CN115307341A (en) * | 2022-08-09 | 2022-11-08 | 一八九零安全科技江苏有限公司 | Improved air energy heat pump |
-
2021
- 2021-08-07 CN CN202110904961.5A patent/CN113664843A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227762A (en) * | 2021-12-29 | 2022-03-25 | 上海创志实业有限公司 | Anti-deviation device for welding robot operation and anti-deviation method thereof |
| CN114227762B (en) * | 2021-12-29 | 2023-09-22 | 上海创志实业有限公司 | Anti-offset device for welding robot operation and anti-offset method thereof |
| CN115307341A (en) * | 2022-08-09 | 2022-11-08 | 一八九零安全科技江苏有限公司 | Improved air energy heat pump |
| CN115307341B (en) * | 2022-08-09 | 2023-11-14 | 一八九零安全科技江苏有限公司 | Improved generation air source heat pump |
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